version: 66.07
glider: 187
mission: 4
dive: 60
start: 5 2 111 10 1 11
data:
$ID,187
$MISSION,4
$DIVE,60
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,45
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,300
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,430
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1583966
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,2958
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,43
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2535
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.973145
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,020511,095601,4753.371,-12454.694,13,1.1,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-74.5
$GPS2,020511,100050,4753.342,-12454.696,13,1.5,13,18.7
$SPEED_LIMITS,0.154,0.209
$TGT_NAME,HEADING
$TGT_LATLONG,4758.741,-12508.667
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.176,-0.114
$KALMAN_X,14438.9,303.9,-305.7,-13432.8,797.0
$KALMAN_Y,-14155.7,856.3,103.6,-14859.7,-275.4
$MHEAD_RNG_PITCHd_Wd,326.3,20000,-20.7,-8.889
$D_GRID,120
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.75,-97.8,0.0,0.0,0,99,0.00,0.00,-80.47,0.000,2,0.000,0.000,143,2090,2763,0,0,0,0,0,0
$GC,102,-0.75,-97.8,3.4,-5.6,12,125,10.35,2.35,-3.65,0.000,4,0.239,0.063,2712,589,2935,0,0,0,0,0,0
$GC,365,-0.72,-97.8,50.6,-15.3,60,373,0.00,2.38,0.00,0.000,6,0.000,0.046,2703,2100,2938,0,0,0,0,0,0
$GC,439,-0.69,-97.8,60.7,-14.2,73,447,0.12,2.38,0.00,0.000,4,0.177,0.053,2735,589,2938,0,0,0,0,0,0
$GC,564,-0.68,-97.8,73.7,-8.1,95,572,0.00,2.40,0.00,0.000,6,0.000,0.048,2726,2118,2938,0,0,0,0,0,0
$GC,638,-0.68,-97.8,78.4,-6.2,108,646,0.00,2.40,0.00,0.000,4,0.000,0.060,2715,3613,2938,0,0,0,0,0,0
$STATE,745,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,745,begin apogee
$GC,753,-0.23,0.0,86.5,7.6,128,837,0.50,0.00,78.53,0.614,6,0.135,0.000,2874,1933,2534,0,0,0,0,0,0
$STATE,838,end apogee,CONTROL_FINISHED_OK
$STATE,838,begin climb
$GC,841,0.75,97.8,89.4,0.0,140,931,0.93,2.45,81.80,0.598,4,0.085,0.051,3204,441,2135,0,0,0,0,0,0
$GC,941,0.71,97.8,80.4,13.3,154,949,0.00,2.47,0.00,0.000,6,0.000,0.044,3204,1978,2132,0,0,0,0,0,0
$GC,1016,0.68,97.8,69.9,12.7,167,1024,0.00,2.45,0.00,0.000,4,0.000,0.056,3204,3461,2129,0,0,0,0,0,0
$GC,1265,0.64,97.8,39.0,9.8,213,1273,0.15,2.22,0.00,0.000,6,0.161,0.043,3171,2057,2125,0,0,0,0,0,0
$GC,1339,0.64,104.3,33.1,8.5,226,1349,0.00,2.33,4.95,0.452,4,0.000,0.057,3170,3473,2109,0,0,0,0,0,0
$GC,1476,0.63,113.1,22.5,8.3,250,1492,0.00,2.22,8.90,0.523,6,0.000,0.044,3179,2061,2073,0,0,0,0,0,0
$GC,1559,0.65,146.4,16.2,6.9,264,1593,0.00,0.00,27.90,0.564,6,0.000,0.000,3179,2060,1938,0,0,0,0,0,0
$GC,1658,0.66,152.1,8.2,8.5,281,1673,0.00,2.30,5.97,0.467,4,0.000,0.057,3179,3464,1914,0,0,0,0,0,0
$STATE,1731,end climb,SURFACE_DEPTH_REACHED
$STATE,1731,begin surface coast
$FINISH,3.0,1.023391
$STATE,1756,end surface coast,CONTROL_FINISHED_OK
$STATE,1756,begin surface
$SM_CCo,1776,147.60,0.526,2,0,781,430.01
$SM_GC,1.02,0.00,0.00,147.60,0.000,0.000,0.526,140,2093,781,-8.80,-0.20,430.01
$IRIDIUM_FIX,4738.89,-12455.31,020511,090925
$TT8_MAMPS,0.026964
$HUMID,33.30
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,26.0
$24V_AH,24.2,7.660
$10V_AH,10.4,5.921
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.475,33.150,208.050,147.600,0.000,23.968,38.296,129.649,0.500,0.000,14.155,694.174,115.878,423.898,871.164,128.335,0.000,742.919,0.000,700.110,0.000,5.483,0.000
$DEVICE_MAMPS,238.680,62.730,614.295,525.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,202.666,214.261,628.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297744
$DATA_FILE_SIZE,16970,298
$CAP_FILE_SIZE,40878,0
$CFSIZE,260165632,208678912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.289,167.5,1
$GPS,020511,103413,4753.100,-12454.739,10,1.2,10,18.7