version: 66.07
glider: 187
mission: 4
dive: 107
start: 5 3 111 6 14 13
data:
$ID,187
$MISSION,4
$DIVE,107
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,45
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,270
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,-4
$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,-1584001.4
$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,30
$R_STBD_OVSHOOT,34
$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,12
$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
$GPS1,030511,053552,4745.626,-12452.499,12,3.5,31,18.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,9.19
$_SM_ANGLEo,5.1
$GPS2,030511,053552,4745.626,-12452.499,12,3.5,31,18.7
$SPEED_LIMITS,0.346,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,4745.626,-12508.563
$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,251.3,20000,-27.4,-20.000
$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,-1.03,-195.5,0.0,0.0,0,24,0.00,0.00,-6.35,0.000,2,0.000,0.000,2953,1950,3177,0,0,0,0,0,0
$GC,28,-1.03,-195.5,11.8,-0.0,1,36,0.90,0.00,-2.88,0.000,6,0.070,0.000,2623,1950,3334,0,0,0,0,0,0
$GC,101,-1.01,-195.5,26.2,-25.5,14,108,0.00,2.65,0.00,0.000,4,0.000,0.056,2610,3611,3336,0,0,0,0,0,0
$GC,164,-1.00,-195.5,42.7,-27.1,25,171,0.00,2.38,0.00,0.000,6,0.000,0.044,2610,2119,3336,0,0,0,0,0,0
$GC,237,-0.98,-195.5,60.4,-23.6,38,244,0.12,0.00,0.00,0.000,6,0.191,0.000,2639,2113,3336,0,0,0,0,0,0
$GC,314,-0.98,-195.5,76.7,-21.6,51,322,0.00,2.42,0.00,0.000,4,0.000,0.057,2630,3613,3336,0,0,0,0,0,0
$STATE,393,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,394,begin apogee
$GC,402,-0.23,0.0,90.7,14.2,66,567,0.77,0.00,154.55,0.612,6,0.145,0.000,2871,1936,2534,0,0,0,0,0,0
$STATE,568,end apogee,CONTROL_FINISHED_OK
$STATE,568,begin climb
$GC,570,1.03,195.5,96.1,0.0,91,743,1.23,2.60,159.00,0.588,4,0.083,0.051,3284,3459,1736,0,0,0,0,0,0
$GC,757,1.00,195.5,66.1,21.4,119,764,0.00,2.50,0.00,0.000,6,0.000,0.042,3295,1946,1733,0,0,0,0,0,0
$GC,829,0.97,195.5,48.7,25.0,132,836,0.00,2.47,0.00,0.000,4,0.000,0.054,3295,3461,1731,0,0,0,0,0,0
$GC,917,0.94,195.5,26.9,24.0,148,925,0.12,2.33,0.00,0.000,6,0.178,0.041,3260,2016,1729,0,0,0,0,0,0
$GC,991,0.98,257.1,13.5,15.8,161,1012,0.00,0.00,19.40,0.531,2,0.000,0.000,3260,2016,1638,0,0,0,0,0,0
$STATE,1013,end climb,FINISH_DEPTH_REACHED
$STATE,1013,begin subsurface finish
$FINISH1,9.9,1.024379,-68
$GC,1020,-0.04,-68.4,9.9,-16.8,164,1063,1.02,2.53,-29.08,0.000,4,0.149,0.070,2951,3451,2817,0,0,0,0,0,0
$FINISH2,7.8
$STATE,1063,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1063,begin surface
$IRIDIUM_FIX,4729.30,-12503.20,030511,050524
$TT8_MAMPS,0.026964
$HUMID,34.05
$INTERNAL_PRESSURE,9.15736
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,32.2
$24V_AH,24.0,10.942
$10V_AH,10.4,7.296
$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,4.175,22.625,332.950,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,326.817,53.360,287.980,390.364,48.405,0.000,545.699,0.000,406.318,0.000,5.504,0.000
$DEVICE_MAMPS,191.250,100.980,612.000,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,111.106,123.241,358.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297784
$DATA_FILE_SIZE,10266,170
$CAP_FILE_SIZE,23346,0
$CFSIZE,260165632,207675392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030511,053552,4745.626,-12452.499,12,3.5,31,18.7