version: 66.07
glider: 187
mission: 4
dive: 43
start: 5 1 111 22 55 38
data:
$ID,187
$MISSION,4
$DIVE,43
$D_SURF,3
$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,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,-1
$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,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,-1583944.8
$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,26
$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,35
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2515
$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
$GPS1,010511,224943,4756.793,-12455.758,13,1.7,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-78.1
$GPS2,010511,225443,4756.769,-12455.717,15,1.7,32,18.7
$SPEED_LIMITS,0.154,0.228
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.188,-0.128
$KALMAN_X,7876.3,726.1,383.7,-8722.0,687.0
$KALMAN_Y,-10648.3,-135.8,82.7,-13017.7,-433.5
$MHEAD_RNG_PITCHd_Wd,262.5,188932,-18.9,-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,15,-0.80,-117.3,0.0,0.0,0,95,0.00,0.00,-77.28,0.000,2,0.000,0.000,135,2165,2824,0,0,0,0,0,0
$GC,98,-0.80,-117.3,3.2,-4.8,12,121,10.30,1.92,-3.85,0.000,4,0.240,0.063,2697,923,2997,0,0,0,0,0,0
$GC,360,-0.76,-117.3,47.8,-13.0,60,368,0.00,1.92,0.00,0.000,6,0.000,0.049,2689,2144,2999,0,0,0,0,0,0
$GC,434,-0.72,-117.3,57.1,-12.7,73,442,0.12,2.00,0.00,0.000,4,0.176,0.060,2714,3382,2999,0,0,0,0,0,0
$GC,643,-0.71,-117.3,80.1,-10.8,111,651,0.00,1.85,0.00,0.000,6,0.000,0.044,2714,2187,2999,0,0,0,0,0,0
$STATE,678,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,678,begin apogee
$GC,685,-0.19,0.0,83.8,10.0,117,783,0.55,0.00,93.88,0.616,6,0.134,0.000,2889,1945,2515,0,0,0,0,0,0
$STATE,784,end apogee,CONTROL_FINISHED_OK
$STATE,784,begin climb
$GC,786,0.80,117.3,87.5,0.0,131,889,0.93,2.05,96.53,0.595,4,0.083,0.052,3218,729,2035,0,0,0,0,0,0
$GC,922,0.76,117.3,72.8,15.1,151,930,0.00,2.00,0.00,0.000,6,0.000,0.046,3218,1956,2030,0,0,0,0,0,0
$GC,994,0.72,117.3,62.6,13.4,164,1002,0.00,2.03,0.00,0.000,4,0.000,0.054,3218,3185,2028,0,0,0,0,0,0
$GC,1198,0.68,117.3,34.5,15.2,202,1207,0.15,1.90,0.00,0.000,6,0.159,0.044,3183,1987,2025,0,0,0,0,0,0
$GC,1275,0.66,117.3,25.4,11.8,215,1282,0.00,2.00,0.00,0.000,4,0.000,0.054,3190,725,2025,0,0,0,0,0,0
$GC,1317,0.65,117.3,20.6,11.2,222,1325,0.00,2.00,0.00,0.000,6,0.000,0.047,3190,1993,2025,0,0,0,0,0,0
$GC,1392,0.63,127.1,14.1,8.4,235,1406,0.00,1.88,7.47,0.500,4,0.000,0.055,3190,3186,1997,0,0,0,0,0,0
$GC,1426,0.62,134.7,11.1,8.5,240,1442,0.12,1.85,7.97,0.503,6,0.152,0.045,3161,2015,1965,0,0,0,0,0,0
$GC,1507,0.65,190.3,5.3,6.1,254,1550,0.00,0.00,41.42,0.562,2,0.000,0.000,3160,2012,1755,0,0,0,0,0,0
$STATE,1551,end climb,SURFACE_DEPTH_REACHED
$STATE,1551,begin surface coast
$FINISH,1.0,1.020711
$STATE,1610,end surface coast,CONTROL_FINISHED_OK
$STATE,1613,begin surface
$SM_CCo,1631,102.75,0.075,0,0,884,400.08
$SM_GC,1.58,0.00,0.00,102.75,0.000,0.000,0.075,144,2169,884,-8.79,0.54,400.08
$IRIDIUM_FIX,4738.89,-12452.68,010511,222258
$TT8_MAMPS,0.026964
$HUMID,33.57
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,23.1
$24V_AH,24.1,6.479
$10V_AH,10.4,5.132
$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,20.425,23.975,247.275,102.750,0.000,27.615,34.128,118.779,0.500,0.000,33.493,620.845,95.584,384.761,818.739,125.814,33.316,696.357,0.000,640.249,0.000,7.064,0.000
$DEVICE_MAMPS,240.210,70.380,615.825,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,181.946,195.324,571.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297708
$DATA_FILE_SIZE,13628,271
$CAP_FILE_SIZE,39186,0
$CFSIZE,260165632,209170432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.293,173.4,1
$GPS,010511,232520,4756.489,-12455.899,10,2.0,10,18.7