version: 66.07
glider: 187
mission: 4
dive: 46
start: 5 2 111 0 48 47
data:
$ID,187
$MISSION,4
$DIVE,46
$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,-1583948.5
$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,43
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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
$GPS1,020511,004258,4756.026,-12456.052,13,3.2,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.8
$GPS2,020511,004752,4756.061,-12455.931,12,3.1,31,18.7
$SPEED_LIMITS,0.154,0.228
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.189,-0.127
$KALMAN_X,9314.2,630.6,233.0,-10182.1,516.1
$KALMAN_Y,-11919.9,421.3,-252.1,-13285.2,-557.2
$MHEAD_RNG_PITCHd_Wd,262.8,187980,-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,16,-0.80,-117.3,0.0,0.0,0,70,0.00,0.00,-52.42,0.000,2,0.000,0.000,134,2168,2230,0,0,0,0,0,0
$GC,74,-0.80,-117.3,3.2,-5.0,8,110,10.18,2.45,-15.75,0.000,4,0.235,0.063,2693,635,2996,0,0,0,0,0,0
$GC,349,-0.75,-117.3,48.8,-14.3,58,357,0.00,2.38,0.00,0.000,6,0.000,0.049,2684,2141,2998,0,0,0,0,0,0
$GC,425,-0.71,-117.3,60.0,-16.2,71,433,0.15,2.45,0.00,0.000,4,0.171,0.060,2714,3675,2999,0,0,0,0,0,0
$GC,545,-0.69,-117.3,75.7,-12.3,92,552,0.00,2.35,0.00,0.000,6,0.000,0.044,2714,2173,2999,0,0,0,0,0,0
$GC,619,-0.67,-117.3,83.3,-8.6,105,627,0.00,2.42,0.00,0.000,4,0.000,0.060,2703,3663,2999,0,0,0,0,0,0
$STATE,643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,643,begin apogee
$GC,651,-0.19,0.0,85.6,8.6,109,750,0.57,0.00,93.97,0.611,6,0.141,0.000,2884,1943,2514,0,0,0,0,0,0
$STATE,751,end apogee,CONTROL_FINISHED_OK
$STATE,751,begin climb
$GC,755,0.80,117.3,88.5,0.0,123,865,0.95,2.58,96.57,0.593,4,0.088,0.056,3208,3458,2034,0,0,0,0,0,0
$GC,895,0.75,117.3,72.3,16.3,144,902,0.00,2.45,0.00,0.000,6,0.000,0.044,3219,1959,2029,0,0,0,0,0,0
$GC,969,0.71,117.3,61.4,13.9,157,976,0.12,0.00,0.00,0.000,6,0.184,0.000,3190,1957,2028,0,0,0,0,0,0
$GC,1041,0.69,117.3,52.8,11.0,170,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1957,2028,0,0,0,0,0,0
$GC,1116,0.66,117.3,45.1,10.7,183,1124,0.00,2.45,0.00,0.000,4,0.000,0.058,3190,3462,2027,0,0,0,0,0,0
$GC,1206,0.64,117.3,34.8,12.0,199,1214,0.10,2.35,0.00,0.000,6,0.158,0.045,3156,1988,2026,0,0,0,0,0,0
$GC,1279,0.66,152.4,29.3,7.1,212,1314,0.00,2.47,28.30,0.566,4,0.000,0.054,3166,435,1892,0,0,0,0,0,0
$GC,1334,0.66,154.2,24.6,8.8,220,1341,0.00,2.47,0.00,0.000,6,0.000,0.047,3166,2016,1890,0,0,0,0,0,0
$GC,1407,0.67,177.1,18.3,7.7,233,1437,0.00,2.58,20.45,0.552,4,0.000,0.056,3176,442,1791,0,0,0,0,0,0
$GC,1497,0.68,177.1,9.4,10.4,248,1504,0.00,2.47,0.00,0.000,6,0.000,0.047,3176,2023,1789,0,0,0,0,0,0
$GC,1571,0.75,269.8,5.0,4.2,261,1641,0.00,0.00,68.45,0.557,2,0.000,0.000,3176,2024,1438,0,0,0,0,0,0
$STATE,1642,end climb,SURFACE_DEPTH_REACHED
$STATE,1642,begin surface coast
$FINISH,1.6,1.020915
$STATE,1764,end surface coast,CONTROL_FINISHED_OK
$STATE,1764,begin surface
$SM_CCo,1783,71.07,0.076,0,0,884,400.08
$SM_GC,1.58,0.00,0.00,71.07,0.000,0.000,0.076,145,2171,884,-8.79,0.59,400.08
$IRIDIUM_FIX,4738.89,-12452.68,020511,000042
$TT8_MAMPS,0.027713
$HUMID,34.91
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,24.7
$24V_AH,24.1,6.684
$10V_AH,10.4,5.270
$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,20.400,34.775,307.750,71.075,0.000,24.790,37.314,114.001,0.500,0.000,33.143,654.992,101.548,406.133,863.949,133.555,33.313,754.573,0.000,689.853,0.000,5.483,0.000
$DEVICE_MAMPS,234.855,74.970,611.235,75.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,200.037,209.790,620.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,17010,294
$CAP_FILE_SIZE,42984,0
$CFSIZE,260165632,209076224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247,151.9,1
$GPS,020511,012100,4755.855,-12455.974,41,2.0,41,18.7