version: 66.07
glider: 187
mission: 4
dive: 48
start: 5 2 111 2 8 27
data:
$ID,187
$MISSION,4
$DIVE,48
$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,-8
$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,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,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,-1583951
$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,28
$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,46
$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
$GPS1,020511,020222,4755.657,-12455.877,13,2.8,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-79.5
$GPS2,020511,020733,4755.653,-12455.748,14,2.8,33,18.7
$SPEED_LIMITS,0.154,0.209
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.174,-0.116
$KALMAN_X,11059.7,415.9,-132.1,-11118.6,672.6
$KALMAN_Y,-12976.9,809.0,-349.0,-13256.6,-276.3
$MHEAD_RNG_PITCHd_Wd,263.0,187758,-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,15,-0.80,-97.8,0.0,0.0,0,76,0.00,0.00,-57.97,0.000,2,0.000,0.000,135,2120,2236,0,0,0,0,0,0
$GC,79,-0.80,-97.8,3.2,-5.0,9,109,10.35,2.42,-14.10,0.000,4,0.242,0.070,2683,3596,2916,0,0,0,0,0,0
$GC,346,-0.75,-97.8,51.8,-18.1,58,354,0.08,2.38,0.00,0.000,6,0.157,0.044,2720,2091,2919,0,0,0,0,0,0
$GC,420,-0.73,-97.8,61.3,-11.1,71,428,0.00,2.42,0.00,0.000,4,0.000,0.060,2712,3591,2920,0,0,0,0,0,0
$STATE,646,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,647,begin apogee
$GC,656,-0.29,0.0,85.0,7.7,113,740,0.47,0.00,78.75,0.616,6,0.142,0.000,2860,1943,2514,0,0,0,0,0,0
$STATE,741,end apogee,CONTROL_FINISHED_OK
$STATE,741,begin climb
$GC,744,0.80,97.8,87.7,0.0,125,834,1.05,2.47,81.10,0.594,4,0.098,0.050,3222,433,2114,0,0,0,0,0,0
$GC,896,0.76,97.8,69.1,13.6,149,903,0.00,2.42,0.00,0.000,6,0.000,0.044,3222,1935,2110,0,0,0,0,0,0
$GC,968,0.73,97.8,60.0,12.3,162,975,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1935,2108,0,0,0,0,0,0
$GC,1041,0.70,97.8,53.0,9.1,175,1049,0.15,2.42,0.00,0.000,4,0.182,0.056,3185,3468,2107,0,0,0,0,0,0
$GC,1160,0.67,97.8,41.3,10.0,196,1167,0.00,2.47,0.00,0.000,6,0.000,0.044,3195,1880,2106,0,0,0,0,0,0
$GC,1234,0.66,99.3,34.5,8.8,209,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1880,2105,0,0,0,0,0,0
$GC,1307,0.66,127.2,29.1,7.2,222,1336,0.00,2.35,23.58,0.566,4,0.000,0.054,3206,434,1995,0,0,0,0,0,0
$GC,1430,0.65,127.2,18.2,10.1,243,1439,0.10,2.30,0.00,0.000,6,0.146,0.045,3175,1893,1992,0,0,0,0,0,0
$GC,1506,0.66,144.0,11.8,7.9,256,1528,0.00,2.33,14.57,0.545,4,0.000,0.054,3183,435,1926,0,0,0,0,0,0
$GC,1772,0.77,291.8,4.6,-0.1,304,1781,0.00,2.20,4.12,0.409,2,0.000,0.046,3183,1847,1909,0,0,0,0,0,0
$STATE,1782,end climb,NO_VERTICAL_VELOCITY
$STATE,1782,begin surface
$SM_CCo,1785,223.57,0.536,6,0,469,501.64
$SM_GC,1.22,8.35,0.00,0.00,0.041,0.000,0.000,140,2113,464,-8.73,0.37,503.36
$IRIDIUM_FIX,4742.09,-12531.14,020511,010125
$TT8_MAMPS,0.026964
$HUMID,34.32
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.6,24.2
$24V_AH,24.2,6.831
$10V_AH,10.4,5.367
$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,20.550,29.175,202.125,223.575,0.000,25.993,39.093,125.608,0.500,0.000,34.988,719.187,208.390,503.487,907.789,127.637,33.312,823.629,0.000,718.131,0.000,5.481,0.000
$DEVICE_MAMPS,241.740,70.380,615.825,536.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,207.784,218.310,643.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297720
$DATA_FILE_SIZE,17004,305
$CAP_FILE_SIZE,41114,0
$CFSIZE,260165632,209018880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.265,142.2,1
$GPS,020511,024502,4755.468,-12455.491,12,1.5,12,18.7