version: 66.07
glider: 187
mission: 4
dive: 50
start: 5 2 111 3 32 1
data:
$ID,187
$MISSION,4
$DIVE,50
$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,-1583953.5
$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,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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,020511,032619,4755.224,-12455.386,14,1.2,14,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-76.6
$GPS2,020511,033107,4755.196,-12455.312,15,1.2,15,18.7
$SPEED_LIMITS,0.154,0.209
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.175,-0.115
$KALMAN_X,13080.9,177.1,-432.9,-12058.6,926.2
$KALMAN_Y,-13394.7,948.5,-286.9,-13898.9,-310.0
$MHEAD_RNG_PITCHd_Wd,263.3,187756,-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,-97.8,0.0,0.0,0,89,0.00,0.00,-70.93,0.000,2,0.000,0.000,142,2115,2554,0,0,0,0,0,0
$GC,92,-0.80,-97.8,3.5,-5.9,11,116,10.25,2.42,-7.53,0.000,4,0.239,0.063,2682,3611,2916,0,0,0,0,0,0
$GC,189,-0.75,-97.8,23.7,-15.3,27,197,0.08,2.40,0.00,0.000,6,0.163,0.042,2713,2093,2919,0,0,0,0,0,0
$GC,262,-0.72,-97.8,34.6,-14.5,40,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2091,2919,0,0,0,0,0,0
$GC,335,-0.69,-97.8,44.5,-13.6,53,343,0.00,2.38,0.00,0.000,4,0.000,0.052,2713,588,2919,0,0,0,0,0,0
$GC,362,-0.66,-97.8,48.8,-15.6,57,371,0.08,2.38,0.00,0.000,6,0.150,0.049,2740,2093,2919,0,0,0,0,0,0
$GC,437,-0.65,-97.8,57.7,-10.9,70,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2093,2920,0,0,0,0,0,0
$GC,509,-0.65,-97.8,65.2,-9.9,83,516,0.00,2.47,0.00,0.000,4,0.000,0.060,2731,3618,2920,0,0,0,0,0,0
$GC,535,-0.65,-97.8,67.8,-9.5,87,542,0.00,2.33,0.00,0.000,6,0.000,0.044,2730,2132,2920,0,0,0,0,0,0
$GC,611,-0.65,-97.8,74.3,-8.0,100,618,0.00,2.38,0.00,0.000,4,0.000,0.059,2720,3610,2920,0,0,0,0,0,0
$GC,628,-0.65,-97.8,75.7,-8.4,102,635,0.00,2.33,0.00,0.000,6,0.000,0.044,2719,2122,2920,0,0,0,0,0,0
$GC,702,-0.64,-97.8,82.3,-9.9,115,710,0.12,0.00,0.00,0.000,6,0.164,0.000,2752,2121,2920,0,0,0,0,0,0
$STATE,730,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,731,begin apogee
$GC,737,-0.29,0.0,84.6,7.1,120,821,0.32,0.00,78.68,0.616,6,0.132,0.000,2858,1939,2514,0,0,0,0,0,0
$STATE,822,end apogee,CONTROL_FINISHED_OK
$STATE,822,begin climb
$GC,826,0.80,97.8,87.2,0.0,132,915,1.05,0.00,81.30,0.595,6,0.097,0.000,3209,1940,2115,0,0,0,0,0,0
$GC,982,0.77,97.8,69.8,13.8,157,990,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1940,2110,0,0,0,0,0,0
$GC,1055,0.74,97.8,61.3,11.1,170,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1940,2109,0,0,0,0,0,0
$GC,1128,0.72,115.3,54.8,7.8,183,1150,0.00,2.47,14.12,0.554,4,0.000,0.054,3209,3469,2045,0,0,0,0,0,0
$GC,1268,0.69,115.3,40.1,10.1,208,1277,0.12,2.40,0.00,0.000,6,0.154,0.043,3184,1962,2041,0,0,0,0,0,0
$GC,1342,0.70,128.8,33.7,8.1,221,1364,0.00,2.47,12.23,0.545,4,0.000,0.055,3193,437,1989,0,0,0,0,0,0
$GC,1394,0.70,134.2,29.2,8.6,229,1411,0.00,2.35,6.15,0.477,6,0.000,0.046,3193,1924,1966,0,0,0,0,0,0
$GC,1477,0.70,134.2,20.9,10.1,243,1484,0.00,2.40,0.00,0.000,4,0.000,0.056,3204,433,1965,0,0,0,0,0,0
$GC,1726,0.77,245.4,6.7,2.1,289,1823,0.00,2.25,88.00,0.567,6,0.000,0.045,3204,1877,1513,0,0,0,0,0,0
$STATE,1828,end climb,SURFACE_DEPTH_REACHED
$STATE,1830,begin surface coast
$FINISH,1.7,1.021755
$STATE,1921,end surface coast,CONTROL_FINISHED_OK
$STATE,1921,begin surface
$SM_CCo,1940,101.75,0.519,1,0,762,430.01
$SM_GC,1.33,0.00,0.00,101.75,0.000,0.000,0.519,149,2113,762,-8.77,0.37,430.01
$IRIDIUM_FIX,4738.89,-12452.68,020511,020230
$TT8_MAMPS,0.026964
$HUMID,34.13
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,24.5
$24V_AH,24.2,6.972
$10V_AH,10.4,5.464
$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,20.475,34.025,280.475,101.750,0.000,25.363,38.830,122.975,0.500,0.000,16.010,727.494,110.669,444.210,919.988,142.129,33.312,820.073,0.000,754.164,0.000,5.480,0.000
$DEVICE_MAMPS,238.680,64.260,615.825,518.670,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.197,226.418,677.379,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297748
$DATA_FILE_SIZE,16975,321
$CAP_FILE_SIZE,47611,0
$CFSIZE,260165632,208957440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.296,156.5,1
$GPS,020511,040701,4754.942,-12455.337,10,1.9,15,18.7