version: 66.07
glider: 187
mission: 4
dive: 63
start: 5 2 111 12 0 11
data:
$ID,187
$MISSION,4
$DIVE,63
$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,-7
$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,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,300
$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,-1583969.8
$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,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,40
$R_STBD_OVSHOOT,28
$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,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
$GPS1,020511,115444,4752.723,-12454.637,14,1.8,14,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.8
$GPS2,020511,115950,4752.772,-12454.545,35,1.7,35,18.7
$SPEED_LIMITS,0.154,0.209
$TGT_NAME,HEADING
$TGT_LATLONG,4758.171,-12508.514
$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,326.3,20000,-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,16,-0.75,-97.8,0.0,0.0,0,84,0.00,0.00,-66.05,0.000,2,0.000,0.000,133,2093,2459,0,0,0,0,0,0
$GC,87,-0.75,-97.8,3.6,-6.0,10,117,10.30,2.40,-10.30,0.000,4,0.236,0.064,2710,592,2937,0,0,0,0,0,0
$GC,356,-0.72,-97.8,46.9,-15.2,59,363,0.00,2.38,0.00,0.000,6,0.000,0.047,2700,2103,2939,0,0,0,0,0,0
$GC,428,-0.69,-97.8,56.5,-12.6,72,437,0.12,2.40,0.00,0.000,4,0.177,0.051,2733,596,2939,0,0,0,0,0,0
$GC,541,-0.67,-97.8,68.5,-9.2,92,549,0.00,2.38,0.00,0.000,6,0.000,0.048,2724,2111,2940,0,0,0,0,0,0
$GC,619,-0.66,-97.8,74.4,-7.7,105,626,0.00,2.40,0.00,0.000,4,0.000,0.060,2713,3609,2940,0,0,0,0,0,0
$STATE,741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,741,begin apogee
$GC,749,-0.23,0.0,85.3,9.2,127,832,0.52,0.00,78.82,0.613,6,0.138,0.000,2877,1947,2535,0,0,0,0,0,0
$STATE,833,end apogee,CONTROL_FINISHED_OK
$STATE,833,begin climb
$GC,836,0.75,97.8,87.8,0.0,139,926,0.90,2.55,81.90,0.591,4,0.089,0.052,3197,434,2135,0,0,0,0,0,0
$GC,988,0.73,97.8,71.2,14.1,163,995,0.00,2.45,0.00,0.000,6,0.000,0.044,3197,1950,2130,0,0,0,0,0,0
$GC,1061,0.70,97.8,62.1,13.3,176,1070,0.00,2.45,0.00,0.000,4,0.000,0.056,3197,3477,2127,0,0,0,0,0,0
$GC,1307,0.67,97.8,34.2,10.8,222,1315,0.10,2.25,0.00,0.000,6,0.164,0.043,3178,2053,2125,0,0,0,0,0,0
$GC,1381,0.69,133.5,28.4,6.7,235,1416,0.00,2.28,28.62,0.565,4,0.000,0.054,3178,3469,1989,0,0,0,0,0,0
$GC,1510,0.68,133.5,17.2,10.1,257,1517,0.00,2.22,0.00,0.000,6,0.000,0.043,3186,2068,1984,0,0,0,0,0,0
$GC,1581,0.68,133.5,9.7,9.4,270,1589,0.00,2.28,0.00,0.000,4,0.000,0.057,3186,3458,1984,0,0,0,0,0,0
$GC,1618,0.69,163.5,7.1,7.1,276,1654,0.00,2.15,24.90,0.552,6,0.000,0.043,3195,2093,1867,0,0,0,0,0,0
$GC,1724,0.79,293.3,5.7,1.0,293,1800,0.00,0.00,72.80,0.558,2,0.000,0.000,3194,2093,1493,0,0,0,0,0,0
$STATE,1800,end climb,SURFACE_DEPTH_REACHED
$STATE,1800,begin surface coast
$FINISH,0.7,1.021190
$STATE,1960,end surface coast,CONTROL_FINISHED_OK
$STATE,1960,begin surface
$SM_CCo,1978,97.97,0.508,2,0,782,430.01
$SM_GC,1.22,0.00,0.00,97.97,0.000,0.000,0.508,125,2096,782,-8.86,-0.11,430.01
$IRIDIUM_FIX,4732.49,-12453.48,020511,111131
$TT8_MAMPS,0.026964
$HUMID,33.97
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.7,19.5
$24V_AH,24.2,7.876
$10V_AH,10.4,6.066
$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,20.375,33.175,287.050,97.975,0.000,27.319,34.849,124.210,1.000,0.000,36.722,753.634,121.397,424.712,972.085,131.303,0.000,786.781,0.000,781.066,0.000,9.820,0.000
$DEVICE_MAMPS,235.620,64.260,612.765,507.960,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.771,238.171,704.534,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297772
$DATA_FILE_SIZE,17029,334
$CAP_FILE_SIZE,43268,0
$CFSIZE,260165632,208588800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.253,153.0,1
$GPS,020511,123606,4752.575,-12454.454,31,1.5,31,18.7