version: 66.07
glider: 187
mission: 4
dive: 66
start: 5 2 111 13 56 58
data:
$ID,187
$MISSION,4
$DIVE,66
$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,30
$T_MISSION,45
$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,250
$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,-1583973.5
$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,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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,020511,135128,4752.409,-12454.146,15,2.6,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-75.1
$GPS2,020511,135634,4752.456,-12454.042,14,2.4,33,18.7
$SPEED_LIMITS,0.231,0.362
$TGT_NAME,HEADING
$TGT_LATLONG,4757.855,-12508.010
$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,308.0,20000,-18.2,-13.333
$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,-244.4,0.0,0.0,0,86,0.00,0.00,-68.30,0.000,2,0.000,0.000,131,2104,2466,0,0,0,0,0,0
$GC,89,-0.75,-244.4,3.2,-7.1,10,126,10.20,2.45,-20.67,0.000,4,0.233,0.065,2710,584,3534,0,0,0,0,0,0
$GC,292,-0.75,-244.4,42.2,-15.8,46,300,0.00,2.40,0.00,0.000,6,0.000,0.047,2702,2105,3535,0,0,0,0,0,0
$GC,365,-0.74,-244.4,54.3,-16.0,59,372,0.00,2.45,0.00,0.000,4,0.000,0.060,2691,3611,3536,0,0,0,0,0,0
$GC,387,-0.72,-244.4,57.6,-15.9,62,395,0.08,2.38,0.00,0.000,6,0.129,0.044,2729,2108,3536,0,0,0,0,0,0
$GC,460,-0.72,-244.4,68.2,-14.5,75,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2102,3536,0,0,0,0,0,0
$GC,536,-0.73,-244.4,77.5,-12.1,88,545,0.00,2.42,0.00,0.000,4,0.000,0.060,2721,3607,3536,0,0,0,0,0,0
$STATE,582,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,582,begin apogee
$GC,590,-0.23,0.0,83.3,10.4,96,791,0.45,0.00,191.80,0.606,6,0.121,0.000,2869,1938,2533,0,0,0,0,0,0
$STATE,791,end apogee,CONTROL_FINISHED_OK
$STATE,792,begin climb
$GC,795,0.75,244.4,90.2,0.0,125,1001,0.98,2.50,195.85,0.583,4,0.089,0.054,3206,441,1538,0,0,0,0,0,0
$GC,1150,0.75,244.4,41.5,13.4,183,1158,0.00,2.42,0.00,0.000,6,0.000,0.045,3206,1949,1531,0,0,0,0,0,0
$GC,1223,0.74,244.4,31.3,14.3,196,1231,0.00,2.45,0.00,0.000,4,0.000,0.057,3206,3479,1529,0,0,0,0,0,0
$GC,1266,0.72,244.4,24.7,16.3,203,1273,0.00,2.42,0.00,0.000,6,0.000,0.044,3217,1970,1528,0,0,0,0,0,0
$GC,1339,0.71,244.4,13.3,14.7,216,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1968,1528,0,0,0,0,0,0
$GC,1411,0.82,426.3,6.1,6.7,229,1453,0.00,0.00,39.45,0.547,2,0.000,0.000,3216,1966,1335,0,0,0,0,0,0
$STATE,1454,end climb,SURFACE_DEPTH_REACHED
$STATE,1454,begin surface coast
$FINISH,0.2,1.021995
$STATE,1544,end surface coast,CONTROL_FINISHED_OK
$STATE,1545,begin surface
$SM_CCo,1563,75.70,0.499,1,0,781,430.01
$SM_GC,1.11,0.00,0.00,75.70,0.000,0.000,0.499,136,2119,781,-8.81,0.54,430.01
$IRIDIUM_FIX,4732.49,-12458.73,020511,131355
$TT8_MAMPS,0.026215
$HUMID,33.73
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,22.5
$24V_AH,24.0,8.135
$10V_AH,10.4,6.196
$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,20.000,24.750,427.100,75.700,0.000,26.210,34.702,128.153,0.500,0.000,35.060,505.146,72.193,486.455,782.020,118.643,0.000,834.649,0.000,589.979,0.000,5.475,0.000
$DEVICE_MAMPS,232.560,75.735,605.880,498.780,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,167.514,177.539,529.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297744
$DATA_FILE_SIZE,13638,251
$CAP_FILE_SIZE,36406,0
$CFSIZE,260165632,208515072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.339,144.9,1
$GPS,020511,142531,4752.371,-12453.897,14,1.5,31,18.7