version: 66.07
glider: 187
mission: 4
dive: 136
start: 5 3 111 18 33 39
data:
$ID,187
$MISSION,4
$DIVE,136
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,20
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,290
$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,320
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,-5
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1584011.6
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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,2600
$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,12
$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
$GPS1,030511,182836,4740.823,-12458.610,39,1.6,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.2
$GPS2,030511,183302,4740.763,-12458.646,14,1.7,14,18.7
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4744.456,-12513.736
$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,271.3,20000,-28.0,-20.000
$D_GRID,180
$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,-1.02,-146.6,0.0,0.0,0,109,0.00,0.00,-90.43,0.000,2,0.000,0.000,131,2209,2706,0,0,0,0,0,0
$GC,112,-1.02,-146.6,3.0,-6.0,14,141,10.10,2.40,-10.15,0.000,4,0.239,0.068,2613,3709,3200,0,0,0,0,0,0
$GC,294,-1.00,-146.6,54.5,-23.5,47,301,0.00,2.40,0.00,0.000,6,0.000,0.042,2613,2194,3202,0,0,0,0,0,0
$GC,368,-0.98,-146.6,70.9,-21.6,60,375,0.00,2.38,0.00,0.000,4,0.000,0.050,2612,687,3202,0,0,0,0,0,0
$GC,405,-0.97,-146.6,79.3,-21.7,66,415,0.12,2.35,0.00,0.000,6,0.157,0.048,2639,2168,3202,0,0,0,0,0,0
$GC,482,-0.97,-146.6,94.1,-18.0,79,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2168,3202,0,0,0,0,0,0
$GC,561,-0.97,-146.6,108.0,-17.2,89,565,0.00,2.45,0.00,0.000,4,0.000,0.058,2629,3720,3203,0,0,0,0,0,0
$GC,691,-0.97,-146.6,129.6,-15.2,100,695,0.00,2.40,0.00,0.000,6,0.000,0.041,2629,2171,3203,0,0,0,0,0,0
$STATE,706,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,706,begin apogee
$GC,713,-0.23,0.0,132.4,15.5,101,834,0.77,0.00,117.30,0.636,6,0.145,0.000,2871,2035,2599,0,0,0,0,0,0
$STATE,835,end apogee,CONTROL_FINISHED_OK
$STATE,835,begin climb
$GC,837,1.02,146.6,137.4,0.0,113,971,1.20,2.60,122.25,0.616,4,0.083,0.052,3279,3577,2001,0,0,0,0,0,0
$GC,1064,0.99,146.6,96.1,26.4,134,1072,0.00,2.47,0.00,0.000,6,0.000,0.041,3290,2031,1994,0,0,0,0,0,0
$GC,1137,0.96,146.6,78.5,22.6,147,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2029,1992,0,0,0,0,0,0
$GC,1209,0.93,146.6,62.9,21.5,160,1216,0.12,0.00,0.00,0.000,6,0.204,0.000,3264,2028,1992,0,0,0,0,0,0
$GC,1281,0.99,242.0,51.5,13.2,173,1367,0.00,2.47,75.40,0.571,4,0.000,0.052,3273,539,1612,0,0,0,0,0,0
$GC,1393,0.99,242.0,34.0,20.2,190,1401,0.00,2.40,0.00,0.000,6,0.000,0.044,3273,2024,1608,0,0,0,0,0,0
$STATE,1458,end climb,FINISH_DEPTH_REACHED
$STATE,1458,begin subsurface finish
$FINISH1,19.8,1.024563,0
$GC,1465,0.00,0.0,19.8,-20.3,202,1493,1.02,2.55,-16.60,0.000,4,0.147,0.070,2964,3562,2606,0,0,0,0,0,0
$FINISH2,17.6
$STATE,1494,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1494,begin surface
$IRIDIUM_FIX,4722.92,-12500.31,030511,161639
$TT8_MAMPS,0.027713
$HUMID,34.28
$INTERNAL_PRESSURE,9.14759
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.8,42.0
$24V_AH,23.9,12.672
$10V_AH,10.4,8.102
$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,13.350,27.050,314.950,0.000,0.000,28.736,36.681,100.138,2.000,0.000,15.111,454.636,179.814,375.051,667.207,105.881,0.000,670.885,0.000,500.853,0.000,14.734,0.000
$DEVICE_MAMPS,239.445,74.970,636.480,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,138.530,145.322,366.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10357,206
$CAP_FILE_SIZE,34887,0
$CFSIZE,260165632,206974976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030511,183302,4740.763,-12458.646,14,1.7,14,18.7