version: 66.07
glider: 187
mission: 4
dive: 148
start: 5 4 111 0 43 44
data:
$ID,187
$MISSION,4
$DIVE,148
$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,-1584014.1
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,030511,234431,4739.744,-12501.240,12,1.7,17,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.78
$_SM_ANGLEo,3.8
$GPS2,030511,234431,4739.744,-12501.240,12,1.7,17,18.7
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4743.438,-12516.325
$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,17,-1.02,-146.6,0.0,0.0,0,25,0.00,0.00,-6.75,0.000,2,0.000,0.000,2964,537,3041,0,0,0,0,0,0
$GC,29,-1.02,-146.6,18.7,-0.0,1,44,0.95,5.18,-2.40,0.000,4,0.086,0.059,2615,3712,3203,0,0,0,0,0,0
$GC,126,-1.01,-146.6,36.0,-23.3,18,134,0.00,2.42,0.00,0.000,6,0.000,0.043,2614,2190,3204,0,0,0,0,0,0
$GC,199,-0.98,-146.6,54.5,-26.0,31,205,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2184,3204,0,0,0,0,0,0
$GC,273,-0.97,-146.6,72.8,-22.9,44,281,0.12,2.47,0.00,0.000,4,0.186,0.059,2635,3716,3204,0,0,0,0,0,0
$GC,354,-0.97,-146.6,88.9,-18.6,58,362,0.00,2.35,0.00,0.000,6,0.000,0.043,2634,2227,3204,0,0,0,0,0,0
$GC,433,-0.97,-146.6,102.6,-16.0,71,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2222,3204,0,0,0,0,0,0
$GC,561,-0.97,-146.6,123.4,-14.3,83,565,0.00,2.38,0.00,0.000,4,0.000,0.049,2634,691,3205,0,0,0,0,0,0
$GC,649,-0.97,-146.6,138.5,-16.2,90,657,0.00,2.42,0.00,0.000,6,0.000,0.048,2623,2229,3204,0,0,0,0,0,0
$STATE,783,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,783,begin apogee
$GC,790,-0.23,0.0,160.5,16.3,103,916,0.80,0.00,118.00,0.661,6,0.142,0.000,2875,2037,2599,0,0,0,0,0,0
$STATE,917,end apogee,CONTROL_FINISHED_OK
$STATE,917,begin climb
$GC,920,1.02,146.6,165.6,0.0,116,1055,1.17,2.58,123.07,0.638,4,0.080,0.052,3278,3571,2000,0,0,0,0,0,0
$GC,1072,0.99,146.6,142.0,24.6,129,1079,0.00,2.50,0.00,0.000,6,0.000,0.041,3290,2036,1996,0,0,0,0,0,0
$GC,1207,0.95,146.6,108.9,24.7,142,1211,0.00,2.40,0.00,0.000,4,0.000,0.051,3301,530,1993,0,0,0,0,0,0
$GC,1250,0.92,146.6,99.7,22.7,145,1258,0.12,2.38,0.00,0.000,6,0.175,0.044,3259,2022,1992,0,0,0,0,0,0
$GC,1323,0.90,146.6,83.5,21.2,158,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2022,1992,0,0,0,0,0,0
$GC,1394,0.90,153.5,68.8,19.5,171,1410,0.00,2.47,5.35,0.467,4,0.000,0.053,3258,3563,1973,0,0,0,0,0,0
$GC,1487,0.92,218.5,52.8,15.3,187,1547,0.00,2.42,53.72,0.583,6,0.000,0.042,3267,2036,1709,0,0,0,0,0,0
$GC,1613,0.92,218.5,30.4,21.3,208,1620,0.00,2.42,0.00,0.000,4,0.000,0.052,3279,540,1703,0,0,0,0,0,0
$GC,1628,0.92,218.5,27.1,20.6,210,1635,0.00,2.38,0.00,0.000,6,0.000,0.044,3279,2021,1702,0,0,0,0,0,0
$STATE,1662,end climb,FINISH_DEPTH_REACHED
$STATE,1662,begin subsurface finish
$FINISH1,20.0,1.024872,0
$GC,1669,0.00,0.0,20.0,-18.9,216,1690,1.05,0.00,-15.60,0.000,6,0.159,0.000,2968,2025,2605,0,0,0,0,0,0
$FINISH2,16.0
$STATE,1691,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1691,begin surface
$IRIDIUM_FIX,4722.92,-12451.41,030511,212156
$TT8_MAMPS,0.028462
$HUMID,35.31
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.5,50.9
$24V_AH,23.9,13.390
$10V_AH,10.3,8.451
$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,4.225,37.050,300.150,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,527.748,348.503,308.182,503.877,66.114,0.000,591.682,0.000,513.052,0.000,20.918,0.000
$DEVICE_MAMPS,185.895,60.435,660.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,146.536,161.845,355.685,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297784
$DATA_FILE_SIZE,10369,219
$CAP_FILE_SIZE,35395,0
$CFSIZE,260165632,206643200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030511,234431,4739.744,-12501.240,12,1.7,17,18.7