version: 66.07
glider: 187
mission: 4
dive: 711
start: 9 2 111 21 54 49
data:
$ID,187
$MISSION,4
$DIVE,711
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,325
$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,-1585639.8
$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,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2735
$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,0
$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
$GPS1,020911,214830,4750.977,-12514.185,38,1.7,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-75.7
$GPS2,020911,215355,4750.967,-12514.137,12,1.7,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.186,0.072
$KALMAN_X,377427.3,26.5,-121.4,-386027.6,537.2
$KALMAN_Y,-787945.1,252.6,-61.9,796010.4,-284.3
$MHEAD_RNG_PITCHd_Wd,50.1,3358,-13.6,-6.111
$D_GRID,312
$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,-0.50,-117.3,0.0,0.0,0,88,0.00,0.00,-69.80,0.000,6,0.000,0.000,131,2186,3215,0,0,0,0,0,0
$GC,91,-0.50,-117.3,2.5,-2.6,1,107,10.80,2.38,0.00,0.000,4,0.232,0.041,2750,651,3218,0,0,0,0,0,0
$GC,205,-0.48,-117.3,33.4,-11.8,2,210,0.00,2.35,0.00,0.000,6,0.000,0.049,2741,2159,3221,0,0,0,0,0,0
$GC,407,-0.45,-117.3,57.7,-11.7,4,409,0.12,0.00,0.00,0.000,6,0.148,0.000,2777,2159,3222,0,0,0,0,0,0
$GC,609,-0.43,-117.3,74.8,-9.7,6,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2159,3223,0,0,0,0,0,0
$GC,811,-0.43,-117.3,87.4,-7.4,8,815,0.00,2.35,0.00,0.000,4,0.000,0.050,2777,654,3224,0,0,0,0,0,0
$GC,847,-0.44,-117.3,89.5,-5.9,8,851,0.00,2.35,0.00,0.000,6,0.000,0.048,2774,2162,3224,0,0,0,0,0,0
$GC,1316,-0.44,-117.3,123.0,-7.3,11,1320,0.00,2.33,0.00,0.000,4,0.000,0.050,2773,666,3224,0,0,0,0,0,0
$GC,1367,-0.46,-117.3,126.7,-7.0,11,1372,0.00,2.30,0.00,0.000,6,0.000,0.048,2773,2143,3223,0,0,0,0,0,0
$GC,1945,-0.46,-117.3,158.9,-5.4,13,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2143,3223,0,0,0,0,0,0
$GC,2245,-0.46,-117.3,177.0,-5.7,14,2249,0.00,2.30,0.00,0.000,4,0.000,0.051,2772,665,3223,0,0,0,0,0,0
$GC,2289,-0.47,-117.3,180.1,-6.8,14,2294,0.00,2.28,0.00,0.000,6,0.000,0.048,2769,2141,3222,0,0,0,0,0,0
$GC,2871,-0.47,-117.3,218.5,-6.5,16,2875,0.00,2.30,0.00,0.000,4,0.000,0.051,2769,667,3221,0,0,0,0,0,0
$GC,2909,-0.49,-117.3,221.0,-6.9,16,2913,0.00,2.30,0.00,0.000,6,0.000,0.050,2769,2137,3221,0,0,0,0,0,0
$GC,3496,-0.49,-117.3,257.5,-6.3,18,3500,0.00,2.33,0.00,0.000,4,0.000,0.052,2768,664,3221,0,0,0,0,0,0
$GC,3545,-0.50,-117.3,260.7,-6.3,18,3550,0.00,2.28,0.00,0.000,6,0.000,0.049,2768,2125,3221,0,0,0,0,0,0
$GC,4122,-0.51,-117.3,293.7,-5.9,20,4126,0.00,2.30,0.00,0.000,4,0.000,0.054,2768,667,3220,0,0,0,0,0,0
$GC,4144,-0.52,-117.3,295.1,-6.3,20,4148,0.00,2.28,0.00,0.000,6,0.000,0.051,2768,2116,3220,0,0,0,0,0,0
$STATE,4427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4427,begin apogee
$GC,4434,-0.22,0.0,312.2,6.1,20,4536,0.25,0.00,98.82,0.780,6,0.103,0.000,2857,2056,2735,0,0,0,0,0,0
$STATE,4536,end apogee,CONTROL_FINISHED_OK
$STATE,4536,begin climb
$GC,4541,0.50,117.3,313.3,0.0,21,4646,0.62,0.00,102.15,0.758,6,0.067,0.000,3080,2056,2256,0,0,0,0,0,0
$GC,4751,0.65,408.5,309.4,-4.1,22,4999,0.15,2.60,236.50,0.741,4,0.073,0.057,3155,3570,1067,0,0,0,0,0,0
$GC,5011,0.63,408.5,274.3,15.9,22,5016,0.15,2.47,0.00,0.000,6,0.135,0.044,3123,2062,1064,0,0,0,0,0,0
$GC,5358,0.63,408.5,234.5,11.3,24,5362,0.00,2.38,0.00,0.000,4,0.000,0.055,3132,546,1059,0,0,0,0,0,0
$GC,5435,0.65,408.5,226.6,9.0,24,5440,0.00,2.30,0.00,0.000,6,0.000,0.047,3132,2024,1058,0,0,0,0,0,0
$GC,5983,0.65,408.5,158.4,12.6,26,5987,0.00,2.33,0.00,0.000,4,0.000,0.055,3142,535,1057,0,0,0,0,0,0
$GC,6027,0.65,408.5,153.1,11.3,26,6031,0.00,2.28,0.00,0.000,6,0.000,0.048,3142,2006,1057,0,0,0,0,0,0
$GC,6608,0.65,408.5,84.2,11.5,28,6612,0.00,2.30,0.00,0.000,4,0.000,0.055,3152,541,1057,0,0,0,0,0,0
$GC,6641,0.66,408.5,80.9,10.0,28,6645,0.00,2.25,0.00,0.000,6,0.000,0.048,3152,1997,1056,0,0,0,0,0,0
$GC,6911,0.66,408.5,52.3,10.8,31,6915,0.00,2.28,0.00,0.000,4,0.000,0.056,3153,546,1056,0,0,0,0,0,0
$GC,6933,0.68,408.5,50.0,9.9,31,6937,0.00,2.20,0.00,0.000,6,0.000,0.047,3153,1982,1056,0,0,0,0,0,0
$GC,7212,0.68,408.5,22.0,10.2,34,7217,0.00,2.53,0.00,0.000,4,0.000,0.058,3153,3576,1056,0,0,0,0,0,0
$GC,7236,0.69,408.5,19.5,10.8,34,7240,0.00,2.50,0.00,0.000,6,0.000,0.046,3153,1968,1056,0,0,0,0,0,0
$STATE,7515,end climb,SURFACE_DEPTH_REACHED
$STATE,7515,begin surface coast
$FINISH,1.1,NaN
$STATE,7614,end surface coast,CONTROL_FINISHED_OK
$STATE,7614,begin surface
$SM_CCo,7692,0.00,0.000,0,0,1051,412.84
$SM_GC,2.00,7.80,0.00,0.00,0.034,0.000,0.000,139,2195,1051,-8.60,0.59,412.84
$IRIDIUM_FIX,4732.49,-12544.19,020911,181838
$TT8_MAMPS,0.026964
$HUMID,43.69
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.5,81.453
$10V_AH,9.9,83.213
$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,19.900,61.200,437.475,0.000,0.000,28.677,31.340,136.206,0.000,0.000,18.250,372.042,5883.868,477.070,1081.310,200.485,33.378,987.043,0.000,872.208,0.000,0.535,0.000
$DEVICE_MAMPS,231.795,117.045,780.300,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297768
$DATA_FILE_SIZE,334,38
$CAP_FILE_SIZE,69100,0
$CFSIZE,260165632,157466624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030911,000407,4750.967,-12512.448,29,1.7,29,18.7