version: 66.07
glider: 187
mission: 4
dive: 714
start: 9 3 111 5 0 4
data:
$ID,187
$MISSION,4
$DIVE,714
$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,-1585643.5
$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,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,42
$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
$GPS1,030911,045357,4751.306,-12511.487,51,6.1,71,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-77.2
$GPS2,030911,045910,4751.230,-12511.493,12,3.0,31,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.031,0.142
$KALMAN_X,378523.9,-277.6,27.6,-383676.1,269.0
$KALMAN_Y,-790669.6,-298.6,-177.0,799889.3,-1045.2
$MHEAD_RNG_PITCHd_Wd,329.1,130,-20.1,-6.111
$D_GRID,253
$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,-0.66,-56.9,0.0,0.0,0,79,0.00,0.00,-61.60,0.000,6,0.000,0.000,110,2187,2968,0,0,0,0,0,0
$GC,82,-0.70,-117.3,0.0,-0.0,0,103,10.30,2.40,-4.43,0.000,4,0.221,0.070,2676,3685,3218,0,0,0,0,0,0
$GC,132,-0.67,-117.3,21.3,-17.6,0,137,0.10,2.35,0.00,0.000,6,0.157,0.042,2702,2175,3220,0,0,0,0,0,0
$GC,384,-0.65,-117.3,58.8,-14.8,3,388,0.00,2.33,0.00,0.000,4,0.000,0.049,2702,664,3223,0,0,0,0,0,0
$GC,468,-0.65,-117.3,70.9,-14.1,3,472,0.00,2.28,0.00,0.000,6,0.000,0.047,2694,2148,3223,0,0,0,0,0,0
$GC,688,-0.65,-117.3,100.4,-13.6,6,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2148,3224,0,0,0,0,0,0
$GC,987,-0.65,-117.3,137.2,-12.8,7,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2148,3223,0,0,0,0,0,0
$GC,1287,-0.65,-117.3,166.9,-11.7,8,1291,0.00,2.30,0.00,0.000,4,0.000,0.050,2693,666,3224,0,0,0,0,0,0
$GC,1331,-0.65,-117.3,171.7,-10.7,8,1336,0.00,2.30,0.00,0.000,6,0.000,0.048,2683,2155,3223,0,0,0,0,0,0
$GC,1924,-0.65,-117.3,241.1,-12.6,10,1929,0.00,2.33,0.00,0.000,4,0.000,0.050,2682,667,3223,0,0,0,0,0,0
$GC,1965,-0.65,-117.3,246.1,-12.7,10,1969,0.15,2.33,0.00,0.000,6,0.145,0.048,2715,2159,3223,0,0,0,0,0,0
$STATE,2028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2029,begin apogee
$GC,2037,-0.22,0.0,253.2,9.8,10,2139,0.38,0.00,96.85,0.731,6,0.109,0.000,2845,2050,2735,0,0,0,0,0,0
$STATE,2140,end apogee,CONTROL_FINISHED_OK
$STATE,2140,begin climb
$GC,2144,0.70,117.3,257.7,0.0,10,2248,0.82,0.00,99.55,0.710,6,0.073,0.000,3141,2050,2256,0,0,0,0,0,0
$GC,2536,0.68,117.3,228.6,8.9,12,2541,0.00,2.42,0.00,0.000,4,0.000,0.056,3141,3581,2248,0,0,0,0,0,0
$GC,2576,0.66,117.3,224.6,10.6,12,2580,0.00,2.35,0.00,0.000,6,0.000,0.042,3152,2066,2246,0,0,0,0,0,0
$GC,3163,0.64,117.3,169.0,9.6,14,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2064,2244,0,0,0,0,0,0
$GC,3464,0.63,117.3,142.0,9.3,15,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2063,2244,0,0,0,0,0,0
$GC,3764,0.62,117.3,117.3,9.0,16,3769,0.12,2.42,0.00,0.000,4,0.161,0.057,3118,3581,2244,0,0,0,0,0,0
$GC,3819,0.62,117.3,112.8,7.1,16,3823,0.00,2.35,0.00,0.000,6,0.000,0.043,3127,2056,2242,0,0,0,0,0,0
$GC,4189,0.62,117.3,90.1,6.7,18,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2054,2242,0,0,0,0,0,0
$GC,4390,0.62,117.3,78.5,6.1,20,4394,0.00,2.33,0.00,0.000,4,0.000,0.052,3138,550,2242,0,0,0,0,0,0
$GC,4503,0.63,147.7,73.5,3.9,21,4532,0.00,2.35,24.35,0.615,6,0.000,0.045,3138,2075,2132,0,0,0,0,0,0
$GC,4809,0.64,163.4,58.5,5.0,24,4829,0.00,2.42,13.95,0.588,4,0.000,0.058,3139,3573,2069,0,0,0,0,0,0
$GC,4910,0.64,163.4,51.0,7.0,24,4914,0.00,2.30,0.00,0.000,6,0.000,0.043,3149,2086,2065,0,0,0,0,0,0
$GC,5117,0.65,170.8,39.6,5.6,26,5131,0.00,2.47,7.62,0.533,4,0.000,0.052,3161,548,2036,0,0,0,0,0,0
$GC,5195,0.65,180.5,35.4,5.4,26,5210,0.12,2.38,9.30,0.548,6,0.144,0.045,3126,2086,1999,0,0,0,0,0,0
$GC,5431,0.69,199.8,24.3,4.7,29,5455,0.00,2.50,17.25,0.577,4,0.000,0.052,3134,544,1919,0,0,0,0,0,0
$GC,5506,0.72,199.8,19.6,6.9,29,5510,0.00,2.38,0.00,0.000,6,0.000,0.045,3135,2074,1916,0,0,0,0,0,0
$GC,5737,0.76,219.9,8.7,4.7,32,5761,0.00,2.45,17.27,0.566,4,0.000,0.057,3134,3580,1838,0,0,0,0,0,0
$GC,5779,0.80,244.1,6.8,4.4,32,5806,0.10,2.35,21.15,0.562,6,0.097,0.043,3197,2062,1739,0,0,0,0,0,0
$STATE,5831,end climb,SURFACE_DEPTH_REACHED
$STATE,5831,begin surface coast
$FINISH,3.4,NaN
$STATE,5839,end surface coast,CONTROL_FINISHED_OK
$STATE,5839,begin surface
$SM_CCo,5860,51.83,0.556,1,0,1409,325.02
$SM_GC,2.31,0.00,0.00,51.83,0.000,0.000,0.556,109,2189,1409,-8.79,0.40,325.02
$IRIDIUM_FIX,4732.49,-12510.28,030911,020212
$TT8_MAMPS,0.027713
$HUMID,41.73
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.8,81.689
$10V_AH,9.9,83.302
$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,20.400,52.400,307.300,51.825,0.000,26.622,33.535,121.422,0.000,0.000,33.576,299.325,4565.504,393.734,791.826,188.134,33.364,781.551,0.000,592.890,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,81.090,731.340,556.155,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297772
$DATA_FILE_SIZE,331,33
$CAP_FILE_SIZE,59093,0
$CFSIZE,260165632,157376512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030911,064004,4751.466,-12511.501,23,3.5,42,18.7