version: 66.07
glider: 187
mission: 4
dive: 718
start: 9 3 111 12 34 2
data:
$ID,187
$MISSION,4
$DIVE,718
$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,-1585648.5
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,030911,122820,4751.841,-12511.414,9,1.9,9,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-77.6
$GPS2,030911,123308,4751.834,-12511.481,16,1.9,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.104,-0.021
$KALMAN_X,378759.8,182.2,-27.0,-384300.7,118.6
$KALMAN_Y,-793729.9,57.3,408.3,803121.1,-959.7
$MHEAD_RNG_PITCHd_Wd,239.8,989,-27.7,-6.111
$D_GRID,220
$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,-0.88,-30.0,0.0,0.0,0,60,0.00,0.00,-42.42,0.000,2,0.000,0.000,110,2158,2404,0,0,0,0,0,0
$GC,64,-0.90,-52.8,3.2,-3.0,0,93,10.05,2.50,-13.75,0.000,4,0.222,0.070,2612,3678,2953,0,0,0,0,0,0
$GC,346,-0.88,-52.8,55.8,-17.2,3,350,0.00,2.33,0.00,0.000,6,0.000,0.041,2611,2159,2956,0,0,0,0,0,0
$GC,543,-0.86,-52.8,88.7,-15.6,5,548,0.10,2.45,0.00,0.000,4,0.200,0.056,2626,3682,2957,0,0,0,0,0,0
$GC,606,-0.86,-52.8,98.2,-13.9,5,610,0.00,2.35,0.00,0.000,6,0.000,0.041,2626,2156,2957,0,0,0,0,0,0
$GC,951,-0.86,-52.8,144.3,-13.3,7,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2151,2958,0,0,0,0,0,0
$GC,1251,-0.86,-52.8,182.2,-13.0,8,1255,0.00,2.30,0.00,0.000,4,0.000,0.049,2626,665,2958,0,0,0,0,0,0
$GC,1336,-0.86,-52.8,192.7,-12.2,8,1341,0.00,2.30,0.00,0.000,6,0.000,0.047,2615,2156,2958,0,0,0,0,0,0
$STATE,1575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1575,begin apogee
$GC,1583,-0.22,0.0,220.5,12.1,8,1632,0.73,0.00,45.88,0.704,6,0.135,0.000,2844,2044,2734,0,0,0,0,0,0
$STATE,1633,end apogee,CONTROL_FINISHED_OK
$STATE,1633,begin climb
$GC,1636,0.90,52.8,221.8,0.0,9,1690,1.00,2.50,45.40,0.689,4,0.071,0.051,3208,3581,2517,0,0,0,0,0,0
$GC,1742,0.87,55.1,218.8,5.8,9,1746,0.00,2.38,0.00,0.000,6,0.000,0.039,3219,2064,2513,0,0,0,0,0,0
$GC,2269,0.86,58.6,187.4,5.6,11,2279,0.00,2.35,5.32,0.526,4,0.000,0.048,3231,551,2495,0,0,0,0,0,0
$GC,2414,0.84,60.0,178.6,5.9,11,2419,0.15,2.33,0.00,0.000,6,0.180,0.044,3194,2066,2494,0,0,0,0,0,0
$GC,2896,0.84,60.0,149.5,6.2,13,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2066,2493,0,0,0,0,0,0
$GC,3195,0.84,64.3,135.5,5.5,14,3206,0.00,2.38,6.07,0.540,4,0.000,0.052,3194,3583,2472,0,0,0,0,0,0
$GC,3269,0.82,64.3,131.5,6.2,14,3273,0.00,2.35,0.00,0.000,6,0.000,0.041,3203,2058,2471,0,0,0,0,0,0
$GC,3823,0.83,81.6,106.1,3.8,16,3844,0.00,2.40,16.25,0.625,4,0.000,0.054,3203,3576,2401,0,0,0,0,0,0
$GC,3908,0.82,89.2,102.8,5.1,16,3923,0.12,2.33,8.05,0.568,6,0.186,0.041,3185,2074,2370,0,0,0,0,0,0
$GC,4254,0.82,89.2,84.5,6.2,18,4259,0.00,2.38,0.00,0.000,4,0.000,0.055,3185,3572,2368,0,0,0,0,0,0
$GC,4300,0.82,89.2,81.4,7.1,18,4304,0.00,2.33,0.00,0.000,6,0.000,0.042,3194,2074,2367,0,0,0,0,0,0
$GC,4558,0.83,102.5,69.9,4.3,21,4577,0.00,2.45,12.32,0.592,4,0.000,0.055,3194,3578,2316,0,0,0,0,0,0
$GC,4658,0.83,102.7,64.3,6.1,21,4662,0.00,2.28,0.00,0.000,6,0.000,0.041,3205,2110,2314,0,0,0,0,0,0
$GC,4865,0.83,106.0,52.7,5.7,23,4871,0.00,0.00,4.40,0.451,6,0.000,0.000,3205,2108,2302,0,0,0,0,0,0
$GC,5066,0.84,118.6,46.0,4.4,25,5085,0.00,2.47,12.70,0.579,4,0.000,0.051,3217,552,2251,0,0,0,0,0,0
$GC,5293,0.84,128.3,33.9,4.8,27,5307,0.00,2.45,9.60,0.551,6,0.000,0.045,3217,2141,2210,0,0,0,0,0,0
$GC,5501,0.84,130.7,23.4,5.8,29,5505,0.00,2.47,0.00,0.000,4,0.000,0.050,3229,546,2209,0,0,0,0,0,0
$GC,5551,0.84,130.7,20.2,6.7,29,5556,0.15,2.42,0.00,0.000,6,0.166,0.045,3190,2119,2208,0,0,0,0,0,0
$GC,5804,0.88,155.0,12.3,2.8,32,5833,0.00,2.35,23.58,0.580,4,0.000,0.057,3190,3572,2101,0,0,0,0,0,0
$GC,5953,0.93,188.6,8.1,1.5,33,5987,0.00,2.25,28.25,0.573,6,0.000,0.042,3199,2121,1966,0,0,0,0,0,0
$GC,6226,1.00,224.7,5.0,1.2,36,6262,0.12,2.47,30.00,0.568,4,0.087,0.049,3272,549,1817,0,0,0,0,0,0
$STATE,6276,end climb,SURFACE_DEPTH_REACHED
$STATE,6276,begin surface coast
$FINISH,2.1,NaN
$STATE,6310,end surface coast,CONTROL_FINISHED_OK
$STATE,6310,begin surface
$SM_CCo,6331,64.78,0.499,2,0,1409,325.02
$SM_GC,1.98,0.00,0.00,64.78,0.000,0.000,0.499,111,2185,1409,-8.78,0.28,325.02
$IRIDIUM_FIX,4732.49,-12510.28,030911,101011
$TT8_MAMPS,0.026964
$HUMID,41.77
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,24.0,81.965
$10V_AH,9.9,83.416
$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,21.200,62.275,247.825,64.775,0.000,25.975,30.172,116.319,0.000,0.000,17.782,369.853,4742.940,362.956,1019.836,208.770,33.360,852.388,0.000,838.895,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,79.560,703.800,498.780,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297824
$DATA_FILE_SIZE,333,36
$CAP_FILE_SIZE,68823,0
$CFSIZE,260165632,157249536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030911,142236,4751.656,-12511.554,62,1.3,67,18.7