version: 66.07
glider: 187
mission: 4
dive: 722
start: 9 3 111 20 18 56
data:
$ID,187
$MISSION,4
$DIVE,722
$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,-1585653.5
$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,46
$R_STBD_OVSHOOT,40
$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
$GPS1,030911,201300,4751.194,-12511.631,44,0.9,60,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-78.5
$GPS2,030911,201802,4751.167,-12511.567,16,1.7,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.071,0.156
$KALMAN_X,381560.1,72.9,128.6,-387255.2,696.2
$KALMAN_Y,-796056.5,648.7,-255.3,804291.4,-1047.4
$MHEAD_RNG_PITCHd_Wd,316.8,269,-16.5,-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,-0.57,-82.3,0.0,0.0,0,82,0.00,0.00,-64.47,0.000,6,0.000,0.000,116,2181,3072,0,0,0,0,0,0
$GC,85,-0.59,-117.3,0.0,-0.0,0,105,10.60,2.40,-2.42,0.000,4,0.228,0.058,2718,670,3218,0,0,0,0,0,0
$GC,267,-0.57,-117.3,45.0,-12.7,1,272,0.00,2.30,0.00,0.000,6,0.000,0.046,2708,2166,3221,0,0,0,0,0,0
$GC,503,-0.53,-117.3,75.9,-13.2,4,505,0.12,0.00,0.00,0.000,6,0.153,0.000,2745,2166,3222,0,0,0,0,0,0
$GC,704,-0.52,-117.3,93.6,-10.9,6,708,0.00,2.30,0.00,0.000,4,0.000,0.048,2744,674,3223,0,0,0,0,0,0
$GC,750,-0.53,-117.3,97.3,-8.5,6,753,0.00,2.33,0.00,0.000,6,0.000,0.047,2737,2183,3223,0,0,0,0,0,0
$GC,1118,-0.53,-117.3,129.3,-8.7,8,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2182,3223,0,0,0,0,0,0
$GC,1418,-0.53,-117.3,155.0,-8.7,9,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2183,3223,0,0,0,0,0,0
$GC,1718,-0.53,-117.3,180.9,-8.6,10,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2182,3222,0,0,0,0,0,0
$GC,2021,-0.53,-117.3,203.3,-8.4,11,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2182,3222,0,0,0,0,0,0
$GC,2320,-0.53,-117.3,229.4,-8.3,12,2324,0.00,2.38,0.00,0.000,4,0.000,0.050,2737,672,3221,0,0,0,0,0,0
$GC,2347,-0.53,-117.3,232.2,-10.3,12,2351,0.00,2.33,0.00,0.000,6,0.000,0.049,2730,2166,3221,0,0,0,0,0,0
$STATE,2574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2574,begin apogee
$GC,2582,-0.22,0.0,253.2,8.5,12,2682,0.32,0.00,97.00,0.724,6,0.109,0.000,2842,2053,2735,0,0,0,0,0,0
$STATE,2683,end apogee,CONTROL_FINISHED_OK
$STATE,2683,begin climb
$GC,2686,0.59,117.3,256.6,0.0,13,2796,0.73,2.42,99.57,0.705,4,0.073,0.049,3114,560,2256,0,0,0,0,0,0
$GC,2830,0.58,117.3,252.4,7.2,13,2834,0.00,2.38,0.00,0.000,6,0.000,0.046,3114,2068,2252,0,0,0,0,0,0
$GC,3305,0.56,117.3,217.3,7.5,15,3309,0.00,2.40,0.00,0.000,4,0.000,0.057,3114,3583,2246,0,0,0,0,0,0
$GC,3428,0.53,117.3,205.9,9.8,15,3433,0.12,2.35,0.00,0.000,6,0.154,0.043,3092,2076,2244,0,0,0,0,0,0
$GC,3930,0.53,117.3,173.1,6.2,17,3934,0.00,2.40,0.00,0.000,4,0.000,0.057,3091,3584,2243,0,0,0,0,0,0
$GC,3982,0.52,117.3,169.6,7.0,17,3986,0.00,2.38,0.00,0.000,6,0.000,0.043,3100,2056,2243,0,0,0,0,0,0
$GC,4557,0.52,117.3,132.9,6.2,19,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2054,2242,0,0,0,0,0,0
$GC,4857,0.52,117.3,114.7,6.1,20,4861,0.00,2.35,0.00,0.000,4,0.000,0.053,3111,546,2242,0,0,0,0,0,0
$GC,4948,0.52,117.3,108.6,6.6,20,4952,0.00,2.35,0.00,0.000,6,0.000,0.047,3111,2071,2241,0,0,0,0,0,0
$GC,5290,0.52,123.2,88.5,5.8,22,5299,0.00,2.45,3.72,0.412,4,0.000,0.057,3111,3574,2231,0,0,0,0,0,0
$GC,5352,0.50,123.2,84.4,7.3,22,5357,0.15,2.35,0.00,0.000,6,0.145,0.043,3078,2065,2231,0,0,0,0,0,0
$GC,5598,0.51,132.2,70.1,5.7,25,5613,0.00,2.45,9.62,0.565,4,0.000,0.059,3078,3575,2195,0,0,0,0,0,0
$GC,5629,0.51,132.2,68.1,6.3,25,5633,0.00,2.33,0.00,0.000,6,0.000,0.043,3085,2081,2194,0,0,0,0,0,0
$GC,5900,0.52,146.7,53.6,5.4,28,5919,0.00,2.47,13.62,0.580,4,0.000,0.054,3096,545,2136,0,0,0,0,0,0
$GC,6097,0.56,189.9,45.0,4.0,29,6141,0.00,2.33,37.05,0.601,6,0.000,0.046,3096,2050,1960,0,0,0,0,0,0
$GC,6333,0.59,197.2,32.2,5.7,32,6346,0.00,2.42,6.55,0.498,4,0.000,0.056,3097,3570,1930,0,0,0,0,0,0
$GC,6387,0.61,197.2,28.7,6.7,32,6392,0.00,2.38,0.00,0.000,6,0.000,0.043,3101,2051,1929,0,0,0,0,0,0
$GC,6640,0.64,216.8,15.7,5.1,35,6665,0.00,2.42,17.62,0.565,4,0.000,0.053,3110,546,1850,0,0,0,0,0,0
$GC,6730,0.67,219.2,11.3,6.0,35,6734,0.00,2.33,0.00,0.000,6,0.000,0.046,3110,2044,1847,0,0,0,0,0,0
$STATE,6946,end climb,SURFACE_DEPTH_REACHED
$STATE,6946,begin surface coast
$FINISH,1.3,NaN
$STATE,7047,end surface coast,CONTROL_FINISHED_OK
$STATE,7047,begin surface
$SM_CCo,7065,67.50,0.496,3,0,1410,325.02
$SM_GC,1.71,0.00,0.00,67.50,0.000,0.000,0.496,111,2198,1410,-8.78,0.65,325.02
$IRIDIUM_FIX,4738.89,-12518.46,030911,181802
$TT8_MAMPS,0.027713
$HUMID,41.92
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.8,82.234
$10V_AH,9.9,83.537
$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,19.850,57.325,284.775,67.500,0.000,28.534,36.867,116.637,0.000,0.000,17.387,345.682,5572.432,414.756,928.361,196.232,33.352,862.647,0.000,739.581,0.000,0.535,0.000
$DEVICE_MAMPS,227.970,79.560,724.455,495.720,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297796
$DATA_FILE_SIZE,334,39
$CAP_FILE_SIZE,65270,0
$CFSIZE,260165632,157122560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030911,222004,4751.450,-12511.997,60,2.1,79,18.7