version: 66.07
glider: 187
mission: 4
dive: 725
start: 9 4 111 1 55 0
data:
$ID,187
$MISSION,4
$DIVE,725
$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,-1585657.2
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,040911,014852,4751.636,-12512.007,17,2.3,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-77.8
$GPS2,040911,015406,4751.589,-12512.103,15,1.6,31,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.019,0.104
$KALMAN_X,382584.2,-122.2,-336.2,-388282.2,689.1
$KALMAN_Y,-797494.1,-163.6,433.7,806627.6,-963.5
$MHEAD_RNG_PITCHd_Wd,351.9,940,-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,-30.0,0.0,0.0,0,75,0.00,0.00,-57.70,0.000,6,0.000,0.000,112,2176,2858,0,0,0,0,0,0
$GC,79,-0.90,-55.3,2.4,-2.7,1,93,10.15,0.00,-1.98,0.000,6,0.225,0.000,2627,2172,2962,0,0,0,0,0,0
$GC,288,-0.88,-55.3,46.8,-16.3,3,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2172,2967,0,0,0,0,0,0
$GC,486,-0.86,-55.3,77.1,-15.6,5,490,0.00,2.38,0.00,0.000,4,0.000,0.055,2618,3687,2968,0,0,0,0,0,0
$GC,514,-0.85,-55.3,81.7,-16.7,5,518,0.00,2.35,0.00,0.000,6,0.000,0.041,2617,2162,2968,0,0,0,0,0,0
$GC,990,-0.84,-55.3,146.5,-13.4,8,995,0.12,2.33,0.00,0.000,4,0.169,0.048,2649,664,2970,0,0,0,0,0,0
$GC,1056,-0.84,-55.3,154.9,-11.4,8,1061,0.00,2.33,0.00,0.000,6,0.000,0.047,2641,2177,2969,0,0,0,0,0,0
$STATE,1613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1613,begin apogee
$GC,1620,-0.22,0.0,222.3,12.2,10,1671,0.65,0.00,48.30,0.697,6,0.129,0.000,2845,2048,2735,0,0,0,0,0,0
$STATE,1672,end apogee,CONTROL_FINISHED_OK
$STATE,1672,begin climb
$GC,1674,0.90,55.3,222.3,0.0,10,1729,1.00,2.53,47.33,0.683,4,0.073,0.054,3206,3573,2508,0,0,0,0,0,0
$GC,1763,0.88,65.5,222.9,4.7,10,1778,0.00,2.35,9.93,0.609,6,0.000,0.039,3218,2062,2468,0,0,0,0,0,0
$GC,2301,0.86,65.5,185.4,6.9,12,2305,0.00,2.42,0.00,0.000,4,0.000,0.056,3218,3581,2463,0,0,0,0,0,0
$GC,2491,0.83,65.5,172.0,6.8,12,2496,0.15,2.30,0.00,0.000,6,0.183,0.041,3192,2074,2460,0,0,0,0,0,0
$GC,2930,0.83,65.5,144.2,6.5,14,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2070,2460,0,0,0,0,0,0
$GC,3227,0.83,67.9,129.6,5.8,15,3231,0.00,2.35,0.00,0.000,4,0.000,0.050,3202,544,2459,0,0,0,0,0,0
$GC,3334,0.84,84.6,125.5,3.8,15,3357,0.00,2.33,16.58,0.627,6,0.000,0.044,3202,2081,2389,0,0,0,0,0,0
$GC,3856,0.84,84.6,89.4,7.2,17,3860,0.00,2.38,0.00,0.000,4,0.000,0.050,3213,545,2386,0,0,0,0,0,0
$GC,3902,0.85,87.1,86.6,5.8,17,3906,0.00,2.35,0.00,0.000,6,0.000,0.044,3214,2080,2387,0,0,0,0,0,0
$GC,4159,0.86,104.7,76.3,3.7,20,4183,0.00,2.45,17.85,0.606,4,0.000,0.050,3225,550,2308,0,0,0,0,0,0
$GC,4252,0.87,124.2,73.7,3.4,20,4277,0.00,2.22,17.83,0.601,6,0.000,0.043,3225,2015,2228,0,0,0,0,0,0
$GC,4484,0.87,124.2,58.0,8.4,23,4488,0.00,2.45,0.00,0.000,4,0.000,0.055,3225,3568,2225,0,0,0,0,0,0
$GC,4744,0.86,124.2,37.0,6.8,25,4749,0.15,2.45,0.00,0.000,6,0.174,0.041,3199,1980,2224,0,0,0,0,0,0
$GC,5013,0.88,136.4,24.9,4.5,28,5030,0.00,2.53,11.25,0.555,4,0.000,0.054,3199,3578,2178,0,0,0,0,0,0
$GC,5221,0.91,157.6,15.4,3.2,29,5245,0.00,2.42,19.35,0.571,6,0.000,0.041,3209,1991,2091,0,0,0,0,0,0
$GC,5446,0.96,200.2,12.7,0.3,32,5455,0.00,0.00,6.93,0.496,2,0.000,0.000,3209,1990,2062,0,0,0,0,0,0
$STATE,5456,end climb,NO_VERTICAL_VELOCITY
$STATE,5456,begin surface
$SM_CCo,5459,280.90,0.515,18,0,470,555.60
$SM_GC,1.71,8.10,0.00,0.00,0.031,0.000,0.000,127,2187,464,-8.62,0.34,557.08
$IRIDIUM_FIX,4732.49,-12512.13,040911,000040
$TT8_MAMPS,0.026964
$HUMID,41.96
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,24.0,82.457
$10V_AH,9.9,83.619
$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,20.325,43.350,195.325,280.900,0.000,26.799,34.140,120.876,0.250,0.000,32.730,311.598,4260.407,622.694,879.464,188.984,33.348,1013.661,0.000,681.005,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,73.440,696.915,514.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297804
$DATA_FILE_SIZE,332,32
$CAP_FILE_SIZE,57861,0
$CFSIZE,260165632,157044736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,18,0
$GPS,040911,033507,4751.763,-12511.831,27,1.5,27,18.7