version: 66.07
glider: 187
mission: 4
dive: 738
start: 9 5 111 1 4 56
data:
$ID,187
$MISSION,4
$DIVE,738
$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,-1585673.5
$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,43
$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
$GPS1,050911,005901,4751.826,-12511.462,36,1.9,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.4
$GPS2,050911,010402,4751.765,-12511.422,17,1.5,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.100,-0.034
$KALMAN_X,387142.0,-313.7,-210.7,-391931.4,619.5
$KALMAN_Y,-802894.3,-21.0,52.5,812594.4,-627.0
$MHEAD_RNG_PITCHd_Wd,232.8,864,-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,-30.0,0.0,0.0,0,76,0.00,0.00,-58.30,0.000,6,0.000,0.000,119,2191,2858,0,0,0,0,0,0
$GC,79,-0.91,-74.8,0.0,-0.0,0,99,10.02,2.40,-3.55,0.000,4,0.223,0.066,2609,3678,3042,0,0,0,0,0,0
$GC,250,-0.89,-74.8,42.2,-18.7,1,254,0.00,2.33,0.00,0.000,6,0.000,0.040,2608,2168,3045,0,0,0,0,0,0
$GC,496,-0.87,-74.8,85.6,-17.8,4,501,0.12,2.40,0.00,0.000,4,0.174,0.055,2631,3677,3047,0,0,0,0,0,0
$GC,577,-0.87,-74.8,97.5,-15.0,4,581,0.00,2.28,0.00,0.000,6,0.000,0.041,2630,2194,3047,0,0,0,0,0,0
$GC,906,-0.87,-74.8,145.3,-14.5,6,910,0.00,2.35,0.00,0.000,4,0.000,0.048,2629,667,3048,0,0,0,0,0,0
$GC,955,-0.87,-74.8,152.3,-13.6,6,960,0.00,2.33,0.00,0.000,6,0.000,0.046,2620,2181,3048,0,0,0,0,0,0
$STATE,1529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1530,begin apogee
$GC,1536,-0.22,0.0,233.1,13.9,8,1603,0.73,0.00,63.35,0.708,6,0.127,0.000,2847,2051,2734,0,0,0,0,0,0
$STATE,1603,end apogee,CONTROL_FINISHED_OK
$STATE,1604,begin climb
$GC,1606,0.91,74.8,233.1,0.0,8,1677,1.00,2.47,63.78,0.692,4,0.071,0.053,3209,3580,2430,0,0,0,0,0,0
$GC,1749,0.89,74.8,226.9,9.7,8,1753,0.00,2.38,0.00,0.000,6,0.000,0.040,3221,2061,2424,0,0,0,0,0,0
$GC,2229,0.87,74.8,182.3,9.2,10,2233,0.00,2.35,0.00,0.000,4,0.000,0.050,3233,547,2422,0,0,0,0,0,0
$GC,2285,0.85,74.8,177.6,8.4,10,2290,0.15,2.33,0.00,0.000,6,0.176,0.044,3194,2064,2421,0,0,0,0,0,0
$GC,2860,0.85,74.8,133.9,7.6,12,2864,0.00,2.38,0.00,0.000,4,0.000,0.054,3195,3579,2419,0,0,0,0,0,0
$GC,3041,0.84,74.8,120.2,7.5,12,3045,0.00,2.30,0.00,0.000,6,0.000,0.041,3204,2072,2417,0,0,0,0,0,0
$GC,3496,0.84,75.9,93.2,6.0,14,3500,0.00,2.35,0.00,0.000,4,0.000,0.050,3216,541,2417,0,0,0,0,0,0
$GC,3621,0.84,75.9,85.8,6.6,15,3625,0.00,2.33,0.00,0.000,6,0.000,0.044,3216,2055,2416,0,0,0,0,0,0
$GC,3912,0.86,104.5,77.6,2.2,18,3941,0.00,2.42,24.33,0.615,4,0.000,0.056,3216,3578,2308,0,0,0,0,0,0
$GC,4155,0.85,107.5,65.9,5.7,20,4160,0.12,2.38,0.00,0.000,6,0.178,0.041,3197,2050,2304,0,0,0,0,0,0
$GC,4443,0.86,111.7,50.4,5.5,23,4457,0.00,2.50,7.18,0.521,4,0.000,0.054,3197,3583,2279,0,0,0,0,0,0
$GC,4648,0.88,137.7,42.7,2.6,24,4678,0.00,2.33,23.58,0.595,6,0.000,0.041,3206,2080,2172,0,0,0,0,0,0
$GC,4875,0.89,137.7,28.0,7.4,27,4879,0.00,2.38,0.00,0.000,4,0.000,0.057,3206,3570,2169,0,0,0,0,0,0
$GC,4964,0.89,137.7,21.1,6.9,27,4968,0.00,2.28,0.00,0.000,6,0.000,0.042,3217,2107,2167,0,0,0,0,0,0
$GC,5182,0.90,142.8,9.3,5.4,30,5192,0.00,2.45,5.07,0.458,4,0.000,0.051,3229,540,2152,0,0,0,0,0,0
$GC,5217,0.94,172.1,8.6,2.1,30,5247,0.00,2.40,25.75,0.574,6,0.000,0.045,3229,2103,2033,0,0,0,0,0,0
$GC,5486,0.99,216.7,7.6,0.0,33,5505,0.00,0.00,16.88,0.558,2,0.000,0.000,3229,2103,1952,0,0,0,0,0,0
$STATE,5505,end climb,NO_VERTICAL_VELOCITY
$STATE,5506,begin surface
$SM_CCo,5511,226.68,0.525,10,0,469,555.60
$SM_GC,1.60,8.10,0.00,0.00,0.029,0.000,0.000,135,2178,463,-8.60,0.11,557.32
$IRIDIUM_FIX,4735.69,-12509.51,040911,232322
$TT8_MAMPS,0.026964
$HUMID,42.20
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.9,83.379
$10V_AH,9.9,83.975
$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,20.250,52.350,229.900,226.675,0.000,26.686,30.012,125.680,0.000,0.000,18.646,329.298,4194.272,566.516,920.092,193.707,33.341,984.943,0.000,734.014,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,101.745,708.390,524.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297808
$DATA_FILE_SIZE,332,33
$CAP_FILE_SIZE,60479,0
$CFSIZE,260165632,156672000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$GPS,050911,024431,4751.548,-12511.602,42,1.9,42,18.7