version: 66.07
glider: 187
mission: 4
dive: 742
start: 9 5 111 8 42 56
data:
$ID,187
$MISSION,4
$DIVE,742
$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,-1585678.5
$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,38
$R_STBD_OVSHOOT,32
$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
$GPS1,050911,083707,4751.391,-12511.468,37,1.8,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.0
$GPS2,050911,084202,4751.397,-12511.478,11,1.8,11,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.097,-0.043
$KALMAN_X,387972.1,-446.8,-12.0,-392895.8,472.8
$KALMAN_Y,-803457.1,-61.5,-21.6,812590.8,32.4
$MHEAD_RNG_PITCHd_Wd,227.5,181,-27.7,-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,-0.88,-30.0,0.0,0.0,0,76,0.00,0.00,-58.30,0.000,6,0.000,0.000,112,2142,2858,0,0,0,0,0,0
$GC,79,-0.91,-74.8,0.0,-0.0,0,99,10.10,2.50,-3.35,0.000,4,0.225,0.060,2608,3695,3043,0,0,0,0,0,0
$GC,233,-0.89,-74.8,41.3,-17.8,1,237,0.00,2.38,0.00,0.000,6,0.000,0.041,2608,2165,3046,0,0,0,0,0,0
$GC,496,-0.87,-74.8,90.2,-19.0,4,498,0.12,0.00,0.00,0.000,6,0.177,0.000,2640,2158,3048,0,0,0,0,0,0
$GC,897,-0.86,-74.8,143.9,-14.9,6,902,0.00,2.42,0.00,0.000,4,0.000,0.056,2630,3687,3050,0,0,0,0,0,0
$GC,926,-0.86,-74.8,147.7,-13.6,6,931,0.00,2.33,0.00,0.000,6,0.000,0.041,2629,2173,3049,0,0,0,0,0,0
$GC,1531,-0.86,-74.8,230.5,-13.9,8,1535,0.00,2.42,0.00,0.000,4,0.000,0.057,2618,3693,3049,0,0,0,0,0,0
$GC,1610,-0.86,-74.8,242.0,-14.6,8,1614,0.00,2.35,0.00,0.000,6,0.000,0.042,2618,2178,3049,0,0,0,0,0,0
$STATE,1685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1685,begin apogee
$GC,1692,-0.22,0.0,253.4,13.9,8,1760,0.70,0.00,63.08,0.722,6,0.131,0.000,2843,2051,2734,0,0,0,0,0,0
$STATE,1761,end apogee,CONTROL_FINISHED_OK
$STATE,1761,begin climb
$GC,1766,0.91,74.8,256.9,0.0,8,1837,1.02,2.50,64.20,0.706,4,0.071,0.051,3213,3579,2428,0,0,0,0,0,0
$GC,1869,0.88,74.8,251.5,9.6,9,1873,0.00,2.40,0.00,0.000,6,0.000,0.040,3225,2062,2425,0,0,0,0,0,0
$GC,2479,0.87,74.8,197.9,8.4,11,2483,0.00,2.40,0.00,0.000,4,0.000,0.054,3225,3576,2421,0,0,0,0,0,0
$GC,2616,0.84,74.8,185.4,9.3,11,2621,0.17,2.33,0.00,0.000,6,0.177,0.041,3191,2056,2418,0,0,0,0,0,0
$GC,3109,0.84,74.8,144.4,8.5,13,3113,0.00,2.40,0.00,0.000,4,0.000,0.056,3191,3574,2417,0,0,0,0,0,0
$GC,3268,0.82,74.8,129.7,8.9,13,3273,0.00,2.33,0.00,0.000,6,0.000,0.041,3201,2066,2416,0,0,0,0,0,0
$GC,3744,0.83,76.9,97.2,5.8,15,3748,0.00,2.38,0.00,0.000,4,0.000,0.056,3201,3581,2416,0,0,0,0,0,0
$GC,3897,0.82,93.6,89.9,3.8,16,3917,0.00,2.28,15.20,0.608,6,0.000,0.041,3212,2093,2353,0,0,0,0,0,0
$GC,4161,0.82,100.2,76.8,5.2,19,4175,0.00,2.42,7.12,0.541,4,0.000,0.054,3212,3583,2326,0,0,0,0,0,0
$GC,4431,0.81,105.9,56.8,5.3,21,4442,0.15,2.20,6.18,0.512,6,0.166,0.041,3184,2142,2303,0,0,0,0,0,0
$GC,4697,0.85,135.2,50.1,2.1,24,4729,0.00,2.50,26.17,0.604,4,0.000,0.049,3194,555,2183,0,0,0,0,0,0
$GC,4753,0.87,144.0,48.1,4.9,24,4767,0.00,2.45,9.07,0.541,6,0.000,0.045,3194,2134,2146,0,0,0,0,0,0
$GC,5004,0.89,144.0,32.3,6.3,27,5008,0.00,2.33,0.00,0.000,4,0.000,0.057,3194,3580,2143,0,0,0,0,0,0
$GC,5106,0.91,144.0,26.6,7.4,27,5111,0.00,2.20,0.00,0.000,6,0.000,0.041,3205,2168,2142,0,0,0,0,0,0
$GC,5314,0.92,144.0,12.7,6.8,30,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2165,2142,0,0,0,0,0,0
$GC,5515,0.96,169.2,15.5,2.7,32,5544,0.00,2.60,21.75,0.577,4,0.000,0.050,3217,559,2043,0,0,0,0,0,0
$GC,5798,1.02,211.7,11.8,0.3,34,5839,0.00,2.50,35.60,0.575,6,0.000,0.045,3217,2187,1870,0,0,0,0,0,0
$GC,6040,1.07,233.3,5.0,3.2,36,6060,0.12,0.00,17.12,0.545,2,0.088,0.000,3280,2187,1787,0,0,0,0,0,0
$STATE,6061,end climb,SURFACE_DEPTH_REACHED
$STATE,6061,begin surface coast
$FINISH,3.7,NaN
$STATE,6064,end surface coast,CONTROL_FINISHED_OK
$STATE,6064,begin surface
$SM_CCo,6085,56.65,0.532,2,0,1410,325.02
$SM_GC,1.50,0.00,0.00,56.65,0.000,0.000,0.532,110,2192,1410,-8.78,0.48,325.02
$IRIDIUM_FIX,4735.69,-12516.60,050911,060604
$TT8_MAMPS,0.026964
$HUMID,42.20
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.9,83.637
$10V_AH,9.9,84.091
$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,21.025,52.750,265.500,56.650,0.000,25.220,31.080,123.814,0.000,0.000,12.702,346.737,4560.530,367.624,977.889,201.496,33.345,833.406,0.000,796.298,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,80.325,722.160,532.440,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,36
$CAP_FILE_SIZE,64600,0
$CFSIZE,260165632,156545024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050911,084202,4751.397,-12511.478,901,99.0,901,18.7