version: 66.07
glider: 187
mission: 4
dive: 743
start: 9 5 111 10 47 8
data:
$ID,187
$MISSION,4
$DIVE,743
$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,-1586582.6
$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,44
$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
$GPS1,050911,084202,4751.397,-12511.478,901,99.0,901,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.9
$GPS2,050911,104614,4751.120,-12511.751,13,1.8,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.068,0.081
$KALMAN_X,388429.2,-409.7,-45.1,-393697.4,734.4
$KALMAN_Y,-803948.9,279.2,-33.4,812244.8,-138.6
$MHEAD_RNG_PITCHd_Wd,301.1,473,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.88,-30.0,0.0,0.0,0,65,0.00,0.00,-47.55,0.000,2,0.000,0.000,110,2193,2550,0,0,0,0,0,0
$GC,69,-0.89,-38.3,3.4,-5.0,0,94,10.12,2.42,-7.75,0.000,4,0.221,0.059,2627,669,2894,0,0,0,0,0,0
$GC,176,-0.86,-38.3,25.6,-17.1,1,180,0.00,2.33,0.00,0.000,6,0.000,0.045,2618,2182,2896,0,0,0,0,0,0
$GC,405,-0.84,-38.3,59.1,-14.4,4,410,0.12,2.40,0.00,0.000,4,0.177,0.054,2640,3694,2898,0,0,0,0,0,0
$GC,440,-0.83,-38.3,63.8,-13.5,4,444,0.00,2.33,0.00,0.000,6,0.000,0.039,2639,2178,2898,0,0,0,0,0,0
$GC,710,-0.83,-38.3,94.7,-11.6,7,714,0.00,2.30,0.00,0.000,4,0.000,0.047,2638,667,2898,0,0,0,0,0,0
$GC,782,-0.83,-38.3,103.2,-10.4,7,786,0.00,2.28,0.00,0.000,6,0.000,0.045,2629,2165,2898,0,0,0,0,0,0
$GC,1116,-0.83,-38.3,142.2,-11.8,9,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2165,2898,0,0,0,0,0,0
$GC,1418,-0.83,-38.3,174.9,-11.4,10,1422,0.00,2.42,0.00,0.000,4,0.000,0.057,2617,3694,2898,0,0,0,0,0,0
$GC,1462,-0.83,-38.3,180.1,-11.2,10,1467,0.12,2.35,0.00,0.000,6,0.161,0.041,2648,2164,2898,0,0,0,0,0,0
$GC,2056,-0.83,-38.3,239.5,-10.3,12,2060,0.00,2.33,0.00,0.000,4,0.000,0.048,2648,660,2897,0,0,0,0,0,0
$GC,2123,-0.83,-38.3,247.2,-11.2,12,2127,0.00,2.33,0.00,0.000,6,0.000,0.047,2639,2166,2897,0,0,0,0,0,0
$STATE,2176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2176,begin apogee
$GC,2184,-0.22,0.0,253.3,11.8,12,2224,0.62,0.00,33.95,0.716,6,0.129,0.000,2841,2054,2734,0,0,0,0,0,0
$STATE,2224,end apogee,CONTROL_FINISHED_OK
$STATE,2224,begin climb
$GC,2227,0.89,38.3,255.8,0.0,12,2266,1.00,0.00,33.60,0.705,6,0.072,0.000,3207,2054,2577,0,0,0,0,0,0
$GC,2681,0.89,60.1,241.2,3.1,14,2706,0.00,2.47,19.08,0.689,4,0.000,0.055,3206,3574,2488,0,0,0,0,0,0
$GC,2751,0.86,60.1,237.5,6.6,14,2755,0.00,2.35,0.00,0.000,6,0.000,0.041,3218,2068,2486,0,0,0,0,0,0
$GC,3309,0.84,60.1,198.4,7.2,16,3313,0.00,2.40,0.00,0.000,4,0.000,0.055,3218,3577,2484,0,0,0,0,0,0
$GC,3536,0.82,60.1,179.7,8.0,16,3540,0.17,2.30,0.00,0.000,6,0.176,0.041,3184,2070,2482,0,0,0,0,0,0
$GC,3943,0.82,62.3,155.8,5.8,18,3947,0.00,2.38,0.00,0.000,4,0.000,0.055,3184,3580,2482,0,0,0,0,0,0
$GC,4000,0.80,64.1,152.4,5.9,18,4004,0.00,2.35,0.00,0.000,6,0.000,0.041,3194,2063,2481,0,0,0,0,0,0
$GC,4571,0.81,73.4,123.8,4.8,20,4590,0.00,2.47,11.73,0.617,4,0.000,0.057,3194,3576,2434,0,0,0,0,0,0
$GC,4666,0.79,73.4,117.6,7.1,20,4670,0.00,2.35,0.00,0.000,6,0.000,0.041,3205,2060,2433,0,0,0,0,0,0
$GC,5204,0.80,82.4,88.1,4.9,22,5219,0.00,2.47,8.98,0.580,4,0.000,0.056,3205,3580,2398,0,0,0,0,0,0
$GC,5473,0.79,90.5,73.4,5.0,24,5488,0.15,2.30,8.82,0.570,6,0.169,0.041,3178,2077,2364,0,0,0,0,0,0
$GC,5745,0.81,110.6,64.2,3.4,27,5769,0.00,2.42,18.25,0.607,4,0.000,0.050,3188,557,2284,0,0,0,0,0,0
$GC,6024,0.84,133.0,51.9,3.1,29,6049,0.00,2.33,20.00,0.599,6,0.000,0.045,3188,2066,2192,0,0,0,0,0,0
$GC,6274,0.86,135.1,38.1,5.8,32,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2066,2189,0,0,0,0,0,0
$GC,6477,0.89,137.8,27.1,5.7,34,6487,0.00,2.38,5.32,0.475,4,0.000,0.054,3188,3572,2172,0,0,0,0,0,0
$GC,6639,0.90,137.8,18.1,6.1,35,6643,0.00,2.35,0.00,0.000,6,0.000,0.042,3199,2063,2170,0,0,0,0,0,0
$GC,6893,0.94,169.9,13.3,1.7,38,6927,0.00,2.45,28.08,0.581,4,0.000,0.057,3199,3562,2040,0,0,0,0,0,0
$GC,7048,0.98,184.1,8.0,4.2,39,7067,0.00,2.50,12.65,0.547,6,0.000,0.042,3211,1961,1983,0,0,0,0,0,0
$STATE,7312,end climb,NO_VERTICAL_VELOCITY
$STATE,7312,begin surface
$SM_CCo,7317,218.77,0.532,8,0,469,555.60
$SM_GC,1.50,8.07,0.00,0.00,0.030,0.000,0.000,128,2186,464,-8.61,0.31,557.08
$IRIDIUM_FIX,4732.49,-12507.66,050911,080846
$TT8_MAMPS,0.026964
$HUMID,41.69
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,24.0,83.716
$10V_AH,9.9,84.145
$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,20.400,62.225,200.450,218.775,0.000,27.504,33.362,129.187,0.000,0.000,14.413,398.286,5766.639,497.429,1129.142,209.763,33.347,1029.974,0.000,928.487,0.000,0.537,0.000
$DEVICE_MAMPS,221.085,79.560,716.040,531.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297816
$DATA_FILE_SIZE,333,42
$CAP_FILE_SIZE,73654,0
$CFSIZE,260165632,156504064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,050911,125622,4751.605,-12512.192,10,3.8,29,18.7