version: 66.07
glider: 187
mission: 4
dive: 745
start: 9 5 111 14 46 26
data:
$ID,187
$MISSION,4
$DIVE,745
$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,-1586585.1
$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,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
$GPS1,050911,144036,4751.679,-12511.572,46,1.1,52,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-78.6
$GPS2,050911,144532,4751.648,-12511.542,15,1.5,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.036,-0.100
$KALMAN_X,388332.7,-13.7,-103.5,-393677.0,362.0
$KALMAN_Y,-803501.3,564.2,79.0,812369.2,160.8
$MHEAD_RNG_PITCHd_Wd,181.0,650,-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,-30.0,0.0,0.0,0,75,0.00,0.00,-57.35,0.000,6,0.000,0.000,112,2194,2858,0,0,0,0,0,0
$GC,78,-0.91,-74.8,0.0,-0.0,0,98,10.00,2.42,-3.45,0.000,4,0.222,0.069,2609,3672,3043,0,0,0,0,0,0
$GC,350,-0.89,-74.8,62.0,-16.1,2,354,0.00,2.33,0.00,0.000,6,0.000,0.040,2608,2164,3046,0,0,0,0,0,0
$GC,608,-0.88,-74.8,104.1,-16.1,5,613,0.00,2.42,0.00,0.000,4,0.000,0.055,2597,3681,3047,0,0,0,0,0,0
$GC,740,-0.86,-74.8,124.6,-14.4,5,744,0.15,2.30,0.00,0.000,6,0.158,0.041,2636,2189,3048,0,0,0,0,0,0
$GC,1238,-0.86,-74.8,190.5,-13.2,7,1242,0.00,2.38,0.00,0.000,4,0.000,0.049,2636,664,3048,0,0,0,0,0,0
$GC,1270,-0.86,-74.8,195.5,-14.4,7,1275,0.00,2.33,0.00,0.000,6,0.000,0.047,2627,2188,3048,0,0,0,0,0,0
$STATE,1867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1867,begin apogee
$GC,1876,-0.22,0.0,274.2,13.0,9,1942,0.70,0.00,63.62,0.739,6,0.128,0.000,2847,2045,2734,0,0,0,0,0,0
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1943,begin climb
$GC,1946,0.91,74.8,274.2,0.0,9,2017,1.00,2.42,64.05,0.721,4,0.071,0.047,3221,550,2431,0,0,0,0,0,0
$GC,2077,0.90,74.8,270.4,9.1,9,2081,0.00,2.35,0.00,0.000,6,0.000,0.043,3221,2063,2426,0,0,0,0,0,0
$GC,2575,0.88,74.8,227.4,8.4,11,2579,0.00,2.40,0.00,0.000,4,0.000,0.055,3221,3579,2422,0,0,0,0,0,0
$GC,2833,0.85,74.8,202.6,9.8,11,2837,0.15,2.30,0.00,0.000,6,0.177,0.041,3194,2079,2420,0,0,0,0,0,0
$GC,3202,0.85,74.8,173.8,7.7,13,3206,0.00,2.35,0.00,0.000,4,0.000,0.054,3194,3576,2419,0,0,0,0,0,0
$GC,3371,0.84,74.8,159.3,8.1,13,3375,0.00,2.28,0.00,0.000,6,0.000,0.041,3204,2109,2418,0,0,0,0,0,0
$GC,3832,0.84,74.8,126.1,7.0,15,3836,0.00,2.33,0.00,0.000,4,0.000,0.057,3203,3577,2418,0,0,0,0,0,0
$GC,3876,0.82,74.8,122.6,7.9,15,3881,0.12,2.25,0.00,0.000,6,0.181,0.042,3184,2115,2417,0,0,0,0,0,0
$GC,4468,0.82,82.0,91.3,5.1,17,4479,0.00,2.35,5.53,0.509,4,0.000,0.054,3184,3580,2400,0,0,0,0,0,0
$GC,4615,0.83,89.5,84.3,5.1,18,4629,0.00,2.22,8.18,0.565,6,0.000,0.042,3193,2123,2369,0,0,0,0,0,0
$GC,4888,0.84,106.3,73.3,3.8,21,4909,0.00,2.30,16.12,0.605,4,0.000,0.055,3193,3571,2300,0,0,0,0,0,0
$GC,4954,0.84,110.3,70.3,5.6,21,4963,0.00,2.17,4.72,0.467,6,0.000,0.042,3204,2163,2284,0,0,0,0,0,0
$GC,5196,0.84,117.9,58.2,5.1,24,5206,0.00,0.00,8.18,0.549,6,0.000,0.000,3204,2161,2253,0,0,0,0,0,0
$GC,5402,0.85,122.0,47.3,5.6,26,5412,0.00,2.28,4.78,0.461,4,0.000,0.055,3204,3580,2237,0,0,0,0,0,0
$GC,5487,0.85,129.6,43.0,5.1,26,5501,0.00,2.17,8.38,0.543,6,0.000,0.041,3215,2158,2205,0,0,0,0,0,0
$GC,5709,0.85,130.1,29.5,6.0,29,5713,0.00,2.50,0.00,0.000,4,0.000,0.050,3227,545,2203,0,0,0,0,0,0
$GC,5905,0.88,159.4,19.7,2.1,30,5938,0.00,2.45,26.33,0.588,6,0.000,0.044,3227,2140,2085,0,0,0,0,0,0
$GC,6136,0.91,180.6,12.3,3.2,33,6160,0.00,2.55,18.42,0.568,4,0.000,0.050,3239,553,1997,0,0,0,0,0,0
$GC,6196,0.94,205.2,11.1,2.8,33,6225,0.00,2.50,21.60,0.565,6,0.000,0.045,3239,2159,1897,0,0,0,0,0,0
$GC,6445,1.00,238.5,7.0,1.6,36,6479,0.00,2.30,27.75,0.564,4,0.000,0.055,3239,3579,1761,0,0,0,0,0,0
$GC,6515,1.03,248.2,4.3,4.8,36,6519,0.00,2.05,0.00,0.000,3,0.000,0.041,3249,2246,1757,0,0,0,0,0,0
$STATE,6520,end climb,SURFACE_DEPTH_REACHED
$STATE,6520,begin surface coast
$FINISH,3.4,NaN
$STATE,6524,end surface coast,CONTROL_FINISHED_OK
$STATE,6524,begin surface
$SM_CCo,6543,55.25,0.536,2,0,1410,325.02
$SM_GC,2.31,0.00,0.00,55.25,0.000,0.000,0.536,108,2164,1410,-8.79,-0.31,325.02
$IRIDIUM_FIX,4738.89,-12506.88,050911,121206
$TT8_MAMPS,0.026964
$HUMID,42.47
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,23.9,83.850
$10V_AH,9.9,84.203
$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,20.625,61.000,277.650,55.250,0.000,25.420,32.993,121.569,0.250,0.000,15.897,380.303,4846.597,394.891,1081.229,211.636,33.354,900.348,0.000,893.690,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,97.920,738.990,536.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,36
$CAP_FILE_SIZE,69702,0
$CFSIZE,260165632,156446720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050911,163802,4751.542,-12511.569,46,1.9,46,18.7