version: 66.07
glider: 187
mission: 4
dive: 778
start: 9 8 111 5 40 26
data:
$ID,187
$MISSION,4
$DIVE,778
$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,-1586626.4
$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,47
$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
$GPS1,080911,053314,4751.393,-12511.085,7,1.9,8,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.3
$GPS2,080911,053932,4751.348,-12511.065,15,2.0,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.020,-0.104
$KALMAN_X,387780.4,-150.4,-109.4,-392391.7,-467.6
$KALMAN_Y,-790691.8,-145.0,354.6,799441.9,164.1
$MHEAD_RNG_PITCHd_Wd,172.1,523,-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,-30.0,0.0,0.0,0,78,0.00,0.00,-59.72,0.000,6,0.000,0.000,106,2187,2858,0,0,0,0,0,0
$GC,81,-0.90,-55.9,2.3,-2.6,1,101,10.15,2.45,-2.15,0.000,4,0.224,0.067,2613,3679,2967,0,0,0,0,0,0
$GC,308,-0.88,-55.9,54.2,-18.3,3,313,0.00,2.33,0.00,0.000,6,0.000,0.041,2612,2169,2970,0,0,0,0,0,0
$GC,511,-0.86,-55.9,86.9,-15.8,5,515,0.00,2.33,0.00,0.000,4,0.000,0.049,2612,657,2972,0,0,0,0,0,0
$GC,625,-0.85,-55.9,105.5,-15.0,6,630,0.15,2.28,0.00,0.000,6,0.166,0.046,2641,2145,2972,0,0,0,0,0,0
$GC,1141,-0.85,-55.9,169.5,-11.9,8,1145,0.00,2.45,0.00,0.000,4,0.000,0.057,2632,3693,2973,0,0,0,0,0,0
$GC,1190,-0.85,-55.9,176.1,-12.3,8,1195,0.00,2.38,0.00,0.000,6,0.000,0.042,2631,2165,2973,0,0,0,0,0,0
$GC,1769,-0.85,-55.9,247.1,-12.0,10,1773,0.00,2.42,0.00,0.000,4,0.000,0.057,2620,3691,2973,0,0,0,0,0,0
$STATE,1810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1810,begin apogee
$GC,1819,-0.22,0.0,253.6,15.0,10,1873,0.70,0.00,48.70,0.724,6,0.133,0.000,2842,2059,2734,0,0,0,0,0,0
$STATE,1874,end apogee,CONTROL_FINISHED_OK
$STATE,1874,begin climb
$GC,1879,0.90,55.9,257.1,0.0,10,1932,1.00,0.00,47.88,0.708,6,0.070,0.000,3207,2058,2507,0,0,0,0,0,0
$GC,2404,0.89,55.9,228.1,6.1,12,2408,0.00,2.40,0.00,0.000,4,0.000,0.055,3207,3586,2501,0,0,0,0,0,0
$GC,2662,0.86,55.9,211.4,7.1,12,2666,0.00,2.35,0.00,0.000,6,0.000,0.041,3218,2053,2498,0,0,0,0,0,0
$GC,3032,0.85,55.9,187.2,6.6,14,3036,0.00,2.42,0.00,0.000,4,0.000,0.054,3218,3583,2498,0,0,0,0,0,0
$GC,3239,0.82,55.9,172.4,6.8,14,3244,0.17,2.35,0.00,0.000,6,0.174,0.041,3185,2054,2496,0,0,0,0,0,0
$GC,3661,0.82,66.1,151.6,4.7,16,3676,0.00,2.40,8.62,0.598,4,0.000,0.050,3194,552,2465,0,0,0,0,0,0
$GC,3705,0.83,76.4,149.4,4.7,16,3721,0.00,2.33,10.70,0.615,6,0.000,0.045,3194,2073,2423,0,0,0,0,0,0
$GC,4292,0.83,76.4,112.2,6.2,18,4296,0.00,2.35,0.00,0.000,4,0.000,0.055,3194,3579,2420,0,0,0,0,0,0
$GC,4550,0.83,95.5,101.1,3.5,18,4574,0.00,2.33,17.80,0.625,6,0.000,0.041,3205,2062,2344,0,0,0,0,0,0
$GC,4922,0.83,97.7,80.6,5.8,22,4927,0.00,2.40,0.00,0.000,4,0.000,0.056,3205,3572,2341,0,0,0,0,0,0
$GC,4947,0.83,101.1,79.3,5.6,22,4957,0.00,2.35,5.62,0.511,6,0.000,0.042,3217,2059,2323,0,0,0,0,0,0
$GC,5226,0.83,102.0,62.8,6.0,25,5231,0.00,2.35,0.00,0.000,4,0.000,0.050,3228,552,2321,0,0,0,0,0,0
$GC,5484,0.85,136.1,56.4,1.5,27,5521,0.12,2.30,30.98,0.613,6,0.172,0.044,3197,2052,2180,0,0,0,0,0,0
$GC,5754,0.87,136.1,40.7,6.5,30,5758,0.00,2.35,0.00,0.000,4,0.000,0.050,3206,545,2176,0,0,0,0,0,0
$GC,6012,0.90,148.2,24.1,4.5,32,6028,0.00,2.30,11.25,0.555,6,0.000,0.044,3206,2053,2130,0,0,0,0,0,0
$GC,6284,0.93,166.0,13.9,3.7,35,6306,0.00,2.40,16.12,0.568,4,0.000,0.054,3206,3577,2057,0,0,0,0,0,0
$GC,6387,0.96,186.3,10.4,3.3,35,6411,0.00,2.28,17.90,0.564,6,0.000,0.042,3218,2099,1976,0,0,0,0,0,0
$STATE,6603,end climb,SURFACE_DEPTH_REACHED
$STATE,6603,begin surface coast
$FINISH,0.9,NaN
$STATE,6701,end surface coast,CONTROL_FINISHED_OK
$STATE,6701,begin surface
$SM_CCo,6720,84.03,0.501,4,0,1409,325.02
$SM_GC,2.19,0.00,0.00,84.03,0.000,0.000,0.501,115,2184,1409,-8.77,0.25,325.02
$IRIDIUM_FIX,4732.49,-12505.04,080911,030316
$TT8_MAMPS,0.026964
$HUMID,42.12
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.9,86.108
$10V_AH,9.9,85.162
$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,20.300,56.950,215.575,84.025,0.000,27.269,32.081,176.278,0.000,0.000,16.209,388.583,5012.649,364.058,1226.805,216.820,33.344,896.295,0.000,959.833,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,106.335,723.690,501.075,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,39
$CAP_FILE_SIZE,69351,0
$CFSIZE,260165632,155435008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,080911,073557,4751.196,-12511.180,48,2.1,67,18.7