version: 66.07
glider: 187
mission: 4
dive: 790
start: 9 9 111 4 42 48
data:
$ID,187
$MISSION,4
$DIVE,790
$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,-1586641.4
$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,42
$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
$GPS1,090911,043246,4751.626,-12511.316,13,2.9,32,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-77.3
$GPS2,090911,044151,4751.513,-12511.264,11,4.1,30,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.100,-0.035
$KALMAN_X,386773.8,-274.0,-161.5,-391455.2,49.2
$KALMAN_Y,-793051.4,127.6,-35.6,802228.8,-283.2
$MHEAD_RNG_PITCHd_Wd,231.7,478,-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,-30.0,0.0,0.0,0,77,0.00,0.00,-59.95,0.000,6,0.000,0.000,121,2196,2860,0,0,0,0,0,0
$GC,81,-0.91,-74.8,0.0,-0.0,0,100,10.12,2.38,-3.65,0.000,4,0.224,0.066,2613,3668,3043,0,0,0,0,0,0
$GC,254,-0.90,-74.8,44.1,-18.1,1,258,0.00,2.30,0.00,0.000,6,0.000,0.041,2612,2179,3047,0,0,0,0,0,0
$GC,500,-0.88,-74.8,89.0,-18.1,4,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2174,3049,0,0,0,0,0,0
$GC,902,-0.87,-74.8,156.9,-17.1,6,906,0.00,2.38,0.00,0.000,4,0.000,0.057,2602,3672,3049,0,0,0,0,0,0
$GC,957,-0.87,-74.8,165.9,-15.5,6,962,0.15,2.33,0.00,0.000,6,0.154,0.041,2642,2169,3050,0,0,0,0,0,0
$GC,1527,-0.87,-74.8,237.3,-12.6,8,1531,0.00,2.33,0.00,0.000,4,0.000,0.049,2641,668,3050,0,0,0,0,0,0
$GC,1556,-0.87,-74.8,241.1,-13.4,8,1560,0.00,2.30,0.00,0.000,6,0.000,0.047,2632,2152,3050,0,0,0,0,0,0
$STATE,1637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1637,begin apogee
$GC,1644,-0.22,0.0,253.1,12.4,8,1711,0.65,0.00,62.90,0.719,6,0.129,0.000,2842,2052,2734,0,0,0,0,0,0
$STATE,1711,end apogee,CONTROL_FINISHED_OK
$STATE,1711,begin climb
$GC,1716,0.91,74.8,256.0,0.0,8,1785,1.02,0.00,64.05,0.703,6,0.077,0.000,3208,2053,2429,0,0,0,0,0,0
$GC,2144,0.91,74.8,219.9,9.4,10,2148,0.00,2.35,0.00,0.000,4,0.000,0.049,3219,550,2422,0,0,0,0,0,0
$GC,2201,0.91,74.8,214.7,9.4,10,2206,0.00,2.33,0.00,0.000,6,0.000,0.044,3219,2058,2422,0,0,0,0,0,0
$GC,2772,0.91,74.8,169.6,7.3,12,2776,0.00,2.38,0.00,0.000,4,0.000,0.055,3219,3583,2419,0,0,0,0,0,0
$GC,2915,0.89,74.8,158.8,7.8,12,2920,0.00,2.35,0.00,0.000,6,0.000,0.041,3230,2061,2417,0,0,0,0,0,0
$GC,3404,0.87,74.8,116.3,9.2,14,3408,0.00,2.33,0.00,0.000,4,0.000,0.050,3242,553,2417,0,0,0,0,0,0
$GC,3482,0.86,74.8,109.8,7.6,14,3487,0.17,2.30,0.00,0.000,6,0.166,0.044,3196,2054,2416,0,0,0,0,0,0
$GC,3832,0.87,101.9,94.0,2.4,16,3861,0.00,2.47,22.25,0.622,4,0.000,0.054,3196,3577,2318,0,0,0,0,0,0
$GC,3907,0.88,118.2,91.8,3.9,16,3927,0.00,2.35,15.45,0.601,6,0.000,0.042,3206,2074,2253,0,0,0,0,0,0
$GC,4136,0.88,118.2,74.5,7.8,19,4141,0.00,2.40,0.00,0.000,4,0.000,0.050,3217,548,2250,0,0,0,0,0,0
$GC,4254,0.88,118.2,66.4,6.5,20,4258,0.00,2.30,0.00,0.000,6,0.000,0.044,3217,2045,2249,0,0,0,0,0,0
$GC,4452,0.88,119.7,54.6,5.9,22,4456,0.00,2.35,0.00,0.000,4,0.000,0.050,3228,545,2248,0,0,0,0,0,0
$GC,4468,0.88,122.3,53.8,5.8,22,4477,0.00,2.28,4.00,0.424,6,0.000,0.044,3229,2024,2236,0,0,0,0,0,0
$GC,4758,0.88,122.8,35.6,6.0,25,4762,0.00,2.42,0.00,0.000,4,0.000,0.054,3228,3570,2235,0,0,0,0,0,0
$GC,5017,0.90,143.3,23.7,3.3,27,5042,0.12,2.33,19.58,0.578,6,0.173,0.041,3209,2049,2149,0,0,0,0,0,0
$GC,5294,0.93,162.2,14.2,3.5,30,5318,0.00,2.50,16.75,0.565,4,0.000,0.054,3208,3580,2072,0,0,0,0,0,0
$GC,5363,0.94,162.2,10.4,6.4,30,5367,0.00,2.38,0.00,0.000,6,0.000,0.041,3218,2060,2070,0,0,0,0,0,0
$GC,5600,1.00,201.1,7.7,0.8,33,5635,0.00,0.00,33.12,0.572,6,0.000,0.000,3218,2056,1914,0,0,0,0,0,0
$STATE,5796,end climb,SURFACE_DEPTH_REACHED
$STATE,5796,begin surface coast
$FINISH,0.8,NaN
$STATE,5998,end surface coast,CONTROL_FINISHED_OK
$STATE,5998,begin surface
$SM_CCo,6018,70.93,0.499,2,0,1409,325.02
$SM_GC,1.82,0.00,0.00,70.93,0.000,0.000,0.499,110,2186,1409,-8.78,0.31,325.02
$IRIDIUM_FIX,4732.49,-12507.66,090911,040431
$TT8_MAMPS,0.026964
$HUMID,42.75
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.9,86.907
$10V_AH,9.9,85.512
$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,20.250,52.100,238.100,70.925,0.000,54.347,64.274,220.547,0.000,0.000,31.943,335.043,4647.606,372.334,1071.587,227.469,33.354,799.269,0.000,731.465,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,85.680,719.100,498.780,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,37
$CAP_FILE_SIZE,64499,0
$CFSIZE,260165632,155054080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,090911,062607,4751.417,-12511.893,60,0.9,60,18.7