version: 66.07
glider: 187
mission: 4
dive: 793
start: 9 9 111 10 19 34
data:
$ID,187
$MISSION,4
$DIVE,793
$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,-1586645.1
$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,39
$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
$GPS1,090911,101306,4751.404,-12511.166,70,1.3,70,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.8
$GPS2,090911,101840,4751.417,-12511.126,13,2.5,32,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.104,0.017
$KALMAN_X,386587.9,-401.3,154.0,-391289.5,-42.8
$KALMAN_Y,-792828.4,6.6,232.4,801674.4,-276.4
$MHEAD_RNG_PITCHd_Wd,260.5,491,-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,-59.67,0.000,6,0.000,0.000,116,2187,2858,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,100,10.20,2.40,-3.65,0.000,4,0.227,0.060,2607,3680,3043,0,0,0,0,0,0
$GC,113,-0.78,-74.8,16.9,-38.5,0,118,0.20,2.38,0.00,0.000,6,0.157,0.044,2661,2174,3045,0,0,0,0,0,0
$GC,387,-0.78,-74.8,61.9,-15.2,3,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2169,3048,0,0,0,0,0,0
$GC,588,-0.78,-74.8,91.3,-14.8,5,592,0.00,2.35,0.00,0.000,4,0.000,0.047,2661,647,3049,0,0,0,0,0,0
$GC,616,-0.78,-74.8,95.3,-14.5,5,620,0.00,2.38,0.00,0.000,6,0.000,0.046,2652,2185,3049,0,0,0,0,0,0
$GC,996,-0.78,-74.8,145.9,-13.5,7,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2185,3049,0,0,0,0,0,0
$GC,1295,-0.78,-74.8,184.5,-13.2,8,1299,0.00,2.40,0.00,0.000,4,0.000,0.057,2640,3694,3049,0,0,0,0,0,0
$GC,1323,-0.78,-74.8,188.2,-13.6,8,1327,0.00,2.33,0.00,0.000,6,0.000,0.042,2639,2193,3049,0,0,0,0,0,0
$STATE,1924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1924,begin apogee
$GC,1931,-0.22,0.0,264.4,12.1,10,1997,0.65,0.00,63.58,0.728,6,0.126,0.000,2846,2050,2734,0,0,0,0,0,0
$STATE,1998,end apogee,CONTROL_FINISHED_OK
$STATE,1998,begin climb
$GC,2001,0.91,74.8,264.4,0.0,10,2072,1.00,2.50,64.07,0.711,4,0.071,0.051,3207,3587,2429,0,0,0,0,0,0
$GC,2149,0.89,74.8,257.3,8.9,10,2153,0.00,2.38,0.00,0.000,6,0.000,0.040,3219,2066,2424,0,0,0,0,0,0
$GC,2624,0.88,74.8,219.8,7.9,12,2629,0.00,2.42,0.00,0.000,4,0.000,0.054,3219,3587,2421,0,0,0,0,0,0
$GC,2714,0.85,74.8,212.1,9.1,12,2719,0.12,2.38,0.00,0.000,6,0.181,0.041,3200,2058,2420,0,0,0,0,0,0
$GC,3250,0.85,74.8,173.9,7.2,14,3254,0.00,2.35,0.00,0.000,4,0.000,0.050,3209,550,2419,0,0,0,0,0,0
$GC,3300,0.85,74.8,170.3,7.2,14,3304,0.00,2.33,0.00,0.000,6,0.000,0.044,3209,2071,2419,0,0,0,0,0,0
$GC,3888,0.85,74.8,123.5,8.6,16,3892,0.00,2.38,0.00,0.000,4,0.000,0.054,3209,3581,2417,0,0,0,0,0,0
$GC,4146,0.84,74.8,106.9,7.4,16,4151,0.12,2.30,0.00,0.000,6,0.177,0.041,3190,2082,2416,0,0,0,0,0,0
$GC,4514,0.85,91.5,91.4,3.8,18,4533,0.00,2.45,13.38,0.604,4,0.000,0.050,3199,550,2362,0,0,0,0,0,0
$GC,4787,0.85,97.7,78.7,5.3,20,4801,0.00,2.30,7.00,0.539,6,0.000,0.044,3199,2060,2335,0,0,0,0,0,0
$GC,5050,0.86,117.2,69.1,3.5,23,5075,0.00,2.42,18.02,0.606,4,0.000,0.050,3211,553,2257,0,0,0,0,0,0
$GC,5330,0.88,122.5,53.9,5.4,25,5341,0.00,2.25,5.62,0.493,6,0.000,0.044,3211,2014,2235,0,0,0,0,0,0
$GC,5583,0.89,125.1,39.4,5.8,28,5592,0.00,2.35,3.53,0.386,4,0.000,0.050,3222,548,2225,0,0,0,0,0,0
$GC,5615,0.90,130.3,37.4,5.4,28,5626,0.00,2.15,6.62,0.510,6,0.000,0.044,3222,1962,2202,0,0,0,0,0,0
$GC,5892,0.91,133.5,21.7,5.7,31,5901,0.00,2.28,4.05,0.415,4,0.000,0.050,3232,548,2190,0,0,0,0,0,0
$GC,6157,0.95,173.5,14.3,0.7,33,6197,0.00,2.17,34.90,0.581,6,0.000,0.044,3232,1983,2027,0,0,0,0,0,0
$GC,6423,0.98,193.6,6.4,3.4,36,6447,0.00,2.33,17.17,0.553,4,0.000,0.050,3243,549,1945,0,0,0,0,0,0
$STATE,6474,end climb,SURFACE_DEPTH_REACHED
$STATE,6474,begin surface coast
$FINISH,3.5,NaN
$STATE,6480,end surface coast,CONTROL_FINISHED_OK
$STATE,6480,begin surface
$SM_CCo,6503,78.03,0.535,3,0,1410,325.02
$SM_GC,2.07,0.00,0.00,78.03,0.000,0.000,0.535,115,2175,1410,-8.77,-0.03,325.02
$IRIDIUM_FIX,4735.69,-12513.98,090911,080830
$TT8_MAMPS,0.027713
$HUMID,42.75
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.8,87.101
$10V_AH,9.9,85.597
$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,20.825,56.675,237.950,78.025,0.000,25.422,32.187,132.438,0.000,0.000,33.797,354.386,4959.117,398.046,1024.324,202.355,33.352,851.038,0.000,806.976,0.000,0.535,0.000
$DEVICE_MAMPS,227.205,72.675,727.515,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297808
$DATA_FILE_SIZE,334,36
$CAP_FILE_SIZE,64282,0
$CFSIZE,260165632,154968064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,090911,121054,4751.130,-12511.773,27,0.9,45,18.7