version: 66.07
glider: 187
mission: 4
dive: 798
start: 9 9 111 20 2 26
data:
$ID,187
$MISSION,4
$DIVE,798
$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,-1586651.4
$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,45
$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
$GPS1,090911,195631,4751.326,-12511.762,13,1.7,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.9
$GPS2,090911,200132,4751.264,-12511.768,14,1.5,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.091,0.082
$KALMAN_X,385066.2,371.3,157.9,-391340.8,-396.6
$KALMAN_Y,-794215.5,117.3,416.9,802489.5,-618.3
$MHEAD_RNG_PITCHd_Wd,29.2,363,-23.9,-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,-0.77,-40.3,0.0,0.0,0,115,0.00,0.00,-97.05,0.000,6,0.000,0.000,120,2171,2901,0,0,0,0,0,0
$GC,118,-0.80,-86.3,1.6,-1.4,1,138,10.23,2.40,-3.50,0.000,4,0.225,0.057,2653,668,3090,0,0,0,0,0,0
$GC,237,-0.78,-86.3,35.7,-18.4,2,241,0.00,2.33,0.00,0.000,6,0.000,0.045,2644,2182,3093,0,0,0,0,0,0
$GC,439,-0.76,-86.3,71.1,-16.5,4,441,0.12,0.00,0.00,0.000,6,0.174,0.000,2677,2182,3094,0,0,0,0,0,0
$GC,640,-0.74,-86.3,96.9,-14.2,6,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2182,3094,0,0,0,0,0,0
$GC,1043,-0.74,-86.3,143.8,-12.0,8,1047,0.00,2.35,0.00,0.000,4,0.000,0.048,2677,666,3095,0,0,0,0,0,0
$GC,1233,-0.74,-86.3,167.2,-12.8,8,1237,0.00,2.33,0.00,0.000,6,0.000,0.046,2669,2170,3095,0,0,0,0,0,0
$GC,1672,-0.74,-86.3,215.7,-10.9,10,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2170,3095,0,0,0,0,0,0
$GC,1969,-0.74,-86.3,247.5,-10.7,11,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2170,3094,0,0,0,0,0,0
$STATE,2267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2267,begin apogee
$GC,2274,-0.22,0.0,281.6,10.9,12,2349,0.55,0.00,72.95,0.738,6,0.117,0.000,2846,2059,2734,0,0,0,0,0,0
$STATE,2350,end apogee,CONTROL_FINISHED_OK
$STATE,2350,begin climb
$GC,2353,0.80,86.3,281.6,0.0,12,2431,0.93,0.00,75.18,0.721,6,0.070,0.000,3175,2059,2383,0,0,0,0,0,0
$GC,2572,0.83,146.4,269.7,-0.0,13,2631,0.00,2.50,51.20,0.705,4,0.000,0.053,3175,3582,2137,0,0,0,0,0,0
$GC,2673,0.82,146.4,259.3,13.0,13,2678,0.00,2.42,0.00,0.000,6,0.000,0.042,3186,2071,2132,0,0,0,0,0,0
$GC,3199,0.82,146.4,188.2,13.4,15,3203,0.00,2.38,0.00,0.000,4,0.000,0.055,3186,3574,2127,0,0,0,0,0,0
$GC,3238,0.80,146.4,182.5,14.8,15,3242,0.00,2.35,0.00,0.000,6,0.000,0.043,3198,2064,2126,0,0,0,0,0,0
$GC,3825,0.80,146.4,104.8,12.7,17,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2063,2124,0,0,0,0,0,0
$GC,4125,0.80,146.4,74.3,11.6,18,4130,0.00,2.40,0.00,0.000,4,0.000,0.051,3209,545,2123,0,0,0,0,0,0
$GC,4155,0.80,146.4,71.5,9.9,18,4159,0.00,2.33,0.00,0.000,6,0.000,0.045,3209,2067,2124,0,0,0,0,0,0
$GC,4436,0.80,146.4,46.7,8.4,21,4440,0.00,2.38,0.00,0.000,4,0.000,0.055,3209,3583,2123,0,0,0,0,0,0
$GC,4547,0.79,146.4,37.6,8.1,22,4552,0.17,2.33,0.00,0.000,6,0.154,0.042,3173,2081,2122,0,0,0,0,0,0
$GC,4753,0.81,148.2,25.3,5.9,24,4758,0.00,2.38,0.00,0.000,4,0.000,0.056,3173,3580,2122,0,0,0,0,0,0
$GC,4787,0.83,156.6,23.3,5.3,24,4802,0.00,2.33,7.47,0.514,6,0.000,0.043,3182,2078,2096,0,0,0,0,0,0
$GC,5062,0.87,184.7,13.9,3.2,27,5092,0.00,2.42,24.90,0.572,4,0.000,0.051,3193,549,1980,0,0,0,0,0,0
$GC,5217,0.93,237.8,11.8,0.7,28,5266,0.00,2.28,44.25,0.571,6,0.000,0.044,3192,2024,1765,0,0,0,0,0,0
$STATE,5472,end climb,SURFACE_DEPTH_REACHED
$STATE,5472,begin surface coast
$FINISH,0.8,NaN
$STATE,5573,end surface coast,CONTROL_FINISHED_OK
$STATE,5573,begin surface
$SM_CCo,5591,49.45,0.467,2,0,1409,325.02
$SM_GC,1.61,0.00,0.00,49.45,0.000,0.000,0.467,136,2193,1409,-8.69,0.51,325.02
$IRIDIUM_FIX,4732.49,-12507.66,090911,171752
$TT8_MAMPS,0.027713
$HUMID,43.34
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.8,87.455
$10V_AH,9.9,85.737
$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,19.950,38.250,275.950,49.450,0.000,26.438,31.693,124.231,0.000,0.000,15.778,269.810,4375.305,436.975,690.044,189.270,33.344,750.132,0.000,517.137,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,79.560,738.225,466.650,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,32
$CAP_FILE_SIZE,49163,0
$CFSIZE,260165632,154832896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090911,213752,4751.505,-12511.177,14,2.2,33,18.7