version: 66.07
glider: 187
mission: 4
dive: 752
start: 9 6 111 4 17 50
data:
$ID,187
$MISSION,4
$DIVE,752
$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,-1586593.9
$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,36
$R_STBD_OVSHOOT,45
$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
$GPS1,060911,041156,4751.313,-12511.083,83,3.6,102,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-78.6
$GPS2,060911,041656,4751.322,-12511.109,16,1.2,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.121,-0.150
$KALMAN_X,389526.2,-381.9,-154.8,-393918.1,542.0
$KALMAN_Y,-799478.7,-658.5,299.4,808751.9,1200.7
$MHEAD_RNG_PITCHd_Wd,200.1,463,-14.3,-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,-0.51,-107.4,0.0,0.0,0,82,0.00,0.00,-64.57,0.000,6,0.000,0.000,111,2187,3174,0,0,0,0,0,0
$GC,85,-0.52,-117.3,0.0,-0.0,0,99,10.68,0.00,-0.65,0.000,6,0.223,0.000,2748,2187,3216,0,0,0,0,0,0
$GC,219,-0.47,-117.3,36.7,-12.5,2,224,0.00,2.40,0.00,0.000,4,0.000,0.049,2748,663,3221,0,0,0,0,0,0
$GC,350,-0.46,-117.3,49.0,-8.7,3,355,0.12,2.33,0.00,0.000,6,0.138,0.047,2777,2173,3221,0,0,0,0,0,0
$GC,637,-0.46,-117.3,71.7,-7.8,6,641,0.00,2.35,0.00,0.000,4,0.000,0.049,2776,663,3223,0,0,0,0,0,0
$GC,671,-0.46,-117.3,74.8,-9.4,6,675,0.00,2.33,0.00,0.000,6,0.000,0.047,2773,2175,3223,0,0,0,0,0,0
$GC,945,-0.46,-117.3,98.9,-8.6,9,949,0.00,2.38,0.00,0.000,4,0.000,0.050,2772,655,3223,0,0,0,0,0,0
$GC,960,-0.46,-117.3,100.2,-8.1,9,965,0.00,2.35,0.00,0.000,6,0.000,0.048,2768,2168,3223,0,0,0,0,0,0
$GC,1353,-0.46,-117.3,123.7,-5.7,11,1357,0.00,2.42,0.00,0.000,4,0.000,0.060,2758,3693,3223,0,0,0,0,0,0
$GC,1409,-0.48,-117.3,127.0,-5.7,11,1414,0.00,2.38,0.00,0.000,6,0.000,0.043,2757,2155,3223,0,0,0,0,0,0
$GC,1986,-0.48,-117.3,166.6,-6.9,13,1990,0.00,2.35,0.00,0.000,4,0.000,0.050,2757,664,3222,0,0,0,0,0,0
$GC,2041,-0.48,-117.3,170.7,-6.8,13,2045,0.00,2.33,0.00,0.000,6,0.000,0.047,2749,2166,3222,0,0,0,0,0,0
$GC,2611,-0.48,-117.3,211.1,-6.9,15,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2166,3222,0,0,0,0,0,0
$GC,2911,-0.48,-117.3,234.0,-7.2,16,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2166,3222,0,0,0,0,0,0
$STATE,3209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3209,begin apogee
$GC,3216,-0.22,0.0,256.4,7.3,17,3316,0.30,0.00,97.72,0.737,6,0.104,0.000,2850,2055,2735,0,0,0,0,0,0
$STATE,3317,end apogee,CONTROL_FINISHED_OK
$STATE,3317,begin climb
$GC,3322,0.52,117.3,256.4,0.0,17,3433,0.65,2.60,100.45,0.716,4,0.072,0.057,3084,3582,2254,0,0,0,0,0,0
$GC,3452,0.53,175.6,260.2,3.9,17,3507,0.00,2.45,48.88,0.702,6,0.000,0.042,3096,2064,2018,0,0,0,0,0,0
$GC,3943,0.53,175.6,220.3,8.7,19,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2064,2007,0,0,0,0,0,0
$GC,4244,0.53,175.6,196.3,8.4,20,4248,0.00,2.42,0.00,0.000,4,0.000,0.058,3096,3578,2006,0,0,0,0,0,0
$GC,4273,0.52,175.6,193.8,10.1,20,4277,0.00,2.38,0.00,0.000,6,0.000,0.044,3106,2064,2005,0,0,0,0,0,0
$GC,4879,0.50,175.6,139.1,8.9,22,4883,0.00,2.38,0.00,0.000,4,0.000,0.054,3118,544,2004,0,0,0,0,0,0
$GC,4906,0.50,175.6,136.7,8.3,22,4911,0.12,2.33,0.00,0.000,6,0.138,0.047,3081,2068,2004,0,0,0,0,0,0
$GC,5512,0.50,175.6,96.8,6.8,24,5516,0.00,2.40,0.00,0.000,4,0.000,0.057,3081,3580,2003,0,0,0,0,0,0
$GC,5567,0.50,175.6,92.0,8.0,24,5571,0.00,2.35,0.00,0.000,6,0.000,0.044,3086,2060,2002,0,0,0,0,0,0
$GC,5813,0.50,175.6,74.3,7.2,27,5817,0.00,2.38,0.00,0.000,4,0.000,0.054,3097,544,2002,0,0,0,0,0,0
$GC,5877,0.52,175.6,70.0,7.3,27,5881,0.00,2.35,0.00,0.000,6,0.000,0.047,3096,2066,2002,0,0,0,0,0,0
$GC,6123,0.53,193.5,56.2,5.4,30,6142,0.00,2.45,13.65,0.585,4,0.000,0.058,3097,3569,1946,0,0,0,0,0,0
$GC,6161,0.55,234.8,54.6,4.5,30,6202,0.00,2.38,35.97,0.609,6,0.000,0.044,3105,2053,1776,0,0,0,0,0,0
$GC,6429,0.57,239.5,39.3,5.9,33,6438,0.00,2.40,4.15,0.421,4,0.000,0.053,3111,550,1758,0,0,0,0,0,0
$GC,6483,0.59,239.5,35.5,6.9,33,6488,0.00,2.30,0.00,0.000,6,0.000,0.046,3111,2046,1757,0,0,0,0,0,0
$GC,6738,0.62,259.6,21.4,5.3,36,6763,0.00,2.47,18.15,0.575,4,0.000,0.058,3112,3571,1675,0,0,0,0,0,0
$GC,6780,0.66,289.1,19.4,5.0,36,6810,0.00,2.38,25.08,0.575,6,0.000,0.044,3111,2055,1556,0,0,0,0,0,0
$GC,7045,0.71,307.2,5.9,5.4,39,7066,0.10,2.38,15.45,0.551,4,0.101,0.052,3163,547,1481,0,0,0,0,0,0
$STATE,7091,end climb,SURFACE_DEPTH_REACHED
$STATE,7091,begin surface coast
$FINISH,3.5,NaN
$STATE,7099,end surface coast,CONTROL_FINISHED_OK
$STATE,7099,begin surface
$SM_CCo,7120,12.48,0.467,1,0,1409,325.02
$SM_GC,1.87,0.00,0.00,12.48,0.000,0.000,0.467,111,2181,1409,-8.78,0.17,325.02
$IRIDIUM_FIX,4735.69,-12507.66,060911,010118
$TT8_MAMPS,0.027713
$HUMID,43.97
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.8,84.333
$10V_AH,9.9,84.406
$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,19.975,67.100,359.500,12.475,0.000,24.899,30.350,125.382,0.000,0.000,17.164,346.750,5552.434,426.133,908.891,210.448,33.343,870.477,0.000,724.551,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,80.325,736.695,466.650,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297808
$DATA_FILE_SIZE,333,39
$CAP_FILE_SIZE,66518,0
$CFSIZE,260165632,156229632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060911,061902,4751.007,-12511.367,92,1.4,92,18.7