version: 66.07
glider: 187
mission: 4
dive: 753
start: 9 6 111 6 24 56
data:
$ID,187
$MISSION,4
$DIVE,753
$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,-1586595.1
$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,35
$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
$GPS1,060911,061902,4751.007,-12511.367,92,1.4,92,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-78.7
$GPS2,060911,062402,4751.022,-12511.367,15,1.6,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.102,-0.027
$KALMAN_X,389997.8,-464.8,144.1,-394923.8,694.7
$KALMAN_Y,-799042.4,-432.8,306.3,807531.2,732.8
$MHEAD_RNG_PITCHd_Wd,236.4,533,-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,-30.0,0.0,0.0,0,61,0.00,0.00,-43.45,0.000,2,0.000,0.000,111,2181,2432,0,0,0,0,0,0
$GC,65,-0.89,-46.8,3.1,-3.8,1,94,10.15,2.47,-11.85,0.000,4,0.226,0.067,2610,3694,2928,0,0,0,0,0,0
$GC,347,-0.87,-46.8,57.2,-16.8,3,351,0.00,2.35,0.00,0.000,6,0.000,0.041,2610,2162,2933,0,0,0,0,0,0
$GC,593,-0.85,-46.8,98.6,-16.6,6,598,0.12,2.45,0.00,0.000,4,0.176,0.057,2632,3687,2933,0,0,0,0,0,0
$GC,611,-0.83,-46.8,101.4,-16.5,6,616,0.00,2.38,0.00,0.000,6,0.000,0.042,2631,2161,2933,0,0,0,0,0,0
$GC,996,-0.83,-46.8,149.1,-11.9,8,1000,0.00,2.42,0.00,0.000,4,0.000,0.057,2620,3687,2933,0,0,0,0,0,0
$GC,1036,-0.83,-46.8,154.2,-13.0,8,1041,0.12,2.38,0.00,0.000,6,0.166,0.042,2651,2151,2933,0,0,0,0,0,0
$GC,1623,-0.83,-46.8,218.3,-10.5,10,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2145,2933,0,0,0,0,0,0
$GC,1925,-0.83,-46.8,247.9,-10.2,11,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2145,2933,0,0,0,0,0,0
$STATE,2221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2222,begin apogee
$GC,2228,-0.22,0.0,278.3,10.1,12,2273,0.60,0.00,41.62,0.741,6,0.125,0.000,2844,2044,2735,0,0,0,0,0,0
$STATE,2274,end apogee,CONTROL_FINISHED_OK
$STATE,2274,begin climb
$GC,2276,0.89,46.8,278.3,0.0,12,2326,1.00,2.45,40.70,0.724,4,0.072,0.049,3218,555,2544,0,0,0,0,0,0
$GC,2369,0.88,53.0,277.1,5.3,12,2382,0.00,2.35,6.55,0.586,6,0.000,0.043,3218,2064,2519,0,0,0,0,0,0
$GC,2911,0.87,58.0,247.0,5.4,14,2922,0.00,2.38,5.57,0.565,4,0.000,0.052,3218,3573,2497,0,0,0,0,0,0
$GC,3175,0.84,58.0,228.1,7.9,14,3180,0.15,2.28,0.00,0.000,6,0.181,0.041,3192,2094,2494,0,0,0,0,0,0
$GC,3539,0.84,60.7,207.1,5.7,16,3543,0.00,2.38,0.00,0.000,4,0.000,0.056,3192,3571,2494,0,0,0,0,0,0
$GC,3771,0.82,60.7,191.3,6.8,16,3775,0.00,2.30,0.00,0.000,6,0.000,0.041,3201,2093,2493,0,0,0,0,0,0
$GC,4167,0.82,63.7,167.8,5.7,18,4178,0.00,2.35,5.95,0.559,4,0.000,0.053,3201,3577,2474,0,0,0,0,0,0
$GC,4399,0.80,68.1,155.2,5.5,18,4410,0.12,2.28,5.32,0.531,6,0.184,0.041,3182,2111,2457,0,0,0,0,0,0
$GC,4798,0.81,83.8,139.4,4.0,20,4818,0.00,2.35,15.35,0.642,4,0.000,0.055,3182,3574,2392,0,0,0,0,0,0
$GC,4975,0.81,83.8,128.1,6.7,20,4979,0.00,2.22,0.00,0.000,6,0.000,0.042,3191,2145,2389,0,0,0,0,0,0
$GC,5427,0.81,83.8,100.6,6.2,22,5431,0.00,2.30,0.00,0.000,4,0.000,0.056,3191,3577,2389,0,0,0,0,0,0
$GC,5532,0.82,89.9,94.2,5.3,22,5543,0.00,2.20,6.35,0.540,6,0.000,0.041,3202,2152,2367,0,0,0,0,0,0
$GC,5955,0.82,99.3,72.3,4.8,25,5967,0.00,0.00,9.77,0.577,6,0.000,0.000,3202,2152,2329,0,0,0,0,0,0
$GC,6155,0.83,113.0,65.4,4.2,27,6174,0.00,2.30,13.20,0.593,4,0.000,0.057,3202,3568,2274,0,0,0,0,0,0
$GC,6429,0.84,128.7,53.3,4.0,29,6448,0.00,2.15,14.60,0.589,6,0.000,0.042,3213,2166,2210,0,0,0,0,0,0
$GC,6690,0.84,132.0,39.3,5.7,32,6699,0.00,2.58,3.90,0.413,4,0.000,0.051,3225,553,2197,0,0,0,0,0,0
$GC,6937,0.87,153.1,24.6,3.2,34,6963,0.00,2.50,20.00,0.584,6,0.000,0.045,3225,2173,2109,0,0,0,0,0,0
$GC,7225,0.89,173.9,15.0,3.3,37,7249,0.00,2.25,17.83,0.570,4,0.000,0.056,3225,3568,2025,0,0,0,0,0,0
$GC,7503,0.93,212.7,8.9,0.8,39,7542,0.00,2.15,32.67,0.573,6,0.000,0.041,3235,2179,1868,0,0,0,0,0,0
$STATE,7753,end climb,SURFACE_DEPTH_REACHED
$STATE,7753,begin surface coast
$FINISH,0.8,NaN
$STATE,7858,end surface coast,CONTROL_FINISHED_OK
$STATE,7858,begin surface
$SM_CCo,7876,72.55,0.484,4,0,1410,325.02
$SM_GC,1.58,0.00,0.00,72.55,0.000,0.000,0.484,114,2177,1410,-8.77,0.06,325.02
$IRIDIUM_FIX,4732.49,-12514.75,060911,040437
$TT8_MAMPS,0.026215
$HUMID,42.24
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.9,84.396
$10V_AH,9.9,84.440
$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,20.450,56.325,239.400,72.550,0.000,28.781,29.831,125.894,0.000,0.000,16.095,410.033,6082.191,372.805,1196.246,215.651,33.348,924.493,0.000,1000.728,0.000,0.535,0.000
$DEVICE_MAMPS,226.440,89.505,740.520,484.245,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,43
$CAP_FILE_SIZE,73575,0
$CFSIZE,260165632,156200960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,060911,084006,4750.952,-12511.917,94,1.3,101,18.7