version: 66.07
glider: 187
mission: 4
dive: 759
start: 9 6 111 18 40 57
data:
$ID,187
$MISSION,4
$DIVE,759
$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,-1586602.6
$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,34
$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
$GPS1,060911,183506,4751.352,-12511.435,50,1.3,61,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-77.7
$GPS2,060911,184003,4751.392,-12511.390,13,1.8,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.041,-0.097
$KALMAN_X,389868.4,161.9,408.8,-395715.3,172.1
$KALMAN_Y,-795255.8,111.4,414.2,803769.5,496.3
$MHEAD_RNG_PITCHd_Wd,184.4,204,-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,-30.0,0.0,0.0,0,74,0.00,0.00,-56.28,0.000,6,0.000,0.000,112,2181,2858,0,0,0,0,0,0
$GC,77,-0.90,-57.4,2.5,-2.4,1,97,10.12,2.42,-2.05,0.000,4,0.224,0.059,2611,3694,2972,0,0,0,0,0,0
$GC,316,-0.88,-57.4,59.1,-17.1,3,320,0.00,2.38,0.00,0.000,6,0.000,0.041,2611,2166,2975,0,0,0,0,0,0
$GC,607,-0.86,-57.4,106.1,-15.9,6,608,0.12,0.00,0.00,0.000,6,0.177,0.000,2643,2160,2977,0,0,0,0,0,0
$GC,909,-0.84,-57.4,146.0,-14.3,7,913,0.00,2.42,0.00,0.000,4,0.000,0.056,2634,3689,2978,0,0,0,0,0,0
$GC,947,-0.84,-57.4,151.4,-13.3,7,952,0.00,2.30,0.00,0.000,6,0.000,0.041,2632,2184,2978,0,0,0,0,0,0
$GC,1535,-0.84,-57.4,225.0,-12.5,9,1539,0.00,2.33,0.00,0.000,4,0.000,0.049,2632,663,2977,0,0,0,0,0,0
$GC,1574,-0.84,-57.4,229.8,-11.9,9,1579,0.00,2.35,0.00,0.000,6,0.000,0.047,2622,2185,2978,0,0,0,0,0,0
$STATE,1756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1757,begin apogee
$GC,1763,-0.22,0.0,253.4,12.9,9,1818,0.70,0.00,49.42,0.718,6,0.135,0.000,2843,2054,2734,0,0,0,0,0,0
$STATE,1818,end apogee,CONTROL_FINISHED_OK
$STATE,1819,begin climb
$GC,1821,0.90,57.4,256.7,0.0,9,1874,1.00,0.00,49.38,0.702,6,0.070,0.000,3208,2054,2500,0,0,0,0,0,0
$GC,2160,0.89,64.4,240.1,5.2,11,2173,0.00,2.47,6.62,0.576,4,0.000,0.054,3208,3578,2471,0,0,0,0,0,0
$GC,2248,0.86,64.4,233.8,7.7,11,2252,0.00,2.33,0.00,0.000,6,0.000,0.041,3220,2056,2470,0,0,0,0,0,0
$GC,2791,0.84,64.4,196.5,6.8,13,2795,0.00,2.42,0.00,0.000,4,0.000,0.054,3220,3577,2468,0,0,0,0,0,0
$GC,2953,0.81,64.4,184.1,7.8,13,2958,0.17,2.28,0.00,0.000,6,0.174,0.041,3186,2076,2466,0,0,0,0,0,0
$GC,3422,0.81,64.9,154.8,6.0,15,3426,0.00,2.38,0.00,0.000,4,0.000,0.055,3186,3578,2466,0,0,0,0,0,0
$GC,3652,0.81,74.1,140.1,4.9,15,3666,0.00,2.28,9.07,0.597,6,0.000,0.041,3195,2084,2432,0,0,0,0,0,0
$GC,4060,0.81,79.5,118.0,5.4,17,4071,0.00,2.35,6.35,0.544,4,0.000,0.054,3195,3578,2410,0,0,0,0,0,0
$GC,4152,0.80,79.5,112.7,6.5,17,4156,0.00,2.25,0.00,0.000,6,0.000,0.042,3206,2099,2408,0,0,0,0,0,0
$GC,4691,0.81,110.1,94.8,1.9,19,4725,0.00,2.42,27.15,0.630,4,0.000,0.056,3206,3583,2285,0,0,0,0,0,0
$GC,4900,0.81,110.1,83.2,6.9,20,4904,0.12,2.22,0.00,0.000,6,0.177,0.042,3187,2126,2282,0,0,0,0,0,0
$GC,5114,0.81,111.0,70.4,6.0,23,5118,0.00,2.42,0.00,0.000,4,0.000,0.051,3197,546,2282,0,0,0,0,0,0
$GC,5374,0.83,118.8,52.9,5.0,25,5388,0.00,2.45,8.68,0.550,6,0.000,0.045,3197,2141,2249,0,0,0,0,0,0
$GC,5647,0.86,135.1,42.0,3.9,28,5667,0.00,2.47,14.85,0.580,4,0.000,0.050,3209,556,2184,0,0,0,0,0,0
$GC,5808,0.87,138.5,33.0,5.6,29,5817,0.00,2.40,4.32,0.432,6,0.000,0.045,3209,2130,2170,0,0,0,0,0,0
$GC,6066,0.90,156.6,22.4,3.7,32,6090,0.00,2.35,16.70,0.571,4,0.000,0.056,3209,3582,2096,0,0,0,0,0,0
$GC,6167,0.92,166.8,19.0,4.7,32,6181,0.00,2.17,9.77,0.535,6,0.000,0.041,3220,2168,2055,0,0,0,0,0,0
$GC,6388,0.96,195.6,11.8,2.2,35,6418,0.00,2.53,25.08,0.571,4,0.000,0.050,3232,550,1936,0,0,0,0,0,0
$GC,6485,1.01,231.2,10.2,1.3,35,6521,0.00,2.45,30.05,0.566,6,0.000,0.044,3232,2151,1792,0,0,0,0,0,0
$STATE,6700,end climb,SURFACE_DEPTH_REACHED
$STATE,6700,begin surface coast
$FINISH,0.8,NaN
$STATE,6799,end surface coast,CONTROL_FINISHED_OK
$STATE,6799,begin surface
$SM_CCo,6819,67.72,0.472,5,0,1410,325.02
$SM_GC,1.64,0.00,0.00,67.72,0.000,0.000,0.472,112,2154,1410,-8.78,-0.59,325.02
$IRIDIUM_FIX,4735.69,-12507.66,060911,161610
$TT8_MAMPS,0.026964
$HUMID,42.51
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.9,84.807
$10V_AH,9.9,84.621
$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,20.450,57.025,257.450,67.725,0.000,25.750,29.554,126.157,0.000,0.000,13.917,389.343,5100.202,381.679,1125.128,219.642,33.352,913.983,0.000,936.988,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,73.440,717.570,472.005,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,39
$CAP_FILE_SIZE,71064,0
$CFSIZE,260165632,156008448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,060911,203824,4751.244,-12511.255,80,1.9,96,18.7