version: 66.07
glider: 187
mission: 4
dive: 773
start: 9 7 111 20 34 37
data:
$ID,187
$MISSION,4
$DIVE,773
$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,-1586620.1
$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,43
$R_STBD_OVSHOOT,44
$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
$GPS1,070911,202830,4751.516,-12511.685,41,1.5,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-77.7
$GPS2,070911,203343,4751.492,-12511.758,10,1.4,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.115,-0.006
$KALMAN_X,388522.4,632.2,227.5,-395110.8,-610.8
$KALMAN_Y,-790598.4,-141.4,333.9,799634.1,-309.1
$MHEAD_RNG_PITCHd_Wd,74.1,495,-25.5,-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,-0.82,-35.4,0.0,0.0,0,78,0.00,0.00,-61.00,0.000,6,0.000,0.000,119,2187,2881,0,0,0,0,0,0
$GC,82,-0.85,-88.2,0.0,-0.0,0,101,10.18,2.38,-4.25,0.000,4,0.226,0.054,2635,662,3097,0,0,0,0,0,0
$GC,173,-0.83,-88.2,28.1,-21.5,0,177,0.00,2.33,0.00,0.000,6,0.000,0.047,2625,2160,3100,0,0,0,0,0,0
$GC,391,-0.80,-88.2,76.1,-21.9,3,396,0.12,2.42,0.00,0.000,4,0.174,0.055,2648,3690,3102,0,0,0,0,0,0
$GC,487,-0.80,-88.2,92.6,-13.9,3,491,0.00,2.35,0.00,0.000,6,0.000,0.041,2647,2177,3103,0,0,0,0,0,0
$GC,896,-0.80,-88.2,148.0,-13.6,5,900,0.00,2.35,0.00,0.000,4,0.000,0.048,2646,658,3104,0,0,0,0,0,0
$GC,985,-0.80,-88.2,161.0,-14.5,5,989,0.00,2.33,0.00,0.000,6,0.000,0.047,2637,2174,3104,0,0,0,0,0,0
$GC,1527,-0.80,-88.2,237.0,-14.3,7,1531,0.00,2.40,0.00,0.000,4,0.000,0.059,2625,3691,3104,0,0,0,0,0,0
$GC,1622,-0.80,-88.2,251.4,-15.4,7,1627,0.12,2.38,0.00,0.000,6,0.158,0.043,2657,2159,3104,0,0,0,0,0,0
$STATE,1635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1636,begin apogee
$GC,1644,-0.22,0.0,253.7,14.6,7,1723,0.55,0.00,73.60,0.722,6,0.121,0.000,2842,2052,2735,0,0,0,0,0,0
$STATE,1724,end apogee,CONTROL_FINISHED_OK
$STATE,1726,begin climb
$GC,1729,0.85,88.2,258.2,0.0,7,1809,0.98,0.00,75.50,0.705,6,0.070,0.000,3196,2052,2374,0,0,0,0,0,0
$GC,2150,0.84,88.2,225.2,9.2,9,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2052,2368,0,0,0,0,0,0
$GC,2450,0.83,88.2,197.2,9.3,10,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2052,2367,0,0,0,0,0,0
$GC,2751,0.82,88.2,166.1,9.6,11,2755,0.00,2.40,0.00,0.000,4,0.000,0.054,3196,3579,2365,0,0,0,0,0,0
$GC,2859,0.79,88.2,153.9,12.6,11,2864,0.12,2.38,0.00,0.000,6,0.177,0.041,3177,2060,2363,0,0,0,0,0,0
$GC,3379,0.79,88.2,109.0,7.2,13,3383,0.00,2.38,0.00,0.000,4,0.000,0.050,3186,539,2363,0,0,0,0,0,0
$GC,3469,0.79,88.2,103.2,7.0,13,3474,0.00,2.30,0.00,0.000,6,0.000,0.045,3186,2051,2363,0,0,0,0,0,0
$GC,3812,0.80,95.8,82.2,5.2,15,3820,0.00,0.00,5.65,0.506,6,0.000,0.000,3186,2051,2344,0,0,0,0,0,0
$GC,4015,0.81,114.4,75.7,4.0,17,4039,0.00,2.47,17.67,0.605,4,0.000,0.054,3186,3576,2267,0,0,0,0,0,0
$GC,4073,0.81,123.9,73.2,5.0,17,4088,0.00,2.40,9.65,0.565,6,0.000,0.041,3198,2045,2228,0,0,0,0,0,0
$GC,4325,0.81,123.9,57.1,6.8,20,4329,0.00,2.33,0.00,0.000,4,0.000,0.050,3209,552,2225,0,0,0,0,0,0
$GC,4414,0.82,132.5,52.5,5.1,20,4429,0.00,2.25,8.00,0.539,6,0.000,0.044,3209,2027,2195,0,0,0,0,0,0
$GC,4631,0.83,149.0,43.2,4.2,23,4650,0.00,0.00,15.75,0.582,6,0.000,0.000,3209,2027,2126,0,0,0,0,0,0
$GC,4844,0.83,149.0,31.0,6.3,25,4848,0.00,2.45,0.00,0.000,4,0.000,0.055,3209,3572,2123,0,0,0,0,0,0
$GC,4894,0.83,154.5,28.0,5.5,25,4905,0.12,2.45,5.65,0.480,6,0.168,0.041,3189,1998,2105,0,0,0,0,0,0
$GC,5149,0.86,167.3,16.8,4.6,28,5168,0.00,2.58,12.30,0.552,4,0.000,0.056,3189,3569,2051,0,0,0,0,0,0
$STATE,5396,end climb,NO_VERTICAL_VELOCITY
$STATE,5397,begin surface
$SM_CCo,5400,257.58,0.521,14,0,469,555.60
$SM_GC,1.54,7.95,0.00,0.00,0.028,0.000,0.000,129,2162,463,-8.60,-0.37,557.32
$IRIDIUM_FIX,4735.69,-12507.66,070911,181821
$TT8_MAMPS,0.026964
$HUMID,41.84
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.8,85.789
$10V_AH,9.9,85.019
$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,20.150,47.700,223.775,257.575,0.000,25.244,32.819,133.442,0.000,0.000,15.827,291.531,4288.700,601.499,792.678,184.451,33.345,974.276,0.000,602.904,0.000,0.535,0.000
$DEVICE_MAMPS,226.440,87.210,722.160,520.965,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,30
$CAP_FILE_SIZE,55946,0
$CFSIZE,260165632,155598848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,070911,221304,4751.228,-12511.132,10,2.3,29,18.7