version: 66.07
glider: 187
mission: 4
dive: 784
start: 9 8 111 17 6 2
data:
$ID,187
$MISSION,4
$DIVE,784
$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,-1586633.9
$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,40
$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
$GPS1,080911,165736,4751.223,-12511.137,36,0.9,36,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.5
$GPS2,080911,170508,4751.129,-12511.105,16,1.1,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.093,0.057
$KALMAN_X,387107.0,298.6,-184.5,-392145.7,306.8
$KALMAN_Y,-791574.5,59.5,213.6,799860.9,-161.5
$MHEAD_RNG_PITCHd_Wd,283.0,563,-26.9,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.86,-31.8,0.0,0.0,0,67,0.00,0.00,-47.60,0.000,2,0.000,0.000,110,2180,2520,0,0,0,0,0,0
$GC,71,-0.87,-40.0,3.2,-5.1,0,95,10.02,0.00,-9.45,0.000,6,0.219,0.000,2634,2177,2900,0,0,0,0,0,0
$GC,316,-0.83,-40.0,43.7,-16.0,3,320,0.00,2.35,0.00,0.000,4,0.000,0.047,2634,667,2903,0,0,0,0,0,0
$GC,327,-0.80,-40.0,45.9,-15.5,3,331,0.12,2.28,0.00,0.000,6,0.173,0.045,2656,2157,2903,0,0,0,0,0,0
$GC,526,-0.80,-40.0,74.6,-13.3,5,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2157,2905,0,0,0,0,0,0
$GC,725,-0.80,-40.0,99.2,-12.6,7,730,0.00,2.42,0.00,0.000,4,0.000,0.056,2646,3692,2905,0,0,0,0,0,0
$GC,843,-0.80,-40.0,114.9,-12.4,8,847,0.00,2.38,0.00,0.000,6,0.000,0.041,2645,2141,2906,0,0,0,0,0,0
$GC,1351,-0.80,-40.0,168.9,-10.8,10,1355,0.00,2.28,0.00,0.000,4,0.000,0.047,2645,668,2906,0,0,0,0,0,0
$GC,1474,-0.80,-40.0,183.8,-12.1,10,1478,0.00,2.28,0.00,0.000,6,0.000,0.047,2635,2139,2906,0,0,0,0,0,0
$GC,1977,-0.80,-40.0,239.3,-10.9,12,1981,0.00,2.28,0.00,0.000,4,0.000,0.049,2634,666,2905,0,0,0,0,0,0
$GC,2015,-0.80,-40.0,243.9,-11.1,12,2020,0.12,2.28,0.00,0.000,6,0.166,0.047,2656,2135,2905,0,0,0,0,0,0
$STATE,2107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2107,begin apogee
$GC,2116,-0.22,0.0,253.0,8.7,12,2155,0.57,0.00,35.35,0.719,6,0.124,0.000,2845,2058,2734,0,0,0,0,0,0
$STATE,2156,end apogee,CONTROL_FINISHED_OK
$STATE,2156,begin climb
$GC,2159,0.87,40.0,255.4,0.0,12,2200,0.95,2.45,34.78,0.705,4,0.074,0.052,3192,3583,2570,0,0,0,0,0,0
$GC,2285,0.86,51.1,250.0,4.7,12,2301,0.00,2.38,10.73,0.643,6,0.000,0.041,3203,2053,2526,0,0,0,0,0,0
$GC,2933,0.85,65.6,220.3,4.2,15,2952,0.00,2.40,13.32,0.663,4,0.000,0.050,3215,556,2467,0,0,0,0,0,0
$GC,3207,0.84,65.6,200.8,7.8,15,3211,0.00,2.28,0.00,0.000,6,0.000,0.044,3214,2051,2465,0,0,0,0,0,0
$GC,3564,0.82,65.6,174.1,7.5,17,3568,0.00,2.42,0.00,0.000,4,0.000,0.054,3214,3573,2463,0,0,0,0,0,0
$GC,3702,0.79,65.6,163.6,7.7,17,3708,0.17,2.35,0.00,0.000,6,0.169,0.041,3180,2054,2462,0,0,0,0,0,0
$GC,4194,0.80,69.6,134.7,5.6,19,4204,0.00,2.45,4.43,0.484,4,0.000,0.055,3180,3588,2451,0,0,0,0,0,0
$GC,4269,0.78,69.6,130.6,6.1,19,4274,0.00,2.35,0.00,0.000,6,0.000,0.041,3190,2061,2450,0,0,0,0,0,0
$GC,4831,0.79,84.1,104.8,4.2,21,4850,0.00,2.40,14.02,0.619,4,0.000,0.051,3202,545,2392,0,0,0,0,0,0
$GC,5104,0.80,96.6,90.9,4.5,21,5122,0.00,2.28,12.23,0.601,6,0.000,0.044,3202,2040,2341,0,0,0,0,0,0
$GC,5467,0.80,105.0,73.3,5.0,25,5482,0.00,2.45,8.10,0.557,4,0.000,0.054,3202,3564,2307,0,0,0,0,0,0
$GC,5680,0.81,118.1,62.4,4.4,26,5700,0.12,2.33,13.35,0.590,6,0.174,0.041,3183,2049,2252,0,0,0,0,0,0
$GC,5905,0.84,131.5,53.6,4.4,29,5919,0.00,0.00,12.43,0.578,6,0.000,0.000,3182,2049,2198,0,0,0,0,0,0
$GC,6106,0.85,137.2,41.7,5.4,31,6117,0.00,2.38,6.43,0.508,4,0.000,0.050,3192,545,2174,0,0,0,0,0,0
$GC,6168,0.87,137.2,37.5,7.7,31,6173,0.00,2.35,0.00,0.000,6,0.000,0.045,3192,2076,2174,0,0,0,0,0,0
$GC,6410,0.90,154.9,27.6,3.8,34,6434,0.00,2.45,16.50,0.576,4,0.000,0.055,3192,3584,2102,0,0,0,0,0,0
$GC,6610,0.93,163.8,16.0,5.0,35,6624,0.00,2.28,8.77,0.529,6,0.000,0.042,3203,2117,2066,0,0,0,0,0,0
$GC,6833,0.97,191.8,10.2,2.5,38,6862,0.00,2.50,24.23,0.573,4,0.000,0.051,3214,545,1952,0,0,0,0,0,0
$GC,6893,1.01,200.5,8.1,5.0,38,6908,0.00,2.42,8.90,0.514,6,0.000,0.046,3214,2107,1916,0,0,0,0,0,0
$STATE,7040,end climb,SURFACE_DEPTH_REACHED
$STATE,7040,begin surface coast
$FINISH,0.8,NaN
$STATE,7141,end surface coast,CONTROL_FINISHED_OK
$STATE,7141,begin surface
$SM_CCo,7162,76.93,0.493,4,0,1409,325.02
$SM_GC,2.23,0.00,0.00,76.93,0.000,0.000,0.493,117,2185,1409,-8.76,0.31,325.02
$IRIDIUM_FIX,4732.49,-12516.60,080911,151547
$TT8_MAMPS,0.026964
$HUMID,42.24
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,24.0,86.497
$10V_AH,9.9,85.337
$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,20.125,61.625,223.550,76.925,0.000,60.107,64.431,141.413,0.000,0.000,17.404,409.077,5481.841,357.466,1237.918,232.393,33.346,905.285,0.000,961.661,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,108.630,719.100,493.425,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297804
$DATA_FILE_SIZE,332,41
$CAP_FILE_SIZE,75400,0
$CFSIZE,260165632,155230208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,080911,190757,4751.466,-12511.466,15,1.2,15,18.7