version: 66.07
glider: 187
mission: 4
dive: 804
start: 9 10 111 7 24 8
data:
$ID,187
$MISSION,4
$DIVE,804
$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,-1586658.9
$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,40
$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
$GPS1,100911,071807,4751.239,-12511.232,36,1.2,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-77.6
$GPS2,100911,072314,4751.224,-12511.219,14,1.4,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.096,0.046
$KALMAN_X,385006.7,-233.7,-43.5,-389793.6,393.6
$KALMAN_Y,-795524.2,-27.0,412.1,803873.4,-202.2
$MHEAD_RNG_PITCHd_Wd,276.8,354,-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,-30.0,0.0,0.0,0,77,0.00,0.00,-59.58,0.000,6,0.000,0.000,114,2188,2860,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,96,10.25,0.00,-3.55,0.000,6,0.224,0.000,2618,2185,3041,0,0,0,0,0,0
$GC,218,-0.88,-74.8,43.0,-22.3,2,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2185,3046,0,0,0,0,0,0
$GC,421,-0.85,-74.8,78.7,-19.0,4,425,0.00,2.40,0.00,0.000,4,0.000,0.055,2609,3686,3047,0,0,0,0,0,0
$GC,478,-0.84,-74.8,89.9,-19.5,4,483,0.15,2.33,0.00,0.000,6,0.161,0.041,2647,2171,3048,0,0,0,0,0,0
$GC,924,-0.84,-74.8,152.8,-13.7,7,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2166,3049,0,0,0,0,0,0
$GC,1226,-0.84,-74.8,188.4,-13.0,8,1230,0.00,2.40,0.00,0.000,4,0.000,0.057,2638,3683,3049,0,0,0,0,0,0
$GC,1253,-0.84,-74.8,192.2,-12.9,8,1257,0.00,2.33,0.00,0.000,6,0.000,0.042,2637,2170,3049,0,0,0,0,0,0
$STATE,1854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1855,begin apogee
$GC,1863,-0.22,0.0,277.9,14.5,10,1930,0.65,0.00,63.62,0.734,6,0.126,0.000,2844,2049,2735,0,0,0,0,0,0
$STATE,1931,end apogee,CONTROL_FINISHED_OK
$STATE,1931,begin climb
$GC,1933,0.91,74.8,277.9,0.0,10,2005,1.02,2.47,64.32,0.715,4,0.074,0.051,3211,3573,2429,0,0,0,0,0,0
$GC,2230,0.89,74.8,261.0,9.2,10,2234,0.00,2.33,0.00,0.000,6,0.000,0.041,3223,2070,2421,0,0,0,0,0,0
$GC,2559,0.87,74.8,235.4,7.7,12,2563,0.00,2.38,0.00,0.000,4,0.000,0.053,3223,3566,2420,0,0,0,0,0,0
$GC,2616,0.85,74.8,230.2,9.7,12,2621,0.15,2.35,0.00,0.000,6,0.171,0.041,3196,2056,2420,0,0,0,0,0,0
$GC,3188,0.85,74.8,183.8,7.1,14,3192,0.00,2.33,0.00,0.000,4,0.000,0.050,3205,550,2419,0,0,0,0,0,0
$GC,3215,0.85,77.8,182.1,5.7,14,3219,0.00,2.33,0.00,0.000,6,0.000,0.044,3205,2066,2419,0,0,0,0,0,0
$GC,3822,0.85,77.8,144.1,6.3,16,3826,0.00,2.35,0.00,0.000,4,0.000,0.055,3205,3570,2418,0,0,0,0,0,0
$GC,4082,0.83,77.8,125.2,7.2,16,4086,0.00,2.30,0.00,0.000,6,0.000,0.041,3217,2075,2416,0,0,0,0,0,0
$GC,4450,0.84,87.6,106.2,4.8,18,4465,0.00,2.40,10.10,0.588,4,0.000,0.053,3217,3572,2378,0,0,0,0,0,0
$GC,4720,0.82,87.6,87.4,7.0,18,4725,0.15,2.35,0.00,0.000,6,0.171,0.041,3190,2061,2375,0,0,0,0,0,0
$GC,5079,0.84,112.4,76.3,2.7,22,5108,0.00,2.42,22.73,0.611,4,0.000,0.050,3199,550,2275,0,0,0,0,0,0
$GC,5192,0.85,114.1,71.3,5.9,23,5196,0.00,2.30,0.00,0.000,6,0.000,0.044,3199,2042,2273,0,0,0,0,0,0
$GC,5399,0.86,114.1,58.5,6.2,25,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2042,2272,0,0,0,0,0,0
$GC,5602,0.88,123.2,50.3,4.9,27,5617,0.00,2.42,10.07,0.559,4,0.000,0.054,3199,3582,2232,0,0,0,0,0,0
$GC,5803,0.88,123.2,40.5,6.5,28,5807,0.00,2.45,0.00,0.000,6,0.000,0.042,3211,1993,2230,0,0,0,0,0,0
$GC,6015,0.89,127.5,29.0,5.5,31,6026,0.00,2.53,5.10,0.467,4,0.000,0.054,3211,3570,2215,0,0,0,0,0,0
$GC,6239,0.90,143.5,21.2,3.9,33,6260,0.00,2.40,15.12,0.564,6,0.000,0.041,3223,2009,2150,0,0,0,0,0,0
$GC,6546,0.93,171.3,13.4,2.3,36,6575,0.00,2.33,24.55,0.571,4,0.000,0.052,3234,542,2035,0,0,0,0,0,0
$STATE,6786,end climb,NO_VERTICAL_VELOCITY
$STATE,6786,begin surface
$SM_CCo,6792,254.15,0.517,13,0,470,555.60
$SM_GC,1.64,8.12,0.00,0.00,0.030,0.000,0.000,124,2170,462,-8.61,-0.14,557.32
$IRIDIUM_FIX,4735.69,-12507.66,100911,050507
$TT8_MAMPS,0.027713
$HUMID,42.08
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.8,87.865
$10V_AH,9.9,85.913
$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,20.500,52.650,215.625,254.150,0.000,26.843,34.413,125.226,0.000,0.000,15.576,362.347,5343.906,609.547,1011.162,208.513,33.350,1059.557,0.000,823.331,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,79.560,733.635,517.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297796
$DATA_FILE_SIZE,333,38
$CAP_FILE_SIZE,65160,0
$CFSIZE,260165632,154640384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,1
$GPS,100911,092519,4751.253,-12511.831,12,1.9,12,18.7