version: 66.07
glider: 187
mission: 4
dive: 824
start: 9 11 111 20 3 26
data:
$ID,187
$MISSION,4
$DIVE,824
$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,-1586683.9
$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,43
$R_STBD_OVSHOOT,42
$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
$GPS1,110911,195727,4751.383,-12511.230,14,2.1,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.3
$GPS2,110911,200232,4751.349,-12511.150,17,2.0,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.157,0.067
$KALMAN_X,387324.4,166.3,-25.1,-392445.1,890.6
$KALMAN_Y,-801590.0,220.8,227.5,810105.3,-643.2
$MHEAD_RNG_PITCHd_Wd,274.4,420,-16.7,-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,-0.57,-81.1,0.0,0.0,0,84,0.00,0.00,-66.12,0.000,6,0.000,0.000,121,2194,3067,0,0,0,0,0,0
$GC,87,-0.59,-117.3,0.0,-0.0,0,103,10.57,0.00,-2.55,0.000,6,0.226,0.000,2720,2192,3216,0,0,0,0,0,0
$GC,297,-0.56,-117.3,45.4,-12.7,2,301,0.00,2.38,0.00,0.000,4,0.000,0.056,2711,3688,3222,0,0,0,0,0,0
$GC,331,-0.54,-117.3,50.4,-13.3,2,336,0.12,2.33,0.00,0.000,6,0.138,0.041,2745,2178,3222,0,0,0,0,0,0
$GC,607,-0.54,-117.3,81.2,-11.1,5,611,0.00,2.33,0.00,0.000,4,0.000,0.049,2746,668,3224,0,0,0,0,0,0
$GC,635,-0.54,-117.3,83.9,-9.6,5,640,0.00,2.28,0.00,0.000,6,0.000,0.046,2739,2156,3224,0,0,0,0,0,0
$GC,1110,-0.54,-117.3,128.6,-9.4,8,1114,0.00,2.45,0.00,0.000,4,0.000,0.058,2727,3694,3224,0,0,0,0,0,0
$GC,1137,-0.54,-117.3,131.2,-10.3,8,1141,0.00,2.35,0.00,0.000,6,0.000,0.042,2726,2164,3224,0,0,0,0,0,0
$GC,1735,-0.54,-117.3,185.4,-8.6,10,1740,0.00,2.33,0.00,0.000,4,0.000,0.049,2725,659,3223,0,0,0,0,0,0
$GC,1844,-0.54,-117.3,195.0,-8.5,10,1848,0.00,2.33,0.00,0.000,6,0.000,0.047,2717,2156,3223,0,0,0,0,0,0
$GC,2363,-0.54,-117.3,244.4,-9.8,12,2367,0.00,2.33,0.00,0.000,4,0.000,0.050,2716,663,3222,0,0,0,0,0,0
$GC,2415,-0.54,-117.3,250.9,-12.6,12,2420,0.12,2.33,0.00,0.000,6,0.137,0.048,2745,2155,3222,0,0,0,0,0,0
$STATE,2439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2440,begin apogee
$GC,2447,-0.22,0.0,253.4,8.2,12,2551,0.28,0.00,96.82,0.726,6,0.107,0.000,2843,2048,2735,0,0,0,0,0,0
$STATE,2552,end apogee,CONTROL_FINISHED_OK
$STATE,2552,begin climb
$GC,2555,0.59,117.3,257.2,0.0,12,2664,0.73,2.42,99.68,0.707,4,0.075,0.050,3116,554,2257,0,0,0,0,0,0
$GC,2709,0.58,117.3,251.4,7.7,13,2713,0.00,2.38,0.00,0.000,6,0.000,0.046,3116,2066,2253,0,0,0,0,0,0
$GC,3302,0.57,117.3,205.1,7.3,15,3306,0.00,2.40,0.00,0.000,4,0.000,0.057,3116,3580,2246,0,0,0,0,0,0
$GC,3348,0.55,117.3,201.1,9.8,15,3352,0.00,2.35,0.00,0.000,6,0.000,0.043,3127,2062,2245,0,0,0,0,0,0
$GC,3931,0.53,117.3,154.9,7.7,17,3933,0.12,0.00,0.00,0.000,6,0.155,0.000,3091,2060,2244,0,0,0,0,0,0
$GC,4230,0.52,117.3,136.9,6.9,18,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2059,2243,0,0,0,0,0,0
$GC,4530,0.52,117.3,121.3,6.4,19,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2058,2243,0,0,0,0,0,0
$GC,4831,0.52,119.2,104.2,6.0,20,4835,0.00,2.45,0.00,0.000,4,0.000,0.059,3091,3581,2243,0,0,0,0,0,0
$GC,4909,0.52,119.2,98.9,6.6,20,4913,0.00,2.40,0.00,0.000,6,0.000,0.043,3099,2054,2241,0,0,0,0,0,0
$GC,5257,0.53,133.9,79.9,5.4,22,5276,0.00,2.50,12.93,0.591,4,0.000,0.057,3099,3570,2188,0,0,0,0,0,0
$GC,5329,0.53,133.9,75.5,6.8,22,5333,0.00,2.38,0.00,0.000,6,0.000,0.044,3109,2063,2187,0,0,0,0,0,0
$GC,5564,0.54,157.4,63.8,4.9,25,5588,0.00,0.00,21.58,0.606,6,0.000,0.000,3109,2060,2093,0,0,0,0,0,0
$GC,5765,0.56,176.3,53.4,5.2,27,5789,0.00,2.53,16.80,0.590,4,0.000,0.060,3110,3581,2015,0,0,0,0,0,0
$GC,5825,0.56,180.2,50.6,5.9,27,5834,0.00,2.38,4.62,0.446,6,0.000,0.044,3120,2067,2000,0,0,0,0,0,0
$GC,6071,0.58,199.0,37.8,5.2,30,6095,0.00,2.50,17.05,0.578,4,0.000,0.058,3119,3576,1922,0,0,0,0,0,0
$GC,6113,0.60,199.0,34.8,7.1,30,6117,0.00,2.38,0.00,0.000,6,0.000,0.044,3127,2076,1922,0,0,0,0,0,0
$GC,6378,0.61,199.0,17.6,6.4,33,6382,0.00,2.42,0.00,0.000,4,0.000,0.057,3127,3583,1918,0,0,0,0,0,0
$GC,6490,0.64,215.7,10.8,5.3,34,6510,0.00,2.33,14.93,0.560,6,0.000,0.044,3127,2085,1854,0,0,0,0,0,0
$STATE,6687,end climb,SURFACE_DEPTH_REACHED
$STATE,6690,begin surface coast
$FINISH,0.7,NaN
$STATE,6789,end surface coast,CONTROL_FINISHED_OK
$STATE,6789,begin surface
$SM_CCo,6808,67.85,0.496,3,0,1409,325.02
$SM_GC,1.50,0.00,0.00,67.85,0.000,0.000,0.496,117,2196,1409,-8.76,0.59,325.02
$IRIDIUM_FIX,4735.69,-12516.60,110911,181814
$TT8_MAMPS,0.026964
$HUMID,42.83
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.7,89.236
$10V_AH,9.8,86.470
$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,19.700,57.500,284.400,67.850,0.000,26.751,30.541,123.709,0.000,0.000,17.879,345.600,5292.476,412.959,938.000,214.574,33.351,867.252,0.000,755.609,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,85.680,725.985,496.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,37
$CAP_FILE_SIZE,65391,0
$CFSIZE,260165632,154042368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,110911,215936,4751.419,-12511.924,38,1.1,38,18.7