version: 66.07
glider: 187
mission: 4
dive: 826
start: 9 11 111 23 42 33
data:
$ID,187
$MISSION,4
$DIVE,826
$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,-1586686.4
$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,36
$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
$GPS1,110911,233616,4751.729,-12511.773,9,2.9,28,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.7
$GPS2,110911,234139,4751.690,-12511.747,11,2.3,30,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.060,0.087
$KALMAN_X,387514.7,288.6,147.4,-393666.5,167.7
$KALMAN_Y,-802290.2,95.0,220.1,811564.8,-950.5
$MHEAD_RNG_PITCHd_Wd,16.0,795,-27.7,-6.111
$D_GRID,220
$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,-30.0,0.0,0.0,0,71,0.00,0.00,-53.03,0.000,2,0.000,0.000,104,2180,2639,0,0,0,0,0,0
$GC,75,-0.89,-36.8,3.2,-5.2,0,96,10.15,2.42,-5.70,0.000,4,0.223,0.059,2625,661,2887,0,0,0,0,0,0
$GC,344,-0.86,-36.8,56.1,-17.1,3,348,0.00,2.33,0.00,0.000,6,0.000,0.045,2615,2181,2890,0,0,0,0,0,0
$GC,637,-0.84,-36.8,100.3,-14.6,6,639,0.12,0.00,0.00,0.000,6,0.179,0.000,2646,2181,2893,0,0,0,0,0,0
$GC,936,-0.82,-36.8,138.4,-13.4,7,940,0.00,2.35,0.00,0.000,4,0.000,0.047,2647,664,2893,0,0,0,0,0,0
$GC,1047,-0.82,-36.8,151.8,-10.9,7,1051,0.00,2.33,0.00,0.000,6,0.000,0.046,2637,2183,2893,0,0,0,0,0,0
$GC,1562,-0.82,-36.8,209.7,-10.9,9,1566,0.00,2.38,0.00,0.000,4,0.000,0.048,2636,657,2893,0,0,0,0,0,0
$GC,1630,-0.82,-36.8,217.6,-11.3,9,1634,0.00,2.33,0.00,0.000,6,0.000,0.047,2626,2173,2893,0,0,0,0,0,0
$STATE,1649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1649,begin apogee
$GC,1657,-0.22,0.0,220.2,11.3,9,1694,0.68,0.00,32.75,0.683,6,0.135,0.000,2840,2048,2735,0,0,0,0,0,0
$STATE,1694,end apogee,CONTROL_FINISHED_OK
$STATE,1695,begin climb
$GC,1697,0.89,36.8,222.8,0.0,9,1733,1.00,0.00,31.85,0.671,6,0.075,0.000,3201,2048,2585,0,0,0,0,0,0
$GC,2181,0.91,77.6,217.3,0.5,11,2222,0.00,2.38,35.50,0.685,4,0.000,0.047,3213,546,2417,0,0,0,0,0,0
$GC,2447,0.91,77.6,200.2,7.9,11,2452,0.00,2.30,0.00,0.000,6,0.000,0.044,3213,2051,2414,0,0,0,0,0,0
$GC,2805,0.91,77.6,170.6,8.2,13,2809,0.00,2.38,0.00,0.000,4,0.000,0.054,3213,3572,2412,0,0,0,0,0,0
$GC,2838,0.89,77.6,167.9,7.9,13,2842,0.00,2.38,0.00,0.000,6,0.000,0.041,3225,2035,2410,0,0,0,0,0,0
$GC,3437,0.88,77.6,124.2,8.0,15,3441,0.00,2.33,0.00,0.000,4,0.000,0.050,3236,549,2409,0,0,0,0,0,0
$GC,3592,0.87,81.2,114.6,5.6,15,3596,0.12,2.28,0.00,0.000,6,0.175,0.043,3205,2043,2409,0,0,0,0,0,0
$GC,4072,0.88,101.1,97.0,3.4,17,4094,0.00,0.00,20.08,0.620,6,0.000,0.000,3205,2043,2322,0,0,0,0,0,0
$GC,4275,0.89,114.4,84.2,4.3,19,4294,0.00,2.45,12.50,0.590,4,0.000,0.050,3214,549,2268,0,0,0,0,0,0
$GC,4312,0.89,117.8,81.9,5.6,19,4322,0.00,2.28,4.75,0.461,6,0.000,0.044,3214,2037,2254,0,0,0,0,0,0
$GC,4580,0.90,122.4,67.1,5.5,22,4587,0.00,0.00,5.05,0.477,6,0.000,0.000,3214,2037,2236,0,0,0,0,0,0
$GC,4784,0.91,132.1,58.5,4.8,24,4795,0.00,0.00,9.90,0.562,6,0.000,0.000,3214,2037,2196,0,0,0,0,0,0
$GC,4983,0.93,143.0,48.1,4.6,26,4999,0.00,2.35,11.00,0.563,4,0.000,0.049,3225,550,2151,0,0,0,0,0,0
$GC,5039,0.94,143.0,44.5,6.4,26,5043,0.00,2.25,0.00,0.000,6,0.000,0.044,3225,2025,2150,0,0,0,0,0,0
$GC,5287,0.95,143.0,28.8,6.4,29,5291,0.00,2.45,0.00,0.000,4,0.000,0.054,3225,3570,2148,0,0,0,0,0,0
$GC,5483,0.98,170.6,17.4,2.3,30,5512,0.00,2.35,23.90,0.579,6,0.000,0.041,3237,2049,2040,0,0,0,0,0,0
$GC,5717,1.04,216.8,17.9,-0.2,33,5761,0.00,2.42,39.00,0.579,4,0.000,0.050,3248,545,1850,0,0,0,0,0,0
$GC,5833,1.07,216.8,12.2,8.2,34,5838,0.00,2.35,0.00,0.000,6,0.000,0.044,3248,2068,1846,0,0,0,0,0,0
$STATE,5932,end climb,SURFACE_DEPTH_REACHED
$STATE,5932,begin surface coast
$FINISH,0.5,NaN
$STATE,6033,end surface coast,CONTROL_FINISHED_OK
$STATE,6033,begin surface
$SM_CCo,6053,65.65,0.482,3,0,1410,325.02
$SM_GC,1.37,0.00,0.00,65.65,0.000,0.000,0.482,119,2191,1410,-8.75,0.45,325.02
$IRIDIUM_FIX,4732.49,-12516.60,110911,222227
$TT8_MAMPS,0.026964
$HUMID,42.47
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,24.0,89.367
$10V_AH,9.9,86.520
$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,20.250,47.375,226.275,65.650,0.000,27.279,31.988,129.102,0.000,0.000,31.934,337.999,4620.973,338.840,956.527,213.605,33.345,780.292,0.000,753.603,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,84.915,685.440,481.950,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297808
$DATA_FILE_SIZE,335,36
$CAP_FILE_SIZE,62108,0
$CFSIZE,260165632,153993216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,120911,012606,4751.615,-12511.263,34,1.7,38,18.7