version: 66.07
glider: 187
mission: 4
dive: 828
start: 9 12 111 3 18 2
data:
$ID,187
$MISSION,4
$DIVE,828
$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,-1586688.9
$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,39
$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
$GPS1,120911,031201,4751.625,-12511.640,59,1.5,59,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-77.8
$GPS2,120911,031708,4751.633,-12511.627,15,1.6,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.105,0.010
$KALMAN_X,388536.4,-82.3,-199.5,-393823.1,560.2
$KALMAN_Y,-803097.1,1.4,-230.3,812812.4,-651.1
$MHEAD_RNG_PITCHd_Wd,257.0,643,-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,-30.0,0.0,0.0,0,66,0.00,0.00,-48.03,0.000,2,0.000,0.000,106,2176,2537,0,0,0,0,0,0
$GC,70,-0.89,-35.4,3.3,-5.4,0,95,10.18,2.42,-8.02,0.000,4,0.223,0.061,2624,672,2882,0,0,0,0,0,0
$GC,286,-0.86,-35.4,45.4,-15.9,2,291,0.00,2.33,0.00,0.000,6,0.000,0.046,2615,2177,2886,0,0,0,0,0,0
$GC,516,-0.84,-35.4,80.8,-15.5,5,518,0.12,0.00,0.00,0.000,6,0.177,0.000,2646,2177,2886,0,0,0,0,0,0
$GC,720,-0.83,-35.4,103.1,-13.4,7,724,0.00,2.38,0.00,0.000,4,0.000,0.056,2637,3690,2887,0,0,0,0,0,0
$GC,758,-0.83,-35.4,107.3,-10.0,7,763,0.00,2.35,0.00,0.000,6,0.000,0.041,2636,2168,2888,0,0,0,0,0,0
$GC,1348,-0.83,-35.4,177.9,-11.5,9,1352,0.00,2.33,0.00,0.000,4,0.000,0.047,2636,661,2888,0,0,0,0,0,0
$GC,1512,-0.83,-35.4,197.0,-11.9,9,1516,0.00,2.33,0.00,0.000,6,0.000,0.046,2626,2173,2888,0,0,0,0,0,0
$STATE,1984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1984,begin apogee
$GC,1991,-0.22,0.0,254.1,12.0,11,2027,0.70,0.00,32.38,0.707,6,0.134,0.000,2843,2046,2734,0,0,0,0,0,0
$STATE,2027,end apogee,CONTROL_FINISHED_OK
$STATE,2027,begin climb
$GC,2030,0.89,35.4,254.1,0.0,11,2065,1.02,0.00,31.30,0.694,6,0.074,0.000,3207,2045,2589,0,0,0,0,0,0
$GC,2287,0.91,80.2,250.6,-0.0,12,2332,0.00,2.38,39.00,0.702,4,0.000,0.048,3218,554,2406,0,0,0,0,0,0
$GC,2362,0.91,80.2,248.1,6.2,12,2366,0.00,2.35,0.00,0.000,6,0.000,0.043,3219,2064,2404,0,0,0,0,0,0
$GC,2917,0.91,80.2,200.4,8.6,14,2921,0.00,2.38,0.00,0.000,4,0.000,0.054,3219,3574,2401,0,0,0,0,0,0
$GC,3091,0.89,80.2,182.2,9.9,14,3095,0.00,2.33,0.00,0.000,6,0.000,0.041,3230,2069,2398,0,0,0,0,0,0
$GC,3547,0.89,80.2,140.7,9.0,16,3551,0.00,2.38,0.00,0.000,4,0.000,0.054,3230,3578,2399,0,0,0,0,0,0
$GC,3724,0.87,80.2,124.3,9.0,16,3729,0.15,2.35,0.00,0.000,6,0.172,0.041,3203,2061,2397,0,0,0,0,0,0
$GC,4183,0.88,89.1,100.2,4.9,18,4197,0.00,2.45,7.32,0.552,4,0.000,0.050,3213,543,2371,0,0,0,0,0,0
$GC,4436,0.89,108.9,86.6,3.4,18,4460,0.00,2.33,18.88,0.610,6,0.000,0.043,3213,2060,2289,0,0,0,0,0,0
$GC,4819,0.89,108.9,63.8,6.3,22,4823,0.00,2.40,0.00,0.000,4,0.000,0.054,3213,3580,2285,0,0,0,0,0,0
$GC,5004,0.90,119.1,53.7,4.7,23,5018,0.00,2.35,9.55,0.557,6,0.000,0.041,3224,2065,2249,0,0,0,0,0,0
$GC,5232,0.92,141.5,46.6,3.1,26,5258,0.00,2.40,20.20,0.589,4,0.000,0.054,3225,3570,2158,0,0,0,0,0,0
$GC,5310,0.92,141.5,42.1,7.2,26,5314,0.00,2.30,0.00,0.000,6,0.000,0.041,3236,2102,2156,0,0,0,0,0,0
$GC,5540,0.94,152.8,31.3,4.6,29,5556,0.00,2.42,10.85,0.549,4,0.000,0.050,3247,552,2112,0,0,0,0,0,0
$GC,5661,0.95,152.8,22.9,9.2,30,5665,0.00,2.38,0.00,0.000,6,0.000,0.044,3248,2089,2109,0,0,0,0,0,0
$GC,5858,0.99,180.9,14.2,2.3,32,5887,0.00,2.35,24.60,0.572,4,0.000,0.054,3248,3572,1996,0,0,0,0,0,0
$GC,5918,1.03,218.2,14.2,1.0,32,5957,0.00,2.12,31.98,0.567,6,0.000,0.041,3258,2205,1845,0,0,0,0,0,0
$STATE,6157,end climb,SURFACE_DEPTH_REACHED
$STATE,6157,begin surface coast
$FINISH,0.7,NaN
$STATE,6259,end surface coast,CONTROL_FINISHED_OK
$STATE,6259,begin surface
$SM_CCo,6278,66.80,0.484,3,0,1410,325.02
$SM_GC,1.38,0.00,0.00,66.80,0.000,0.000,0.484,107,2205,1410,-8.79,0.85,325.02
$IRIDIUM_FIX,4732.49,-12507.66,120911,010149
$TT8_MAMPS,0.026964
$HUMID,42.95
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.0,89.495
$10V_AH,9.9,86.573
$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,20.175,51.950,226.050,66.800,0.000,26.471,29.756,128.300,0.000,0.000,16.781,343.257,4795.292,351.922,972.991,213.233,33.346,800.934,0.000,785.868,0.000,0.535,0.000
$DEVICE_MAMPS,223.380,71.910,706.860,484.245,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,36
$CAP_FILE_SIZE,62051,0
$CFSIZE,260165632,153935872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,120911,050513,4751.535,-12512.001,13,2.0,30,18.7