version: 66.07
glider: 187
mission: 4
dive: 840
start: 9 13 111 1 22 10
data:
$ID,187
$MISSION,4
$DIVE,840
$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,-1586703.9
$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
$GPS1,130911,011537,4751.158,-12511.894,13,1.9,18,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.3
$GPS2,130911,012116,4751.120,-12511.820,17,5.3,36,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.007,0.138
$KALMAN_X,392973.1,-211.8,108.2,-398676.0,359.9
$KALMAN_Y,-804734.6,-140.0,-175.3,813591.8,-808.9
$MHEAD_RNG_PITCHd_Wd,344.3,538,-21.2,-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,-0.69,-51.0,0.0,0.0,0,66,0.00,0.00,-48.08,0.000,2,0.000,0.000,106,2179,2538,0,0,0,0,0,0
$GC,70,-0.70,-69.1,3.1,-4.7,0,99,10.35,2.45,-11.18,0.000,4,0.221,0.058,2683,660,3019,0,0,0,0,0,0
$GC,352,-0.68,-69.1,55.7,-15.8,3,356,0.00,2.33,0.00,0.000,6,0.000,0.044,2674,2171,3023,0,0,0,0,0,0
$GC,617,-0.65,-69.1,93.9,-14.5,6,622,0.12,2.35,0.00,0.000,4,0.161,0.047,2708,668,3025,0,0,0,0,0,0
$GC,719,-0.65,-69.1,106.9,-12.4,6,723,0.00,2.33,0.00,0.000,6,0.000,0.046,2699,2170,3025,0,0,0,0,0,0
$GC,1025,-0.65,-69.1,140.1,-10.9,8,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2170,3026,0,0,0,0,0,0
$GC,1325,-0.65,-69.1,172.1,-10.8,9,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2170,3026,0,0,0,0,0,0
$GC,1628,-0.65,-69.1,201.6,-10.5,10,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2170,3025,0,0,0,0,0,0
$GC,1927,-0.65,-69.1,230.6,-10.2,11,1931,0.00,2.35,0.00,0.000,4,0.000,0.049,2698,669,3025,0,0,0,0,0,0
$GC,2010,-0.65,-69.1,239.2,-10.0,11,2014,0.00,2.30,0.00,0.000,6,0.000,0.047,2688,2162,3025,0,0,0,0,0,0
$STATE,2144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2144,begin apogee
$GC,2152,-0.22,0.0,253.5,11.1,11,2216,0.47,0.00,58.53,0.716,6,0.118,0.000,2844,2050,2735,0,0,0,0,0,0
$STATE,2217,end apogee,CONTROL_FINISHED_OK
$STATE,2217,begin climb
$GC,2220,0.70,69.1,257.7,0.0,11,2283,0.82,0.00,59.90,0.701,6,0.073,0.000,3144,2050,2453,0,0,0,0,0,0
$GC,2559,0.70,96.3,245.5,3.9,13,2588,0.00,2.50,23.83,0.682,4,0.000,0.054,3144,3579,2341,0,0,0,0,0,0
$GC,2670,0.69,96.3,237.5,8.7,13,2674,0.00,2.38,0.00,0.000,6,0.000,0.041,3156,2068,2338,0,0,0,0,0,0
$GC,3190,0.67,96.3,195.8,7.9,15,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2067,2336,0,0,0,0,0,0
$GC,3489,0.67,96.3,173.1,7.8,16,3493,0.00,2.42,0.00,0.000,4,0.000,0.056,3156,3582,2335,0,0,0,0,0,0
$GC,3620,0.65,96.3,161.9,8.4,16,3625,0.15,2.35,0.00,0.000,6,0.156,0.042,3127,2061,2333,0,0,0,0,0,0
$GC,4124,0.65,96.3,128.0,6.8,18,4128,0.00,2.42,0.00,0.000,4,0.000,0.057,3127,3577,2333,0,0,0,0,0,0
$GC,4286,0.66,104.1,118.3,5.5,18,4297,0.00,2.33,6.43,0.539,6,0.000,0.043,3135,2073,2311,0,0,0,0,0,0
$GC,4756,0.66,114.1,94.9,5.3,20,4772,0.00,2.40,10.52,0.584,4,0.000,0.050,3147,546,2268,0,0,0,0,0,0
$GC,4841,0.66,114.1,89.8,6.5,20,4845,0.00,2.33,0.00,0.000,6,0.000,0.045,3147,2066,2268,0,0,0,0,0,0
$GC,5059,0.66,115.0,76.8,6.0,23,5064,0.00,2.40,0.00,0.000,4,0.000,0.052,3158,542,2267,0,0,0,0,0,0
$GC,5082,0.68,138.0,75.8,4.3,23,5108,0.00,2.33,21.38,0.607,6,0.000,0.046,3159,2059,2172,0,0,0,0,0,0
$GC,5362,0.68,144.0,60.8,5.6,26,5374,0.00,2.40,6.40,0.513,4,0.000,0.050,3170,542,2146,0,0,0,0,0,0
$GC,5447,0.68,144.0,55.3,6.3,26,5452,0.12,2.30,0.00,0.000,6,0.148,0.045,3135,2042,2146,0,0,0,0,0,0
$GC,5667,0.71,160.0,44.6,4.8,29,5687,0.00,2.38,14.95,0.575,4,0.000,0.052,3144,540,2081,0,0,0,0,0,0
$GC,5727,0.73,160.0,40.5,7.4,29,5731,0.00,2.30,0.00,0.000,6,0.000,0.047,3144,2034,2080,0,0,0,0,0,0
$GC,5969,0.75,160.0,24.4,6.7,32,5973,0.00,2.45,0.00,0.000,4,0.000,0.057,3144,3572,2078,0,0,0,0,0,0
$GC,5992,0.77,166.7,23.0,5.6,32,6005,0.00,2.40,6.72,0.501,6,0.000,0.044,3155,2034,2055,0,0,0,0,0,0
$GC,6278,0.81,193.5,10.9,4.0,35,6307,0.00,2.38,23.60,0.569,4,0.000,0.053,3165,552,1946,0,0,0,0,0,0
$GC,6327,0.86,206.8,8.7,5.0,35,6346,0.00,2.28,12.68,0.536,6,0.000,0.046,3165,2029,1891,0,0,0,0,0,0
$STATE,6484,end climb,SURFACE_DEPTH_REACHED
$STATE,6484,begin surface coast
$FINISH,0.7,NaN
$STATE,6585,end surface coast,CONTROL_FINISHED_OK
$STATE,6586,begin surface
$SM_CCo,6606,79.85,0.493,4,0,1409,325.02
$SM_GC,1.40,0.00,0.00,79.85,0.000,0.000,0.493,126,2196,1409,-8.73,0.57,325.02
$IRIDIUM_FIX,4713.38,-12547.82,120911,232318
$TT8_MAMPS,0.026964
$HUMID,42.59
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.8,90.287
$10V_AH,9.9,86.905
$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,19.925,57.200,244.925,79.850,0.000,27.015,31.893,133.018,0.000,0.000,38.421,325.545,5252.589,379.256,879.744,213.343,33.350,799.363,0.000,669.338,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,79.560,716.040,493.425,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297808
$DATA_FILE_SIZE,334,38
$CAP_FILE_SIZE,62919,0
$CFSIZE,260165632,153571328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,130911,031537,4751.396,-12512.057,59,1.3,59,18.7