version: 66.07
glider: 187
mission: 4
dive: 747
start: 9 5 111 18 41 56
data:
$ID,187
$MISSION,4
$DIVE,747
$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,-1586587.6
$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,51
$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
$GPS1,050911,183539,4751.299,-12511.518,53,2.0,53,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-77.4
$GPS2,050911,184102,4751.304,-12511.534,14,2.0,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.104,0.017
$KALMAN_X,388864.6,182.6,-23.0,-394478.4,527.7
$KALMAN_Y,-802687.9,516.4,251.5,810799.3,-83.5
$MHEAD_RNG_PITCHd_Wd,260.8,68,-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,-30.0,0.0,0.0,0,75,0.00,0.00,-57.40,0.000,6,0.000,0.000,119,2195,2858,0,0,0,0,0,0
$GC,78,-0.91,-74.8,0.0,-0.0,0,98,10.02,2.38,-3.40,0.000,4,0.223,0.066,2609,3668,3044,0,0,0,0,0,0
$GC,227,-0.89,-74.8,43.3,-17.9,1,231,0.00,2.30,0.00,0.000,6,0.000,0.041,2608,2172,3047,0,0,0,0,0,0
$GC,496,-0.87,-74.8,93.2,-18.4,4,501,0.12,2.33,0.00,0.000,4,0.175,0.047,2640,663,3049,0,0,0,0,0,0
$GC,532,-0.87,-74.8,99.9,-18.5,4,536,0.00,2.30,0.00,0.000,6,0.000,0.045,2631,2155,3049,0,0,0,0,0,0
$GC,901,-0.87,-74.8,153.1,-14.2,6,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2155,3050,0,0,0,0,0,0
$GC,1200,-0.87,-74.8,194.6,-14.0,7,1204,0.00,2.33,0.00,0.000,4,0.000,0.048,2630,666,3050,0,0,0,0,0,0
$GC,1216,-0.87,-74.8,197.1,-13.8,7,1220,0.00,2.33,0.00,0.000,6,0.000,0.047,2620,2172,3049,0,0,0,0,0,0
$STATE,1829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1829,begin apogee
$GC,1836,-0.22,0.0,284.9,13.5,9,1903,0.73,0.00,63.95,0.745,6,0.130,0.000,2847,2047,2735,0,0,0,0,0,0
$STATE,1903,end apogee,CONTROL_FINISHED_OK
$STATE,1904,begin climb
$GC,1906,0.91,74.8,284.9,0.0,9,1974,1.02,0.00,64.90,0.728,6,0.069,0.000,3213,2047,2430,0,0,0,0,0,0
$GC,2134,0.93,119.6,272.1,-0.0,10,2178,0.00,2.47,39.00,0.711,4,0.000,0.054,3213,3579,2247,0,0,0,0,0,0
$GC,2308,0.91,119.6,248.4,15.0,10,2312,0.00,2.38,0.00,0.000,6,0.000,0.041,3224,2066,2240,0,0,0,0,0,0
$GC,2764,0.90,119.6,186.6,13.7,12,2768,0.00,2.40,0.00,0.000,4,0.000,0.055,3224,3584,2238,0,0,0,0,0,0
$GC,2901,0.88,119.6,165.4,15.2,12,2906,0.12,2.33,0.00,0.000,6,0.184,0.041,3205,2071,2236,0,0,0,0,0,0
$GC,3393,0.88,119.6,106.2,11.0,14,3397,0.00,2.40,0.00,0.000,4,0.000,0.055,3205,3581,2235,0,0,0,0,0,0
$GC,3495,0.88,119.6,95.6,10.8,14,3499,0.00,2.33,0.00,0.000,6,0.000,0.041,3215,2074,2235,0,0,0,0,0,0
$GC,3920,0.88,119.6,58.4,7.0,17,3925,0.00,2.38,0.00,0.000,4,0.000,0.054,3215,3583,2234,0,0,0,0,0,0
$GC,4039,0.88,119.6,50.2,8.9,18,4044,0.00,2.30,0.00,0.000,6,0.000,0.041,3226,2098,2233,0,0,0,0,0,0
$GC,4242,0.89,135.5,41.4,3.9,20,4261,0.00,2.47,12.70,0.573,4,0.000,0.050,3238,549,2182,0,0,0,0,0,0
$GC,4492,0.89,141.9,26.7,5.2,22,4506,0.12,2.38,6.82,0.513,6,0.168,0.044,3206,2098,2155,0,0,0,0,0,0
$GC,4779,0.93,171.9,19.0,2.0,25,4813,0.00,2.53,26.42,0.584,4,0.000,0.050,3216,542,2032,0,0,0,0,0,0
$GC,4995,0.98,202.3,12.4,2.0,26,5026,0.00,2.33,25.83,0.573,6,0.000,0.044,3216,2049,1910,0,0,0,0,0,0
$GC,5312,1.04,232.2,6.0,2.0,30,5343,0.12,2.42,25.27,0.561,4,0.090,0.052,3281,3569,1787,0,0,0,0,0,0
$STATE,5352,end climb,SURFACE_DEPTH_REACHED
$STATE,5352,begin surface coast
$FINISH,3.6,NaN
$STATE,5361,end surface coast,CONTROL_FINISHED_OK
$STATE,5362,begin surface
$SM_CCo,5382,59.28,0.535,2,0,1409,325.02
$SM_GC,2.11,0.00,0.00,59.28,0.000,0.000,0.535,113,2165,1409,-8.78,-0.31,325.02
$IRIDIUM_FIX,4732.49,-12507.66,050911,161643
$TT8_MAMPS,0.027713
$HUMID,42.40
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.8,83.986
$10V_AH,9.9,84.258
$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,21.000,47.450,264.900,59.275,0.000,24.693,31.442,133.667,0.000,0.000,15.208,315.874,3981.960,404.716,891.347,189.232,33.357,791.667,0.000,687.971,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,73.440,745.110,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297816
$DATA_FILE_SIZE,334,30
$CAP_FILE_SIZE,55490,0
$CFSIZE,260165632,156397568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050911,201404,4751.194,-12511.995,17,7.7,36,18.7