version: 66.07
glider: 187
mission: 4
dive: 770
start: 9 7 111 14 58 32
data:
$ID,187
$MISSION,4
$DIVE,770
$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,-1586616.4
$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,37
$R_STBD_OVSHOOT,44
$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
$GPS1,070911,145226,4751.159,-12511.790,35,1.4,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-77.0
$GPS2,070911,145738,4751.100,-12511.750,11,1.3,11,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.086,-0.062
$KALMAN_X,389923.5,-146.7,-263.2,-395231.3,-110.0
$KALMAN_Y,-790982.3,97.7,-339.3,799730.6,684.7
$MHEAD_RNG_PITCHd_Wd,107.1,499,-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,-57.25,0.000,6,0.000,0.000,116,2189,2859,0,0,0,0,0,0
$GC,78,-0.91,-74.8,0.0,-0.0,0,98,10.00,2.45,-3.53,0.000,4,0.222,0.062,2618,664,3043,0,0,0,0,0,0
$GC,335,-0.90,-74.8,56.7,-16.8,2,339,0.00,2.30,0.00,0.000,6,0.000,0.046,2610,2161,3047,0,0,0,0,0,0
$GC,610,-0.88,-74.8,100.9,-16.2,5,614,0.00,2.35,0.00,0.000,4,0.000,0.047,2609,654,3048,0,0,0,0,0,0
$GC,741,-0.87,-74.8,121.2,-16.2,5,746,0.15,2.33,0.00,0.000,6,0.163,0.046,2638,2161,3049,0,0,0,0,0,0
$GC,1238,-0.87,-74.8,188.5,-13.3,7,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2161,3049,0,0,0,0,0,0
$GC,1540,-0.87,-74.8,229.3,-13.4,8,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2160,3049,0,0,0,0,0,0
$STATE,1836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1836,begin apogee
$GC,1843,-0.22,0.0,269.7,13.4,9,1910,0.65,0.00,63.67,0.734,6,0.125,0.000,2846,2049,2735,0,0,0,0,0,0
$STATE,1911,end apogee,CONTROL_FINISHED_OK
$STATE,1911,begin climb
$GC,1913,0.91,74.8,269.7,0.0,9,1985,1.00,2.40,64.20,0.716,4,0.070,0.047,3220,560,2429,0,0,0,0,0,0
$GC,2056,0.90,74.8,268.4,7.6,9,2061,0.00,2.35,0.00,0.000,6,0.000,0.044,3220,2065,2425,0,0,0,0,0,0
$GC,2539,0.88,74.8,231.3,7.8,11,2543,0.00,2.38,0.00,0.000,4,0.000,0.054,3220,3580,2420,0,0,0,0,0,0
$GC,2797,0.85,74.8,204.7,10.5,11,2802,0.15,2.35,0.00,0.000,6,0.178,0.041,3194,2065,2418,0,0,0,0,0,0
$GC,3173,0.85,74.8,174.2,8.0,13,3177,0.00,2.40,0.00,0.000,4,0.000,0.056,3194,3583,2418,0,0,0,0,0,0
$GC,3284,0.84,74.8,164.6,8.2,13,3289,0.00,2.35,0.00,0.000,6,0.000,0.041,3203,2056,2416,0,0,0,0,0,0
$GC,3798,0.84,74.8,126.7,7.3,15,3802,0.00,2.40,0.00,0.000,4,0.000,0.056,3203,3576,2416,0,0,0,0,0,0
$GC,3877,0.82,74.8,121.2,7.4,15,3882,0.12,2.35,0.00,0.000,6,0.180,0.041,3185,2061,2415,0,0,0,0,0,0
$GC,4431,0.82,77.1,88.1,5.8,17,4435,0.00,2.35,0.00,0.000,4,0.000,0.050,3194,552,2415,0,0,0,0,0,0
$GC,4632,0.83,91.8,78.5,4.1,18,4652,0.00,2.30,13.82,0.597,6,0.000,0.044,3194,2053,2359,0,0,0,0,0,0
$GC,4863,0.84,104.4,68.8,4.4,21,4882,0.00,2.45,11.55,0.584,4,0.000,0.050,3205,542,2309,0,0,0,0,0,0
$GC,5136,0.84,106.0,55.4,5.9,23,5140,0.00,2.35,0.00,0.000,6,0.000,0.044,3205,2084,2308,0,0,0,0,0,0
$GC,5395,0.85,125.6,45.9,3.4,26,5420,0.00,2.40,19.60,0.594,4,0.000,0.055,3205,3583,2221,0,0,0,0,0,0
$GC,5526,0.85,127.1,38.6,5.9,27,5531,0.00,2.33,0.00,0.000,6,0.000,0.041,3217,2093,2218,0,0,0,0,0,0
$GC,5808,0.86,138.6,25.6,4.5,30,5827,0.00,2.50,11.88,0.558,4,0.000,0.051,3228,543,2170,0,0,0,0,0,0
$GC,6081,0.88,150.3,11.4,4.5,32,6097,0.00,2.38,11.25,0.546,6,0.000,0.044,3228,2092,2122,0,0,0,0,0,0
$STATE,6235,end climb,NO_VERTICAL_VELOCITY
$STATE,6235,begin surface
$SM_CCo,6240,269.98,0.526,14,0,469,555.60
$SM_GC,1.56,8.12,0.00,0.00,0.031,0.000,0.000,123,2195,463,-8.61,0.57,557.08
$IRIDIUM_FIX,4735.69,-12513.98,070911,131302
$TT8_MAMPS,0.027713
$HUMID,42.04
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.9,85.568
$10V_AH,9.9,84.937
$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,20.200,47.725,195.975,269.975,0.000,28.374,34.516,131.900,0.000,0.000,12.741,352.694,4813.308,606.446,1037.722,200.265,33.347,1058.523,0.000,839.603,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,85.680,733.635,525.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,34
$CAP_FILE_SIZE,61987,0
$CFSIZE,260165632,155680768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,070911,165106,4751.253,-12511.282,26,1.7,26,18.7