version: 66.07
glider: 187
mission: 4
dive: 802
start: 9 10 111 3 36 31
data:
$ID,187
$MISSION,4
$DIVE,802
$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,-1586656.4
$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,38
$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
$GPS1,100911,033036,4751.466,-12511.251,61,0.9,61,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.0
$GPS2,100911,033537,4751.429,-12511.262,11,1.8,11,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.060,-0.088
$KALMAN_X,384716.8,-145.1,-176.2,-389507.2,-377.1
$KALMAN_Y,-795327.7,-159.1,-257.2,804855.0,-87.4
$MHEAD_RNG_PITCHd_Wd,127.1,362,-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,-30.0,0.0,0.0,0,77,0.00,0.00,-59.40,0.000,6,0.000,0.000,131,2180,2857,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,100,9.98,2.35,-3.55,0.000,4,0.222,0.054,2621,661,3042,0,0,0,0,0,0
$GC,352,-0.89,-74.8,66.9,-19.9,2,357,0.00,2.30,0.00,0.000,6,0.000,0.045,2611,2172,3046,0,0,0,0,0,0
$GC,612,-0.88,-74.8,113.7,-17.5,5,616,0.00,2.33,0.00,0.000,4,0.000,0.047,2611,654,3048,0,0,0,0,0,0
$GC,775,-0.87,-74.8,140.6,-15.7,5,780,0.15,2.33,0.00,0.000,6,0.166,0.045,2640,2164,3048,0,0,0,0,0,0
$GC,1244,-0.87,-74.8,205.1,-13.5,7,1248,0.00,2.33,0.00,0.000,4,0.000,0.049,2640,657,3048,0,0,0,0,0,0
$GC,1284,-0.87,-74.8,210.4,-14.3,7,1288,0.00,2.30,0.00,0.000,6,0.000,0.047,2631,2149,3048,0,0,0,0,0,0
$STATE,1881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1881,begin apogee
$GC,1889,-0.22,0.0,288.9,13.0,9,1956,0.68,0.00,63.62,0.740,6,0.129,0.000,2843,2052,2735,0,0,0,0,0,0
$STATE,1957,end apogee,CONTROL_FINISHED_OK
$STATE,1957,begin climb
$GC,1960,0.91,74.8,288.9,0.0,9,2031,1.00,2.40,64.20,0.721,4,0.060,0.051,3223,562,2429,0,0,0,0,0,0
$GC,2204,0.90,74.8,283.5,8.6,9,2208,0.00,2.33,0.00,0.000,6,0.000,0.044,3223,2065,2424,0,0,0,0,0,0
$GC,2583,0.90,74.8,254.1,7.5,11,2586,0.00,2.40,0.00,0.000,4,0.000,0.054,3223,3576,2422,0,0,0,0,0,0
$GC,2841,0.87,74.8,226.6,11.2,11,2846,0.12,2.30,0.00,0.000,6,0.182,0.041,3204,2076,2419,0,0,0,0,0,0
$GC,3216,0.87,74.8,192.0,9.2,13,3220,0.00,2.35,0.00,0.000,4,0.000,0.054,3204,3570,2419,0,0,0,0,0,0
$GC,3463,0.86,74.8,168.7,8.3,13,3468,0.00,2.30,0.00,0.000,6,0.000,0.041,3213,2080,2418,0,0,0,0,0,0
$GC,3850,0.86,74.8,141.0,7.0,15,3855,0.00,2.38,0.00,0.000,4,0.000,0.050,3225,551,2417,0,0,0,0,0,0
$GC,3979,0.86,74.8,129.3,8.5,15,3984,0.12,2.35,0.00,0.000,6,0.173,0.044,3194,2082,2417,0,0,0,0,0,0
$GC,4476,0.86,83.1,98.9,5.0,17,4487,0.00,2.35,6.45,0.531,4,0.000,0.054,3194,3570,2396,0,0,0,0,0,0
$GC,4516,0.88,109.5,97.8,2.5,17,4545,0.00,2.33,24.25,0.623,6,0.000,0.042,3203,2057,2287,0,0,0,0,0,0
$GC,4783,0.88,109.5,82.2,6.6,20,4787,0.00,2.40,0.00,0.000,4,0.000,0.055,3203,3577,2284,0,0,0,0,0,0
$GC,4984,0.88,109.5,66.7,6.9,21,4988,0.00,2.30,0.00,0.000,6,0.000,0.041,3215,2091,2282,0,0,0,0,0,0
$GC,5198,0.88,117.4,56.0,5.0,24,5212,0.00,2.47,7.62,0.537,4,0.000,0.051,3227,549,2255,0,0,0,0,0,0
$GC,5316,0.89,124.7,51.5,5.1,25,5330,0.00,2.33,7.95,0.535,6,0.000,0.044,3226,2064,2225,0,0,0,0,0,0
$GC,5523,0.89,124.7,37.5,6.4,27,5527,0.00,2.38,0.00,0.000,4,0.000,0.055,3226,3570,2223,0,0,0,0,0,0
$GC,5781,0.91,166.2,35.6,0.5,29,5823,0.00,2.33,35.88,0.593,6,0.000,0.041,3238,2067,2057,0,0,0,0,0,0
$GC,6051,0.93,166.2,15.7,8.8,32,6055,0.00,2.40,0.00,0.000,4,0.000,0.054,3238,3570,2050,0,0,0,0,0,0
$GC,6135,0.97,224.4,15.9,-1.8,32,6189,0.00,2.30,48.15,0.578,6,0.000,0.041,3250,2093,1819,0,0,0,0,0,0
$STATE,6467,end climb,SURFACE_DEPTH_REACHED
$STATE,6467,begin surface coast
$FINISH,0.7,NaN
$STATE,6568,end surface coast,CONTROL_FINISHED_OK
$STATE,6568,begin surface
$SM_CCo,6588,57.75,0.482,2,0,1409,325.02
$SM_GC,1.42,0.00,0.00,57.75,0.000,0.000,0.482,110,2190,1409,-8.78,0.42,325.02
$IRIDIUM_FIX,4732.49,-12507.66,100911,010148
$TT8_MAMPS,0.026964
$HUMID,42.95
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.8,87.713
$10V_AH,9.9,85.854
$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,20.125,56.550,258.125,57.750,0.000,27.513,34.152,123.328,0.000,0.000,11.922,372.143,4914.488,382.037,1085.739,210.958,33.344,879.206,0.000,900.769,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,96.390,739.755,481.950,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297816
$DATA_FILE_SIZE,334,37
$CAP_FILE_SIZE,65545,0
$CFSIZE,260165632,154697728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100911,052825,4751.367,-12510.902,13,1.8,18,18.7