version: 66.07
glider: 187
mission: 4
dive: 811
start: 9 10 111 19 53 22
data:
$ID,187
$MISSION,4
$DIVE,811
$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,-1586667.6
$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,33
$R_STBD_OVSHOOT,41
$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
$GPS1,100911,194702,4751.809,-12511.385,41,1.9,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-77.6
$GPS2,100911,195228,4751.757,-12511.395,16,2.1,35,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.032,-0.101
$KALMAN_X,384733.1,179.7,121.0,-390314.2,83.6
$KALMAN_Y,-797287.4,-370.3,492.7,806874.4,-236.6
$MHEAD_RNG_PITCHd_Wd,178.8,853,-27.7,-6.111
$D_GRID,220
$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,-30.0,0.0,0.0,0,71,0.00,0.00,-53.00,0.000,2,0.000,0.000,107,2167,2653,0,0,0,0,0,0
$GC,74,-0.88,-30.0,3.5,-6.9,0,95,10.15,2.42,-4.62,0.000,4,0.223,0.066,2622,3681,2860,0,0,0,0,0,0
$GC,347,-0.86,-30.0,57.9,-15.6,3,352,0.00,2.33,0.00,0.000,6,0.000,0.040,2622,2159,2864,0,0,0,0,0,0
$GC,609,-0.84,-30.0,93.5,-13.9,6,613,0.00,2.42,0.00,0.000,4,0.000,0.055,2610,3682,2866,0,0,0,0,0,0
$GC,806,-0.82,-30.0,124.1,-13.2,7,811,0.15,2.33,0.00,0.000,6,0.161,0.040,2649,2163,2866,0,0,0,0,0,0
$GC,1240,-0.82,-30.0,166.6,-10.0,9,1244,0.00,2.42,0.00,0.000,4,0.000,0.056,2640,3688,2866,0,0,0,0,0,0
$GC,1261,-0.82,-30.0,169.6,-11.2,9,1265,0.00,2.35,0.00,0.000,6,0.000,0.042,2639,2160,2866,0,0,0,0,0,0
$STATE,1868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1868,begin apogee
$GC,1877,-0.22,0.0,235.5,11.0,11,1908,0.68,0.00,27.98,0.694,6,0.133,0.000,2849,2052,2735,0,0,0,0,0,0
$STATE,1908,end apogee,CONTROL_FINISHED_OK
$STATE,1908,begin climb
$GC,1911,0.88,30.0,235.5,0.0,11,1941,1.00,0.00,26.77,0.682,6,0.070,0.000,3209,2052,2612,0,0,0,0,0,0
$GC,2173,0.90,74.8,243.6,-0.0,12,2218,0.00,2.47,38.90,0.701,4,0.000,0.054,3209,3576,2429,0,0,0,0,0,0
$GC,2249,0.89,96.5,244.2,3.1,12,2274,0.00,2.38,20.23,0.672,6,0.000,0.040,3221,2064,2341,0,0,0,0,0,0
$GC,2801,0.88,96.5,186.7,11.1,14,2805,0.00,2.42,0.00,0.000,4,0.000,0.055,3221,3576,2334,0,0,0,0,0,0
$GC,3005,0.86,96.5,162.2,11.4,14,3010,0.12,2.33,0.00,0.000,6,0.175,0.041,3201,2062,2332,0,0,0,0,0,0
$GC,3431,0.86,96.5,125.9,8.5,16,3435,0.00,2.38,0.00,0.000,4,0.000,0.056,3201,3563,2332,0,0,0,0,0,0
$GC,3627,0.86,96.5,107.9,8.0,16,3631,0.00,2.28,0.00,0.000,6,0.000,0.041,3211,2081,2331,0,0,0,0,0,0
$GC,3966,0.86,96.5,86.4,6.4,19,3970,0.00,2.38,0.00,0.000,4,0.000,0.050,3222,554,2331,0,0,0,0,0,0
$GC,4108,0.86,96.5,75.3,7.1,20,4112,0.00,2.30,0.00,0.000,6,0.000,0.044,3222,2069,2331,0,0,0,0,0,0
$GC,4383,0.86,105.0,61.2,5.0,23,4396,0.00,2.45,6.93,0.529,4,0.000,0.050,3233,549,2306,0,0,0,0,0,0
$GC,4555,0.89,147.7,56.7,0.3,24,4601,0.00,2.25,37.95,0.607,6,0.000,0.044,3234,2033,2131,0,0,0,0,0,0
$GC,4802,0.89,147.7,38.1,8.5,27,4807,0.00,2.47,0.00,0.000,4,0.000,0.055,3234,3578,2126,0,0,0,0,0,0
$GC,4911,0.89,147.7,27.3,10.2,28,4916,0.15,2.40,0.00,0.000,6,0.163,0.041,3207,2024,2125,0,0,0,0,0,0
$GC,5121,0.93,181.4,21.1,1.5,30,5156,0.00,2.40,28.12,0.579,4,0.000,0.051,3216,543,1995,0,0,0,0,0,0
$GC,5409,1.00,224.6,11.2,0.2,32,5450,0.00,2.20,36.28,0.569,6,0.000,0.044,3216,1976,1819,0,0,0,0,0,0
$STATE,5656,end climb,SURFACE_DEPTH_REACHED
$STATE,5656,begin surface coast
$FINISH,0.6,NaN
$STATE,5756,end surface coast,CONTROL_FINISHED_OK
$STATE,5756,begin surface
$SM_CCo,5775,55.62,0.479,2,0,1409,325.02
$SM_GC,1.37,0.00,0.00,55.62,0.000,0.000,0.479,111,2185,1409,-8.78,0.28,325.02
$IRIDIUM_FIX,4735.69,-12511.36,100911,171737
$TT8_MAMPS,0.026964
$HUMID,43.46
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,24.0,88.350
$10V_AH,9.9,86.102
$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,20.250,47.800,223.150,55.625,0.000,28.866,33.765,121.033,0.000,0.000,37.078,343.215,4257.372,328.782,1035.578,208.054,33.339,793.051,0.000,829.686,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,87.975,700.740,478.890,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,335,36
$CAP_FILE_SIZE,60892,0
$CFSIZE,260165632,154443776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100911,213206,4751.496,-12511.347,44,1.5,44,18.7