version: 66.07
glider: 187
mission: 4
dive: 819
start: 9 11 111 11 2 50
data:
$ID,187
$MISSION,4
$DIVE,819
$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,-1586677.6
$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,38
$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
$GPS1,110911,105624,4751.721,-12511.442,25,0.9,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-76.6
$GPS2,110911,110156,4751.722,-12511.453,12,1.7,12,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.008,-0.106
$KALMAN_X,385691.3,-138.8,190.3,-391096.2,-40.0
$KALMAN_Y,-799738.6,-196.8,362.3,809223.5,-682.2
$MHEAD_RNG_PITCHd_Wd,157.1,783,-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,-30.0,0.0,0.0,0,70,0.00,0.00,-52.28,0.000,2,0.000,0.000,106,2170,2622,0,0,0,0,0,0
$GC,74,-0.88,-31.0,3.4,-6.0,0,95,10.20,2.42,-5.47,0.000,4,0.224,0.060,2615,3693,2863,0,0,0,0,0,0
$GC,292,-0.86,-31.0,48.7,-16.6,2,296,0.00,2.35,0.00,0.000,6,0.000,0.040,2615,2167,2867,0,0,0,0,0,0
$GC,510,-0.83,-31.0,83.1,-16.0,5,515,0.12,2.42,0.00,0.000,4,0.173,0.055,2637,3686,2869,0,0,0,0,0,0
$GC,655,-0.83,-31.0,105.7,-15.2,6,659,0.00,2.28,0.00,0.000,6,0.000,0.041,2637,2222,2869,0,0,0,0,0,0
$GC,1142,-0.83,-31.0,172.6,-13.7,8,1146,0.00,2.40,0.00,0.000,4,0.000,0.048,2637,660,2869,0,0,0,0,0,0
$GC,1232,-0.83,-31.0,185.4,-14.5,8,1236,0.00,2.42,0.00,0.000,6,0.000,0.047,2626,2237,2870,0,0,0,0,0,0
$STATE,1766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1766,begin apogee
$GC,1774,-0.22,0.0,247.3,11.1,10,1806,0.70,0.00,28.67,0.702,6,0.132,0.000,2843,2058,2734,0,0,0,0,0,0
$STATE,1807,end apogee,CONTROL_FINISHED_OK
$STATE,1807,begin climb
$GC,1810,0.88,31.0,247.3,0.0,10,1845,0.98,2.42,27.15,0.689,4,0.072,0.048,3212,553,2608,0,0,0,0,0,0
$GC,2101,0.91,94.2,250.3,-2.5,10,2161,0.00,2.30,54.38,0.712,6,0.000,0.042,3212,2064,2351,0,0,0,0,0,0
$GC,2771,0.91,94.2,186.3,11.0,13,2774,0.00,2.35,0.00,0.000,4,0.000,0.054,3212,3568,2344,0,0,0,0,0,0
$GC,3029,0.89,94.2,157.8,11.4,13,3033,0.00,2.30,0.00,0.000,6,0.000,0.041,3223,2070,2341,0,0,0,0,0,0
$GC,3403,0.89,94.2,123.6,8.9,15,3408,0.00,2.38,0.00,0.000,4,0.000,0.054,3223,3568,2341,0,0,0,0,0,0
$GC,3489,0.87,94.2,116.3,8.6,15,3494,0.12,2.30,0.00,0.000,6,0.177,0.041,3204,2075,2340,0,0,0,0,0,0
$GC,4032,0.88,102.5,86.4,5.0,17,4045,0.00,2.45,6.65,0.526,4,0.000,0.050,3213,548,2316,0,0,0,0,0,0
$GC,4248,0.89,117.0,76.3,4.1,18,4268,0.00,2.33,14.43,0.598,6,0.000,0.043,3213,2066,2256,0,0,0,0,0,0
$GC,4470,0.90,132.9,68.1,3.9,21,4489,0.00,2.40,14.38,0.590,4,0.000,0.054,3213,3568,2193,0,0,0,0,0,0
$GC,4682,0.90,141.6,54.4,4.9,22,4696,0.00,2.33,9.00,0.551,6,0.000,0.041,3225,2055,2157,0,0,0,0,0,0
$GC,4910,0.91,141.6,39.6,6.5,25,4914,0.00,2.35,0.00,0.000,4,0.000,0.050,3236,553,2155,0,0,0,0,0,0
$GC,5029,0.92,143.0,32.4,5.9,26,5033,0.00,2.28,0.00,0.000,6,0.000,0.044,3236,2035,2154,0,0,0,0,0,0
$GC,5225,0.93,161.2,23.8,3.6,28,5249,0.00,2.47,17.73,0.573,4,0.000,0.054,3236,3576,2076,0,0,0,0,0,0
$GC,5318,0.93,172.2,19.7,4.6,28,5334,0.00,2.35,10.25,0.538,6,0.000,0.041,3248,2050,2033,0,0,0,0,0,0
$GC,5537,0.94,185.0,10.3,4.4,31,5556,0.00,2.42,11.90,0.545,4,0.000,0.050,3260,545,1980,0,0,0,0,0,0
$STATE,5740,end climb,SURFACE_DEPTH_REACHED
$STATE,5740,begin surface coast
$FINISH,3.7,NaN
$STATE,5745,end surface coast,CONTROL_FINISHED_OK
$STATE,5745,begin surface
$SM_CCo,5769,84.43,0.532,4,0,1409,325.02
$SM_GC,2.01,0.00,0.00,84.43,0.000,0.000,0.532,106,2177,1409,-8.80,0.06,325.02
$IRIDIUM_FIX,4732.49,-12507.66,110911,090923
$TT8_MAMPS,0.027713
$HUMID,43.06
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,24.0,88.898
$10V_AH,9.9,86.329
$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,20.675,52.525,194.525,84.425,0.000,35.887,35.232,140.315,0.000,0.000,13.486,361.526,4173.539,342.338,1127.576,208.052,33.342,844.279,0.000,913.938,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,61.965,712.215,532.440,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,32
$CAP_FILE_SIZE,63807,0
$CFSIZE,260165632,154198016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,110911,124155,4751.228,-12511.227,12,2.3,31,18.7