version: 66.07
glider: 187
mission: 4
dive: 821
start: 9 11 111 14 50 50
data:
$ID,187
$MISSION,4
$DIVE,821
$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,-1586680.1
$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,43
$R_STBD_OVSHOOT,32
$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
$GPS1,110911,144455,4751.113,-12511.563,43,1.6,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-78.1
$GPS2,110911,144956,4751.118,-12511.539,14,1.5,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.052,0.092
$KALMAN_X,386400.1,-109.9,-46.8,-391703.2,397.3
$KALMAN_Y,-800138.9,-52.0,-322.9,809054.2,-247.6
$MHEAD_RNG_PITCHd_Wd,312.1,344,-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,-30.0,0.0,0.0,0,78,0.00,0.00,-60.15,0.000,6,0.000,0.000,110,2174,2857,0,0,0,0,0,0
$GC,82,-0.90,-53.5,2.8,-2.9,1,101,10.12,2.45,-1.88,0.000,4,0.223,0.062,2623,670,2957,0,0,0,0,0,0
$GC,236,-0.87,-53.5,44.1,-18.7,2,241,0.00,2.33,0.00,0.000,6,0.000,0.047,2613,2177,2959,0,0,0,0,0,0
$GC,500,-0.85,-53.5,88.9,-16.6,5,505,0.12,2.38,0.00,0.000,4,0.178,0.056,2635,3692,2962,0,0,0,0,0,0
$GC,529,-0.85,-53.5,93.4,-14.2,5,533,0.00,2.35,0.00,0.000,6,0.000,0.042,2634,2180,2962,0,0,0,0,0,0
$GC,908,-0.85,-53.5,142.7,-12.8,7,913,0.00,2.35,0.00,0.000,4,0.000,0.049,2634,658,2962,0,0,0,0,0,0
$GC,986,-0.85,-53.5,152.7,-11.9,7,991,0.00,2.38,0.00,0.000,6,0.000,0.047,2624,2189,2962,0,0,0,0,0,0
$GC,1535,-0.85,-53.5,223.6,-13.2,9,1539,0.00,2.38,0.00,0.000,4,0.000,0.049,2623,664,2962,0,0,0,0,0,0
$GC,1568,-0.85,-53.5,228.3,-14.4,9,1573,0.12,2.38,0.00,0.000,6,0.170,0.047,2644,2190,2962,0,0,0,0,0,0
$STATE,1772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1772,begin apogee
$GC,1779,-0.22,0.0,253.6,12.5,9,1829,0.60,0.00,46.40,0.721,6,0.126,0.000,2841,2048,2734,0,0,0,0,0,0
$STATE,1830,end apogee,CONTROL_FINISHED_OK
$STATE,1830,begin climb
$GC,1834,0.90,53.5,256.4,0.0,9,1884,1.00,0.00,46.12,0.705,6,0.074,0.000,3201,2048,2516,0,0,0,0,0,0
$GC,2487,0.90,60.5,222.6,5.2,12,2501,0.00,2.42,6.45,0.576,4,0.000,0.052,3201,3581,2486,0,0,0,0,0,0
$GC,2693,0.88,60.5,209.0,6.6,12,2697,0.00,2.35,0.00,0.000,6,0.000,0.041,3213,2066,2484,0,0,0,0,0,0
$GC,3120,0.88,60.5,182.0,6.6,14,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2065,2484,0,0,0,0,0,0
$GC,3418,0.88,60.5,163.6,6.4,15,3422,0.00,2.42,0.00,0.000,4,0.000,0.055,3213,3579,2484,0,0,0,0,0,0
$GC,3676,0.86,67.3,148.3,5.2,15,3690,0.00,2.35,6.95,0.569,6,0.000,0.041,3225,2063,2459,0,0,0,0,0,0
$GC,4054,0.85,67.3,125.5,6.3,17,4059,0.12,2.38,0.00,0.000,4,0.179,0.050,3202,549,2458,0,0,0,0,0,0
$GC,4128,0.85,67.3,120.9,6.2,17,4133,0.00,2.35,0.00,0.000,6,0.000,0.044,3203,2071,2458,0,0,0,0,0,0
$GC,4684,0.86,88.0,96.2,3.3,19,4708,0.00,2.40,19.12,0.622,4,0.000,0.055,3203,3574,2376,0,0,0,0,0,0
$GC,4963,0.85,88.2,77.4,6.1,21,4967,0.00,2.35,0.00,0.000,6,0.000,0.041,3214,2063,2372,0,0,0,0,0,0
$GC,5216,0.87,110.4,68.8,3.1,24,5242,0.00,2.42,20.38,0.610,4,0.000,0.054,3214,3580,2283,0,0,0,0,0,0
$GC,5440,0.87,120.7,57.2,4.7,26,5455,0.00,2.33,9.70,0.562,6,0.000,0.041,3226,2075,2243,0,0,0,0,0,0
$GC,5745,0.88,132.9,43.9,4.4,29,5763,0.00,2.47,11.65,0.568,4,0.000,0.050,3238,544,2193,0,0,0,0,0,0
$GC,6017,0.89,146.1,31.7,4.3,31,6037,0.12,2.30,12.70,0.567,6,0.164,0.044,3205,2052,2139,0,0,0,0,0,0
$GC,6281,0.92,159.0,20.7,4.3,34,6300,0.00,2.45,12.25,0.556,4,0.000,0.051,3215,540,2085,0,0,0,0,0,0
$GC,6384,0.96,179.2,16.5,3.4,34,6409,0.00,2.33,18.23,0.565,6,0.000,0.046,3215,2042,2004,0,0,0,0,0,0
$GC,6613,1.01,199.7,10.2,3.3,37,6637,0.00,2.42,17.73,0.558,4,0.000,0.051,3226,549,1921,0,0,0,0,0,0
$STATE,6713,end climb,SURFACE_DEPTH_REACHED
$STATE,6713,begin surface coast
$FINISH,3.5,NaN
$STATE,6719,end surface coast,CONTROL_FINISHED_OK
$STATE,6719,begin surface
$SM_CCo,6741,78.25,0.528,4,0,1409,325.02
$SM_GC,2.12,0.00,0.00,78.25,0.000,0.000,0.528,110,2173,1409,-8.78,-0.06,325.02
$IRIDIUM_FIX,4735.69,-12516.60,110911,121252
$TT8_MAMPS,0.026964
$HUMID,42.51
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.8,89.027
$10V_AH,9.9,86.392
$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,20.650,57.475,227.675,78.250,0.000,26.295,31.078,121.488,0.000,0.000,14.845,388.005,5018.711,364.053,1152.446,224.239,33.353,907.228,0.000,967.908,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,69.615,721.395,527.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297796
$DATA_FILE_SIZE,335,38
$CAP_FILE_SIZE,70448,0
$CFSIZE,260165632,154124288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,110911,164604,4751.314,-12511.854,13,2.5,32,18.7