version: 66.07
glider: 187
mission: 4
dive: 825
start: 9 11 111 22 6 2
data:
$ID,187
$MISSION,4
$DIVE,825
$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,-1586685.1
$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,37
$R_STBD_OVSHOOT,43
$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
$GPS1,110911,215936,4751.419,-12511.924,38,1.1,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.8
$GPS2,110911,220508,4751.384,-12511.882,15,1.0,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.002,0.115
$KALMAN_X,387408.3,276.2,136.4,-393703.5,475.7
$KALMAN_Y,-802243.1,215.7,410.1,810645.6,-1110.2
$MHEAD_RNG_PITCHd_Wd,342.5,523,-25.5,-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,-0.82,-35.4,0.0,0.0,0,79,0.00,0.00,-61.20,0.000,6,0.000,0.000,117,2196,2882,0,0,0,0,0,0
$GC,82,-0.85,-88.3,0.0,-0.0,0,102,10.23,2.45,-4.15,0.000,4,0.226,0.063,2636,663,3099,0,0,0,0,0,0
$GC,184,-0.83,-88.3,31.1,-18.8,0,189,0.00,2.33,0.00,0.000,6,0.000,0.047,2627,2169,3102,0,0,0,0,0,0
$GC,392,-0.81,-88.3,70.3,-18.8,2,394,0.12,0.00,0.00,0.000,6,0.176,0.000,2658,2169,3104,0,0,0,0,0,0
$GC,593,-0.80,-88.3,101.7,-17.1,4,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2169,3105,0,0,0,0,0,0
$GC,893,-0.78,-88.3,148.0,-15.8,5,897,0.00,2.35,0.00,0.000,4,0.000,0.049,2658,667,3105,0,0,0,0,0,0
$GC,956,-0.78,-88.3,157.2,-15.2,5,960,0.00,2.30,0.00,0.000,6,0.000,0.047,2650,2166,3106,0,0,0,0,0,0
$GC,1526,-0.78,-88.3,240.7,-14.5,7,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2166,3106,0,0,0,0,0,0
$STATE,1824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1824,begin apogee
$GC,1833,-0.22,0.0,282.0,14.2,8,1911,0.62,0.00,75.00,0.741,6,0.122,0.000,2848,2051,2735,0,0,0,0,0,0
$STATE,1911,end apogee,CONTROL_FINISHED_OK
$STATE,1912,begin climb
$GC,1914,0.85,88.3,282.0,0.0,8,1995,0.98,0.00,76.85,0.723,6,0.070,0.000,3194,2051,2375,0,0,0,0,0,0
$GC,2128,0.88,141.1,272.6,-0.0,9,2179,0.00,2.47,45.75,0.707,4,0.000,0.054,3194,3576,2158,0,0,0,0,0,0
$GC,2222,0.87,141.1,262.3,13.3,9,2227,0.00,2.38,0.00,0.000,6,0.000,0.042,3205,2073,2153,0,0,0,0,0,0
$GC,2755,0.87,141.1,190.8,13.3,11,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2071,2148,0,0,0,0,0,0
$GC,3055,0.87,141.1,151.4,13.2,12,3059,0.00,2.38,0.00,0.000,4,0.000,0.051,3217,546,2147,0,0,0,0,0,0
$GC,3087,0.87,141.1,146.5,13.7,12,3092,0.00,2.33,0.00,0.000,6,0.000,0.045,3217,2065,2146,0,0,0,0,0,0
$GC,3686,0.87,141.1,75.3,10.4,14,3690,0.00,2.40,0.00,0.000,4,0.000,0.056,3217,3577,2146,0,0,0,0,0,0
$GC,3713,0.86,141.1,72.8,9.0,14,3719,0.12,2.35,0.00,0.000,6,0.171,0.043,3197,2060,2144,0,0,0,0,0,0
$GC,3990,0.87,141.1,53.0,6.8,17,3994,0.00,2.42,0.00,0.000,4,0.000,0.056,3197,3580,2144,0,0,0,0,0,0
$GC,4063,0.87,141.1,47.2,8.1,17,4068,0.00,2.33,0.00,0.000,6,0.000,0.042,3206,2075,2144,0,0,0,0,0,0
$GC,4293,0.88,149.5,34.8,5.1,20,4301,0.00,0.00,6.12,0.497,6,0.000,0.000,3206,2075,2125,0,0,0,0,0,0
$GC,4496,0.88,149.5,20.4,6.1,22,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2075,2124,0,0,0,0,0,0
$GC,4696,0.90,159.4,16.2,5.0,24,4711,0.00,2.40,9.77,0.538,4,0.000,0.051,3218,548,2085,0,0,0,0,0,0
$GC,4967,0.94,204.1,17.8,0.9,26,5011,0.00,2.35,38.60,0.580,6,0.000,0.044,3218,2072,1901,0,0,0,0,0,0
$GC,5227,0.97,205.6,4.1,5.9,29,5231,0.00,2.40,0.00,0.000,4,0.000,0.050,3229,549,1894,0,0,0,0,0,0
$STATE,5235,end climb,SURFACE_DEPTH_REACHED
$STATE,5235,begin surface coast
$FINISH,2.9,NaN
$STATE,5241,end surface coast,CONTROL_FINISHED_OK
$STATE,5241,begin surface
$SM_CCo,5265,70.47,0.539,2,0,1409,325.02
$SM_GC,1.67,0.00,0.00,70.47,0.000,0.000,0.539,104,2179,1409,-8.80,0.14,325.02
$IRIDIUM_FIX,4735.69,-12509.51,110911,191912
$TT8_MAMPS,0.026964
$HUMID,42.79
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,23.7,89.308
$10V_AH,9.9,86.492
$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,20.475,38.325,252.100,70.475,0.000,26.695,38.937,142.097,0.250,0.000,15.998,260.861,4160.842,414.664,659.123,187.967,33.344,691.875,0.000,462.026,0.000,0.536,0.000
$DEVICE_MAMPS,225.675,80.325,740.520,538.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,29
$CAP_FILE_SIZE,46903,0
$CFSIZE,260165632,154034176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110911,233616,4751.729,-12511.773,9,2.9,28,18.7