version: 66.07
glider: 187
mission: 4
dive: 832
start: 9 12 111 10 19 25
data:
$ID,187
$MISSION,4
$DIVE,832
$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,-1586693.9
$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,42
$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
$GPS1,120911,101324,4751.504,-12511.292,27,1.1,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.6
$GPS2,120911,101831,4751.557,-12511.231,12,1.3,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.128,-0.007
$KALMAN_X,390233.7,-383.9,112.1,-395034.8,747.6
$KALMAN_Y,-803312.8,276.4,389.2,811992.9,-413.9
$MHEAD_RNG_PITCHd_Wd,248.1,567,-22.9,-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,-0.74,-43.9,0.0,0.0,0,117,0.00,0.00,-97.10,0.000,6,0.000,0.000,114,2193,2915,0,0,0,0,0,0
$GC,120,-0.78,-109.5,6.0,-0.0,1,141,10.30,2.38,-4.62,0.000,4,0.225,0.063,2646,3690,3185,0,0,0,0,0,0
$GC,365,-0.76,-109.5,66.1,-16.8,3,370,0.10,2.33,0.00,0.000,6,0.168,0.040,2669,2172,3190,0,0,0,0,0,0
$GC,646,-0.75,-109.5,105.4,-13.5,6,650,0.00,2.35,0.00,0.000,4,0.000,0.047,2669,657,3191,0,0,0,0,0,0
$GC,683,-0.73,-109.5,110.8,-15.6,6,688,0.00,2.30,0.00,0.000,6,0.000,0.045,2661,2148,3191,0,0,0,0,0,0
$GC,1278,-0.73,-109.5,197.1,-13.9,8,1282,0.00,2.42,0.00,0.000,4,0.000,0.057,2649,3689,3191,0,0,0,0,0,0
$GC,1316,-0.73,-109.5,203.1,-15.0,8,1321,0.12,2.38,0.00,0.000,6,0.147,0.042,2683,2161,3191,0,0,0,0,0,0
$STATE,1907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1907,begin apogee
$GC,1916,-0.22,0.0,280.3,12.9,10,2010,0.50,0.00,91.50,0.734,6,0.116,0.000,2847,2038,2735,0,0,0,0,0,0
$STATE,2011,end apogee,CONTROL_FINISHED_OK
$STATE,2011,begin climb
$GC,2014,0.78,109.5,280.3,0.0,10,2117,0.90,0.00,93.53,0.718,6,0.070,0.000,3171,2038,2288,0,0,0,0,0,0
$GC,2644,0.78,109.5,232.8,9.6,12,2648,0.00,2.45,0.00,0.000,4,0.000,0.056,3171,3578,2278,0,0,0,0,0,0
$GC,2846,0.76,109.5,212.2,10.5,12,2850,0.00,2.30,0.00,0.000,6,0.000,0.042,3183,2081,2276,0,0,0,0,0,0
$GC,3278,0.75,109.5,173.8,8.9,14,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2080,2275,0,0,0,0,0,0
$GC,3578,0.74,109.5,145.6,9.1,15,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2079,2275,0,0,0,0,0,0
$GC,3877,0.73,109.5,119.0,9.1,16,3881,0.00,2.38,0.00,0.000,4,0.000,0.055,3183,3584,2273,0,0,0,0,0,0
$GC,3938,0.71,109.5,113.6,8.7,16,3943,0.17,2.35,0.00,0.000,6,0.158,0.042,3147,2071,2273,0,0,0,0,0,0
$GC,4309,0.72,109.5,91.0,6.8,18,4313,0.00,2.38,0.00,0.000,4,0.000,0.052,3157,551,2272,0,0,0,0,0,0
$GC,4490,0.74,118.1,81.0,5.3,19,4501,0.00,2.33,5.97,0.508,6,0.000,0.044,3157,2065,2253,0,0,0,0,0,0
$GC,4726,0.76,140.7,71.4,4.0,22,4752,0.00,2.40,21.00,0.600,4,0.000,0.054,3157,3568,2160,0,0,0,0,0,0
$GC,4804,0.76,147.8,67.9,5.5,22,4818,0.00,2.33,7.12,0.522,6,0.000,0.042,3167,2068,2132,0,0,0,0,0,0
$GC,5032,0.78,152.5,55.0,5.7,25,5043,0.00,2.40,5.65,0.488,4,0.000,0.050,3179,548,2112,0,0,0,0,0,0
$GC,5077,0.80,152.5,51.9,7.3,25,5081,0.00,2.33,0.00,0.000,6,0.000,0.045,3179,2054,2111,0,0,0,0,0,0
$GC,5336,0.81,152.5,33.3,7.2,28,5340,0.00,2.35,0.00,0.000,4,0.000,0.050,3190,546,2110,0,0,0,0,0,0
$GC,5364,0.81,152.5,31.0,7.7,28,5368,0.00,2.30,0.00,0.000,6,0.000,0.045,3190,2049,2110,0,0,0,0,0,0
$GC,5646,0.83,171.9,16.6,4.3,31,5671,0.00,2.47,17.20,0.565,4,0.000,0.055,3190,3573,2032,0,0,0,0,0,0
$GC,5924,0.86,208.2,14.7,2.7,33,5960,0.00,2.35,30.85,0.571,6,0.000,0.042,3201,2061,1885,0,0,0,0,0,0
$STATE,6171,end climb,SURFACE_DEPTH_REACHED
$STATE,6171,begin surface coast
$FINISH,0.6,NaN
$STATE,6275,end surface coast,CONTROL_FINISHED_OK
$STATE,6275,begin surface
$SM_CCo,6294,66.10,0.438,2,0,1410,325.02
$SM_GC,1.35,0.00,0.00,66.10,0.000,0.000,0.438,124,2185,1410,-8.74,0.28,325.02
$IRIDIUM_FIX,4732.49,-12449.01,120911,080838
$TT8_MAMPS,0.027713
$HUMID,43.34
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.8,89.781
$10V_AH,9.9,86.679
$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,20.075,47.575,272.825,66.100,0.000,24.551,35.846,125.251,0.000,0.000,18.442,340.896,4747.676,444.355,949.516,204.606,33.346,877.683,0.000,764.033,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,83.385,733.635,437.580,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,335,37
$CAP_FILE_SIZE,60704,0
$CFSIZE,260165632,153825280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120911,120646,4751.358,-12511.641,11,2.1,30,18.7