version: 66.07
glider: 187
mission: 4
dive: 833
start: 9 12 111 12 12 58
data:
$ID,187
$MISSION,4
$DIVE,833
$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,-1586695.1
$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,41
$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
$GPS1,120911,120646,4751.358,-12511.641,11,2.1,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.0
$GPS2,120911,121204,4751.381,-12511.536,14,2.2,33,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.109,0.051
$KALMAN_X,391003.3,-353.3,-15.6,-396089.7,971.6
$KALMAN_Y,-803470.2,448.8,122.4,811920.8,-571.6
$MHEAD_RNG_PITCHd_Wd,276.4,165,-24.4,-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,-0.79,-38.6,0.0,0.0,0,78,0.00,0.00,-60.62,0.000,6,0.000,0.000,124,2188,2893,0,0,0,0,0,0
$GC,82,-0.82,-96.1,0.0,-0.0,0,101,10.10,2.38,-4.38,0.000,4,0.220,0.054,2647,652,3130,0,0,0,0,0,0
$GC,212,-0.80,-96.1,36.4,-17.0,1,216,0.00,2.35,0.00,0.000,6,0.000,0.047,2637,2173,3133,0,0,0,0,0,0
$GC,410,-0.76,-96.1,74.6,-18.7,3,411,0.12,0.00,0.00,0.000,6,0.178,0.000,2669,2173,3135,0,0,0,0,0,0
$GC,609,-0.74,-96.1,106.8,-17.0,5,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2173,3136,0,0,0,0,0,0
$GC,912,-0.73,-96.1,149.8,-15.4,6,916,0.00,2.33,0.00,0.000,4,0.000,0.048,2669,670,3136,0,0,0,0,0,0
$GC,956,-0.73,-96.1,156.3,-13.7,6,960,0.00,2.33,0.00,0.000,6,0.000,0.046,2661,2173,3136,0,0,0,0,0,0
$GC,1539,-0.73,-96.1,239.2,-14.3,8,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2173,3136,0,0,0,0,0,0
$STATE,1835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1836,begin apogee
$GC,1843,-0.22,0.0,280.2,14.0,9,1926,0.57,0.00,80.82,0.735,6,0.121,0.000,2844,2046,2734,0,0,0,0,0,0
$STATE,1927,end apogee,CONTROL_FINISHED_OK
$STATE,1927,begin climb
$GC,1930,0.82,96.1,280.2,0.0,9,2019,0.95,0.00,82.70,0.716,6,0.076,0.000,3182,2046,2343,0,0,0,0,0,0
$GC,2560,0.82,96.1,236.0,8.2,11,2564,0.00,2.42,0.00,0.000,4,0.000,0.055,3181,3575,2333,0,0,0,0,0,0
$GC,2818,0.80,96.1,207.3,11.7,11,2822,0.00,2.35,0.00,0.000,6,0.000,0.042,3193,2064,2330,0,0,0,0,0,0
$GC,3186,0.80,96.1,175.0,8.6,13,3190,0.00,2.42,0.00,0.000,4,0.000,0.057,3193,3584,2330,0,0,0,0,0,0
$GC,3318,0.78,96.1,162.3,10.0,13,3323,0.12,2.35,0.00,0.000,6,0.174,0.041,3174,2073,2329,0,0,0,0,0,0
$GC,3817,0.78,96.1,121.3,8.4,15,3821,0.00,2.40,0.00,0.000,4,0.000,0.055,3174,3580,2328,0,0,0,0,0,0
$GC,3856,0.78,96.1,117.4,9.1,15,3860,0.00,2.33,0.00,0.000,6,0.000,0.042,3183,2082,2328,0,0,0,0,0,0
$GC,4252,0.78,105.3,92.1,5.1,17,4266,0.00,2.47,6.72,0.533,4,0.000,0.050,3195,554,2305,0,0,0,0,0,0
$GC,4521,0.79,111.7,76.1,5.4,19,4535,0.00,2.33,7.15,0.535,6,0.000,0.044,3195,2065,2279,0,0,0,0,0,0
$GC,4788,0.79,121.3,62.2,5.1,22,4803,0.00,2.38,9.85,0.560,4,0.000,0.050,3205,553,2240,0,0,0,0,0,0
$GC,5046,0.81,145.5,51.4,3.5,24,5075,0.00,2.28,21.85,0.593,6,0.000,0.044,3206,2033,2141,0,0,0,0,0,0
$GC,5317,0.81,148.0,36.6,5.9,27,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2033,2137,0,0,0,0,0,0
$GC,5520,0.81,150.3,25.2,5.9,29,5530,0.00,2.45,4.90,0.451,4,0.000,0.055,3206,3570,2122,0,0,0,0,0,0
$GC,5619,0.81,150.3,18.5,6.6,29,5625,0.12,2.40,0.00,0.000,6,0.161,0.041,3185,2033,2120,0,0,0,0,0,0
$GC,5827,0.83,179.7,12.5,3.0,32,5858,0.00,2.35,26.00,0.571,4,0.000,0.050,3194,538,2001,0,0,0,0,0,0
$STATE,6069,end climb,SURFACE_DEPTH_REACHED
$STATE,6069,begin surface coast
$FINISH,0.8,NaN
$STATE,6182,end surface coast,CONTROL_FINISHED_OK
$STATE,6182,begin surface
$SM_CCo,6204,97.70,0.497,5,0,1410,325.02
$SM_GC,2.39,0.00,0.00,97.70,0.000,0.000,0.497,107,2178,1410,-8.79,0.08,325.02
$IRIDIUM_FIX,4735.69,-12513.98,120911,101004
$TT8_MAMPS,0.026964
$HUMID,42.08
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.7,89.850
$10V_AH,9.9,86.708
$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,19.950,43.050,240.000,97.700,0.000,26.000,30.725,122.105,0.000,0.000,34.947,342.116,4677.061,427.844,996.003,210.512,33.344,866.574,0.000,799.938,0.000,0.535,0.000
$DEVICE_MAMPS,220.320,73.440,735.165,497.250,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,335,35
$CAP_FILE_SIZE,59336,0
$CFSIZE,260165632,153796608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,120911,135925,4751.228,-12512.034,9,2.0,20,18.7