version: 66.07
glider: 187
mission: 4
dive: 838
start: 9 12 111 21 42 44
data:
$ID,187
$MISSION,4
$DIVE,838
$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,-1586701.4
$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,44
$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
$GPS1,120911,213626,4751.275,-12511.472,11,2.0,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-77.9
$GPS2,120911,214150,4751.286,-12511.407,15,2.0,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.100,0.034
$KALMAN_X,392269.8,-100.3,95.7,-397561.2,674.3
$KALMAN_Y,-803916.0,-282.2,580.0,812466.3,-235.0
$MHEAD_RNG_PITCHd_Wd,270.1,94,-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,-30.0,0.0,0.0,0,76,0.00,0.00,-58.35,0.000,6,0.000,0.000,125,2199,2858,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,99,10.12,2.42,-3.45,0.000,4,0.224,0.053,2620,650,3043,0,0,0,0,0,0
$GC,275,-0.89,-74.8,52.3,-17.0,1,279,0.00,2.35,0.00,0.000,6,0.000,0.045,2610,2173,3046,0,0,0,0,0,0
$GC,499,-0.87,-74.8,94.4,-18.8,4,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2173,3048,0,0,0,0,0,0
$GC,900,-0.85,-74.8,164.1,-17.9,6,902,0.12,0.00,0.00,0.000,6,0.173,0.000,2643,2173,3049,0,0,0,0,0,0
$GC,1202,-0.84,-74.8,206.8,-16.4,7,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2173,3049,0,0,0,0,0,0
$GC,1501,-0.84,-74.8,246.6,-15.2,8,1505,0.00,2.38,0.00,0.000,4,0.000,0.049,2643,666,3049,0,0,0,0,0,0
$GC,1528,-0.84,-74.8,250.3,-13.6,8,1532,0.00,2.35,0.00,0.000,6,0.000,0.047,2633,2180,3049,0,0,0,0,0,0
$STATE,1547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1547,begin apogee
$GC,1554,-0.22,0.0,253.2,13.6,8,1623,0.65,0.00,62.95,0.715,6,0.127,0.000,2842,2055,2734,0,0,0,0,0,0
$STATE,1623,end apogee,CONTROL_FINISHED_OK
$STATE,1624,begin climb
$GC,1628,0.91,74.8,257.6,0.0,8,1698,1.02,0.00,64.18,0.699,6,0.072,0.000,3212,2055,2429,0,0,0,0,0,0
$GC,2125,0.91,74.8,222.7,8.0,10,2129,0.00,2.42,0.00,0.000,4,0.000,0.055,3211,3586,2422,0,0,0,0,0,0
$GC,2273,0.89,74.8,209.5,8.1,10,2278,0.00,2.35,0.00,0.000,6,0.000,0.041,3223,2077,2420,0,0,0,0,0,0
$GC,2759,0.89,74.8,168.1,8.7,12,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2076,2419,0,0,0,0,0,0
$GC,3060,0.89,74.8,144.3,8.3,13,3064,0.00,2.38,0.00,0.000,4,0.000,0.054,3223,3577,2418,0,0,0,0,0,0
$GC,3116,0.87,74.8,140.4,7.2,13,3121,0.12,2.33,0.00,0.000,6,0.180,0.041,3204,2066,2417,0,0,0,0,0,0
$GC,3687,0.87,83.4,106.6,4.9,15,3700,0.00,2.42,6.80,0.542,4,0.000,0.054,3204,3584,2395,0,0,0,0,0,0
$GC,3783,0.87,106.0,103.4,3.0,15,3809,0.00,2.33,20.95,0.621,6,0.000,0.041,3213,2082,2302,0,0,0,0,0,0
$GC,4221,0.88,110.0,77.0,5.6,18,4230,0.00,2.42,4.30,0.449,4,0.000,0.050,3225,556,2286,0,0,0,0,0,0
$GC,4253,0.89,129.6,75.9,3.4,18,4278,0.00,2.35,18.75,0.601,6,0.000,0.045,3225,2091,2205,0,0,0,0,0,0
$GC,4531,0.89,129.6,57.2,6.8,21,4535,0.00,2.35,0.00,0.000,4,0.000,0.056,3225,3572,2201,0,0,0,0,0,0
$GC,4744,0.90,143.6,46.3,4.2,22,4763,0.00,2.22,12.65,0.568,6,0.000,0.041,3236,2123,2148,0,0,0,0,0,0
$GC,4966,0.90,143.6,33.8,7.1,25,4970,0.00,2.45,0.00,0.000,4,0.000,0.050,3248,549,2146,0,0,0,0,0,0
$GC,5223,0.92,182.4,20.3,0.8,27,5263,0.12,2.40,33.38,0.579,6,0.158,0.043,3215,2114,1990,0,0,0,0,0,0
$GC,5498,0.97,201.5,12.4,3.5,30,5521,0.00,2.47,16.42,0.552,4,0.000,0.049,3224,551,1912,0,0,0,0,0,0
$STATE,5763,end climb,SURFACE_DEPTH_REACHED
$STATE,5763,begin surface coast
$FINISH,0.7,NaN
$STATE,5863,end surface coast,CONTROL_FINISHED_OK
$STATE,5863,begin surface
$SM_CCo,5884,73.53,0.451,2,0,1410,325.02
$SM_GC,1.61,0.00,0.00,73.53,0.000,0.000,0.451,117,2172,1410,-8.76,-0.08,325.02
$IRIDIUM_FIX,4735.69,-12509.51,120911,191944
$TT8_MAMPS,0.026964
$HUMID,42.55
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.8,90.161
$10V_AH,9.8,86.848
$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,20.125,43.125,240.375,73.525,0.000,25.038,37.578,134.716,0.000,0.000,16.069,319.020,4490.770,361.312,917.058,209.528,33.351,783.447,0.000,717.846,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,74.205,715.275,450.585,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,335,33
$CAP_FILE_SIZE,57197,0
$CFSIZE,260165632,153645056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120911,232330,4751.237,-12511.771,39,1.5,39,18.7