version: 66.07
glider: 187
mission: 4
dive: 841
start: 9 13 111 3 21 44
data:
$ID,187
$MISSION,4
$DIVE,841
$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,-1586705.1
$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,34
$R_STBD_OVSHOOT,38
$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
$GPS1,130911,031537,4751.396,-12512.057,59,1.3,59,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-78.5
$GPS2,130911,032050,4751.376,-12512.059,15,1.7,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.106,-0.003
$KALMAN_X,392837.9,-201.5,-163.6,-398573.2,97.3
$KALMAN_Y,-804966.2,-117.9,-625.4,814723.4,-125.8
$MHEAD_RNG_PITCHd_Wd,72.7,732,-27.7,-6.111
$D_GRID,220
$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,-30.0,0.0,0.0,0,77,0.00,0.00,-59.65,0.000,6,0.000,0.000,126,2196,2858,0,0,0,0,0,0
$GC,81,-0.91,-74.8,0.0,-0.0,0,101,10.07,2.45,-3.50,0.000,4,0.223,0.069,2609,3681,3044,0,0,0,0,0,0
$GC,291,-0.89,-74.8,55.7,-19.3,1,296,0.00,2.38,0.00,0.000,6,0.000,0.041,2608,2162,3047,0,0,0,0,0,0
$GC,499,-0.88,-74.8,92.8,-18.1,3,503,0.00,2.33,0.00,0.000,4,0.000,0.048,2607,660,3049,0,0,0,0,0,0
$GC,649,-0.86,-74.8,117.9,-14.9,4,654,0.17,2.28,0.00,0.000,6,0.168,0.045,2644,2148,3050,0,0,0,0,0,0
$GC,1130,-0.86,-74.8,187.2,-14.4,6,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2148,3050,0,0,0,0,0,0
$STATE,1428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1428,begin apogee
$GC,1437,-0.22,0.0,230.4,14.4,7,1503,0.62,0.00,63.47,0.696,6,0.125,0.000,2844,2051,2735,0,0,0,0,0,0
$STATE,1504,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1507,0.91,74.8,230.4,0.0,7,1575,1.05,0.00,64.28,0.682,6,0.072,0.000,3216,2051,2429,0,0,0,0,0,0
$GC,1731,0.94,119.6,223.9,-0.0,8,1776,0.00,2.50,38.75,0.670,4,0.000,0.054,3216,3597,2246,0,0,0,0,0,0
$GC,1820,0.92,119.6,215.3,13.3,8,1824,0.00,2.40,0.00,0.000,6,0.000,0.041,3227,2066,2243,0,0,0,0,0,0
$GC,2362,0.92,119.6,147.7,12.3,10,2366,0.00,2.38,0.00,0.000,4,0.000,0.055,3227,3572,2239,0,0,0,0,0,0
$GC,2470,0.91,119.6,133.4,12.9,10,2474,0.00,2.35,0.00,0.000,6,0.000,0.041,3238,2059,2237,0,0,0,0,0,0
$GC,2991,0.91,119.6,70.4,11.3,12,2995,0.00,2.35,0.00,0.000,4,0.000,0.050,3251,545,2236,0,0,0,0,0,0
$GC,3007,0.91,119.6,68.8,11.1,12,3012,0.15,2.35,0.00,0.000,6,0.158,0.044,3211,2071,2236,0,0,0,0,0,0
$GC,3301,0.93,134.7,55.8,4.1,15,3315,0.00,0.00,12.38,0.567,6,0.000,0.000,3211,2071,2186,0,0,0,0,0,0
$GC,3502,0.95,142.1,43.5,5.1,17,3516,0.00,2.45,7.97,0.527,4,0.000,0.050,3220,546,2155,0,0,0,0,0,0
$GC,3590,0.97,142.1,36.4,8.6,17,3594,0.00,2.35,0.00,0.000,6,0.000,0.044,3220,2069,2154,0,0,0,0,0,0
$GC,3808,0.98,142.1,21.9,6.8,20,3812,0.00,2.42,0.00,0.000,4,0.000,0.050,3231,541,2153,0,0,0,0,0,0
$GC,3907,1.00,156.9,16.8,4.1,20,3926,0.00,2.30,13.95,0.555,6,0.000,0.044,3232,2038,2094,0,0,0,0,0,0
$GC,4133,1.05,198.0,13.0,0.5,23,4173,0.00,2.38,34.80,0.574,4,0.000,0.050,3243,550,1927,0,0,0,0,0,0
$GC,4326,1.09,218.8,8.1,3.3,24,4350,0.00,2.33,18.12,0.549,6,0.000,0.043,3243,2071,1841,0,0,0,0,0,0
$STATE,4411,end climb,SURFACE_DEPTH_REACHED
$STATE,4411,begin surface coast
$FINISH,3.5,NaN
$STATE,4419,end surface coast,CONTROL_FINISHED_OK
$STATE,4419,begin surface
$SM_CCo,4439,64.03,0.522,3,0,1409,325.02
$SM_GC,1.81,0.00,0.00,64.03,0.000,0.000,0.522,104,2195,1409,-8.80,0.57,325.02
$IRIDIUM_FIX,4732.49,-12512.90,130911,010125
$TT8_MAMPS,0.027713
$HUMID,43.62
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.8,90.353
$10V_AH,9.9,86.928
$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,20.575,38.250,253.725,64.025,0.000,28.894,33.152,129.279,0.000,0.000,16.811,267.519,3272.410,405.953,703.272,189.469,33.347,711.475,0.000,522.789,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,86.445,696.150,521.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,25
$CAP_FILE_SIZE,47973,0
$CFSIZE,260165632,153563136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,130911,043816,4751.260,-12511.552,15,3.4,34,18.7