version: 66.07
glider: 187
mission: 4
dive: 849
start: 9 13 111 16 32 9
data:
$ID,187
$MISSION,4
$DIVE,849
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,-1586715.1
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,130911,162606,4751.289,-12511.240,38,1.7,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-77.8
$GPS2,130911,163114,4751.280,-12511.227,16,1.7,16,18.7
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.170,0.031
$KALMAN_X,392791.0,-58.2,-209.0,-397592.1,-65.4
$KALMAN_Y,-806454.9,358.2,-504.7,815440.7,-11.8
$MHEAD_RNG_PITCHd_Wd,261.5,317,-28.2,-10.000
$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,-0.92,-62.6,0.0,0.0,0,66,0.00,0.00,-48.10,0.000,2,0.000,0.000,108,2162,2537,0,0,0,0,0,0
$GC,70,-0.95,-108.4,3.3,-5.1,0,100,10.02,2.47,-14.35,0.000,4,0.223,0.067,2600,3693,3181,0,0,0,0,0,0
$GC,308,-0.93,-108.4,59.9,-19.9,1,312,0.00,2.35,0.00,0.000,6,0.000,0.041,2599,2170,3184,0,0,0,0,0,0
$GC,520,-0.92,-108.4,102.6,-20.2,4,525,0.00,2.40,0.00,0.000,4,0.000,0.056,2588,3687,3186,0,0,0,0,0,0
$GC,779,-0.92,-108.4,152.8,-19.6,4,784,0.12,2.38,0.00,0.000,6,0.164,0.042,2620,2159,3186,0,0,0,0,0,0
$STATE,1145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1145,begin apogee
$GC,1154,-0.22,0.0,215.7,17.0,6,1246,0.73,0.00,89.57,0.692,6,0.130,0.000,2849,2034,2735,0,0,0,0,0,0
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin climb
$GC,1250,0.95,108.4,215.7,0.0,6,1352,1.05,2.42,92.00,0.677,4,0.073,0.048,3236,556,2290,0,0,0,0,0,0
$GC,1399,0.95,108.4,215.3,10.3,6,1403,0.00,2.35,0.00,0.000,6,0.000,0.043,3236,2062,2287,0,0,0,0,0,0
$GC,1874,0.95,108.4,160.6,11.6,8,1878,0.00,2.35,0.00,0.000,4,0.000,0.054,3236,3570,2283,0,0,0,0,0,0
$GC,2042,0.93,108.4,137.9,12.0,8,2046,0.00,2.33,0.00,0.000,6,0.000,0.041,3247,2073,2280,0,0,0,0,0,0
$GC,2502,0.93,108.4,89.2,10.3,10,2505,0.00,2.38,0.00,0.000,4,0.000,0.054,3248,3578,2280,0,0,0,0,0,0
$GC,2716,0.91,118.4,69.6,8.9,11,2730,0.17,2.33,7.95,0.538,6,0.169,0.041,3213,2081,2251,0,0,0,0,0,0
$GC,2939,0.95,164.1,55.8,5.1,14,2981,0.00,0.00,39.78,0.603,6,0.000,0.000,3213,2080,2066,0,0,0,0,0,0
$GC,3140,0.99,193.5,39.6,6.9,16,3170,0.00,2.40,25.05,0.580,4,0.000,0.053,3213,3575,1945,0,0,0,0,0,0
$GC,3300,1.01,202.0,23.4,9.1,17,3314,0.00,2.33,8.15,0.511,6,0.000,0.042,3221,2099,1910,0,0,0,0,0,0
$GC,3558,1.07,240.6,7.2,5.9,20,3598,0.12,2.50,32.35,0.566,4,0.087,0.050,3297,554,1753,0,0,0,0,0,0
$GC,3611,1.12,289.7,4.9,4.8,20,3626,0.00,2.30,9.55,0.505,2,0.000,0.044,3297,2036,1711,0,0,0,0,0,0
$STATE,3626,end climb,SURFACE_DEPTH_REACHED
$STATE,3627,begin surface coast
$FINISH,3.4,NaN
$STATE,3629,end surface coast,CONTROL_FINISHED_OK
$STATE,3630,begin surface
$SM_CCo,3650,48.40,0.529,2,0,1409,325.02
$SM_GC,2.44,0.00,0.00,48.40,0.000,0.000,0.529,109,2186,1409,-8.79,0.31,325.02
$IRIDIUM_FIX,4738.89,-12520.31,130911,151517
$TT8_MAMPS,0.027713
$HUMID,43.50
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.9,90.907
$10V_AH,9.9,87.141
$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,20.975,33.625,304.400,48.400,0.000,27.930,30.350,121.980,0.000,0.000,17.416,242.966,2514.564,396.133,695.348,178.464,33.348,715.514,0.000,517.634,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,79.560,692.325,529.380,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,20
$CAP_FILE_SIZE,44886,0
$CFSIZE,260165632,153341952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130911,173507,4751.292,-12511.587,19,1.9,30,18.7