version: 66.07
glider: 187
mission: 4
dive: 746
start: 9 5 111 16 43 56
data:
$ID,187
$MISSION,4
$DIVE,746
$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,-1586586.4
$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,39
$R_STBD_OVSHOOT,34
$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
$GPS1,050911,163802,4751.542,-12511.569,46,1.9,46,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-78.9
$GPS2,050911,164302,4751.507,-12511.541,16,1.1,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.061,-0.086
$KALMAN_X,388518.1,112.9,-122.8,-393969.8,445.0
$KALMAN_Y,-803078.2,566.5,241.4,811524.4,142.5
$MHEAD_RNG_PITCHd_Wd,196.5,392,-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,-30.0,0.0,0.0,0,75,0.00,0.00,-57.50,0.000,6,0.000,0.000,108,2165,2858,0,0,0,0,0,0
$GC,78,-0.90,-60.6,2.2,-1.9,1,98,10.07,2.47,-2.33,0.000,4,0.222,0.063,2615,3690,2986,0,0,0,0,0,0
$GC,305,-0.89,-60.6,56.4,-16.5,3,310,0.00,2.33,0.00,0.000,6,0.000,0.041,2614,2175,2990,0,0,0,0,0,0
$GC,508,-0.87,-60.6,89.3,-16.9,5,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2169,2991,0,0,0,0,0,0
$GC,910,-0.86,-60.6,148.3,-15.2,7,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2169,2992,0,0,0,0,0,0
$GC,1210,-0.85,-60.6,189.5,-14.5,8,1215,0.12,2.42,0.00,0.000,4,0.169,0.056,2638,3692,2992,0,0,0,0,0,0
$GC,1248,-0.85,-60.6,194.6,-12.8,8,1252,0.00,2.38,0.00,0.000,6,0.000,0.042,2637,2165,2992,0,0,0,0,0,0
$STATE,1833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1833,begin apogee
$GC,1840,-0.22,0.0,266.5,11.6,10,1896,0.68,0.00,52.60,0.734,6,0.129,0.000,2850,2041,2735,0,0,0,0,0,0
$STATE,1896,end apogee,CONTROL_FINISHED_OK
$STATE,1896,begin climb
$GC,1899,0.90,60.6,266.5,0.0,10,1959,0.98,2.55,52.00,0.718,4,0.069,0.053,3206,3576,2486,0,0,0,0,0,0
$GC,1982,0.89,77.3,268.4,3.8,10,2003,0.00,2.40,15.93,0.674,6,0.000,0.040,3217,2059,2419,0,0,0,0,0,0
$GC,2523,0.87,77.3,221.0,9.0,12,2527,0.00,2.42,0.00,0.000,4,0.000,0.055,3218,3571,2413,0,0,0,0,0,0
$GC,2721,0.84,77.3,200.4,9.9,12,2726,0.15,2.33,0.00,0.000,6,0.177,0.041,3192,2071,2411,0,0,0,0,0,0
$GC,3153,0.84,77.3,165.1,8.3,14,3157,0.00,2.38,0.00,0.000,4,0.000,0.055,3191,3579,2411,0,0,0,0,0,0
$GC,3411,0.83,77.3,142.3,7.5,14,3415,0.00,2.30,0.00,0.000,6,0.000,0.041,3201,2080,2409,0,0,0,0,0,0
$GC,3779,0.83,80.1,120.7,5.7,16,3783,0.00,2.38,0.00,0.000,4,0.000,0.055,3201,3574,2409,0,0,0,0,0,0
$GC,3877,0.82,87.5,116.4,5.1,16,3891,0.00,2.30,8.12,0.578,6,0.000,0.041,3213,2090,2379,0,0,0,0,0,0
$GC,4313,0.82,94.1,89.7,5.2,19,4327,0.00,2.47,7.57,0.558,4,0.000,0.050,3224,549,2351,0,0,0,0,0,0
$GC,4357,0.82,94.1,86.5,7.6,19,4362,0.15,2.40,0.00,0.000,6,0.168,0.045,3186,2109,2350,0,0,0,0,0,0
$GC,4621,0.84,103.6,72.9,4.8,22,4632,0.00,0.00,9.65,0.575,6,0.000,0.000,3186,2109,2312,0,0,0,0,0,0
$GC,4823,0.87,121.6,67.6,3.7,24,4847,0.00,2.38,16.80,0.605,4,0.000,0.056,3185,3569,2239,0,0,0,0,0,0
$GC,5090,0.87,121.6,51.9,7.0,26,5095,0.00,2.30,0.00,0.000,6,0.000,0.042,3194,2088,2235,0,0,0,0,0,0
$GC,5356,0.89,133.0,39.8,4.5,29,5372,0.00,2.42,10.85,0.565,4,0.000,0.050,3206,550,2191,0,0,0,0,0,0
$GC,5428,0.91,133.0,35.4,6.9,29,5432,0.00,2.35,0.00,0.000,6,0.000,0.045,3206,2085,2190,0,0,0,0,0,0
$GC,5665,0.93,138.2,22.8,5.4,32,5676,0.00,2.35,5.80,0.489,4,0.000,0.054,3206,3580,2171,0,0,0,0,0,0
$GC,5704,0.94,154.9,21.3,3.8,32,5725,0.00,2.30,15.90,0.571,6,0.000,0.041,3217,2093,2103,0,0,0,0,0,0
$GC,5970,0.97,180.9,14.2,2.6,35,6000,0.00,2.47,22.55,0.575,4,0.000,0.050,3229,550,1997,0,0,0,0,0,0
$GC,6093,1.03,211.8,11.9,1.9,36,6126,0.00,2.33,26.73,0.570,6,0.000,0.044,3229,2068,1870,0,0,0,0,0,0
$STATE,6392,end climb,SURFACE_DEPTH_REACHED
$STATE,6392,begin surface coast
$FINISH,0.7,NaN
$STATE,6489,end surface coast,CONTROL_FINISHED_OK
$STATE,6489,begin surface
$SM_CCo,6508,77.85,0.483,5,0,1409,325.02
$SM_GC,1.48,0.00,0.00,77.85,0.000,0.000,0.483,119,2195,1409,-8.76,0.57,325.02
$IRIDIUM_FIX,4735.69,-12509.51,050911,141416
$TT8_MAMPS,0.027713
$HUMID,41.84
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.9,83.916
$10V_AH,9.9,84.232
$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,20.225,52.725,244.500,77.850,0.000,26.524,31.740,122.979,0.000,0.000,17.239,352.117,5007.558,402.600,959.443,197.493,33.346,846.562,0.000,773.281,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,82.620,733.635,482.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,40
$CAP_FILE_SIZE,64501,0
$CFSIZE,260165632,156422144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,050911,183539,4751.299,-12511.518,53,2.0,53,18.7