version: 66.07
glider: 187
mission: 4
dive: 748
start: 9 5 111 20 19 56
data:
$ID,187
$MISSION,4
$DIVE,748
$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,-1586588.9
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,050911,201404,4751.194,-12511.995,17,7.7,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-78.3
$GPS2,050911,201902,4751.221,-12511.960,13,1.8,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.058,0.088
$KALMAN_X,389010.2,245.9,99.1,-395337.1,367.2
$KALMAN_Y,-802617.4,364.5,31.6,810950.4,-201.3
$MHEAD_RNG_PITCHd_Wd,14.8,614,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.88,-30.0,0.0,0.0,0,60,0.00,0.00,-42.58,0.000,2,0.000,0.000,112,2165,2407,0,0,0,0,0,0
$GC,64,-0.89,-46.9,3.0,-3.8,0,93,10.05,2.40,-12.68,0.000,4,0.222,0.059,2625,661,2929,0,0,0,0,0,0
$GC,145,-0.85,-46.9,23.1,-27.2,1,150,0.12,2.33,0.00,0.000,6,0.179,0.046,2646,2176,2931,0,0,0,0,0,0
$GC,375,-0.84,-46.9,61.3,-16.7,4,379,0.00,2.40,0.00,0.000,4,0.000,0.056,2637,3696,2931,0,0,0,0,0,0
$GC,425,-0.84,-46.9,68.1,-12.7,4,430,0.00,2.30,0.00,0.000,6,0.000,0.041,2636,2193,2932,0,0,0,0,0,0
$GC,679,-0.84,-46.9,102.5,-13.8,7,683,0.00,2.33,0.00,0.000,4,0.000,0.047,2636,664,2932,0,0,0,0,0,0
$GC,802,-0.84,-46.9,120.0,-15.2,7,806,0.00,2.33,0.00,0.000,6,0.000,0.045,2625,2191,2933,0,0,0,0,0,0
$GC,1311,-0.84,-46.9,184.6,-12.1,9,1315,0.00,2.35,0.00,0.000,4,0.000,0.048,2625,664,2933,0,0,0,0,0,0
$GC,1547,-0.84,-46.9,217.4,-13.0,9,1552,0.12,2.33,0.00,0.000,6,0.172,0.046,2645,2185,2933,0,0,0,0,0,0
$STATE,1935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1936,begin apogee
$GC,1942,-0.22,0.0,259.1,10.5,11,1987,0.62,0.00,41.42,0.724,6,0.125,0.000,2846,2039,2734,0,0,0,0,0,0
$STATE,1987,end apogee,CONTROL_FINISHED_OK
$STATE,1988,begin climb
$GC,1990,0.89,46.9,259.1,0.0,11,2034,1.02,0.00,40.90,0.709,6,0.070,0.000,3213,2039,2542,0,0,0,0,0,0
$GC,2241,0.91,91.7,248.9,-0.0,12,2285,0.00,2.50,38.88,0.705,4,0.000,0.054,3214,3580,2360,0,0,0,0,0,0
$GC,2432,0.88,91.7,229.0,12.9,12,2436,0.00,2.38,0.00,0.000,6,0.000,0.041,3225,2055,2356,0,0,0,0,0,0
$GC,2871,0.87,91.7,180.7,11.0,14,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2054,2353,0,0,0,0,0,0
$GC,3168,0.86,91.7,147.0,11.1,15,3172,0.00,2.35,0.00,0.000,4,0.000,0.050,3237,542,2352,0,0,0,0,0,0
$GC,3214,0.84,91.7,142.2,10.8,15,3219,0.17,2.30,0.00,0.000,6,0.167,0.044,3191,2053,2352,0,0,0,0,0,0
$GC,3795,0.84,91.7,91.8,8.2,17,3799,0.00,2.35,0.00,0.000,4,0.000,0.050,3201,550,2350,0,0,0,0,0,0
$GC,3835,0.84,91.7,89.0,7.2,17,3839,0.00,2.30,0.00,0.000,6,0.000,0.044,3200,2062,2350,0,0,0,0,0,0
$GC,4099,0.85,109.1,78.1,3.7,20,4118,0.00,2.40,14.48,0.603,4,0.000,0.055,3200,3573,2289,0,0,0,0,0,0
$GC,4242,0.85,109.1,68.9,6.5,21,4246,0.00,2.33,0.00,0.000,6,0.000,0.041,3212,2066,2287,0,0,0,0,0,0
$GC,4516,0.86,119.9,55.4,4.6,24,4532,0.00,2.38,10.68,0.578,4,0.000,0.050,3224,544,2245,0,0,0,0,0,0
$GC,4588,0.86,130.6,52.7,4.7,24,4603,0.00,2.38,10.35,0.568,6,0.000,0.044,3224,2092,2202,0,0,0,0,0,0
$GC,4818,0.87,132.2,39.4,5.9,27,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2092,2199,0,0,0,0,0,0
$GC,5017,0.87,132.2,25.9,6.3,29,5021,0.00,2.40,0.00,0.000,4,0.000,0.050,3235,545,2198,0,0,0,0,0,0
$GC,5050,0.87,133.4,24.0,5.9,29,5055,0.12,2.38,0.00,0.000,6,0.168,0.044,3204,2088,2198,0,0,0,0,0,0
$GC,5322,0.91,166.2,18.5,1.6,32,5358,0.00,2.42,30.83,0.588,4,0.000,0.048,3213,544,2056,0,0,0,0,0,0
$GC,5416,0.94,177.2,15.6,4.6,32,5431,0.00,2.35,10.38,0.538,6,0.000,0.044,3213,2069,2011,0,0,0,0,0,0
$GC,5639,1.00,212.4,9.3,1.3,35,5674,0.00,2.40,29.85,0.573,4,0.000,0.054,3213,3570,1867,0,0,0,0,0,0
$STATE,5846,end climb,SURFACE_DEPTH_REACHED
$STATE,5846,begin surface coast
$FINISH,0.7,NaN
$STATE,5962,end surface coast,CONTROL_FINISHED_OK
$STATE,5962,begin surface
$SM_CCo,5982,76.05,0.483,5,0,1409,325.02
$SM_GC,1.52,0.00,0.00,76.05,0.000,0.000,0.483,117,2159,1409,-8.76,-0.45,325.02
$IRIDIUM_FIX,4735.69,-12513.98,050911,181817
$TT8_MAMPS,0.027713
$HUMID,41.73
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,24.0,84.048
$10V_AH,9.9,84.284
$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,20.300,56.775,227.750,76.050,0.000,25.210,36.753,122.859,0.000,0.000,14.328,330.569,4591.771,379.107,895.454,193.748,33.350,795.274,0.000,712.365,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,68.085,724.455,482.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297804
$DATA_FILE_SIZE,334,37
$CAP_FILE_SIZE,61308,0
$CFSIZE,260165632,156364800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,050911,220252,4751.548,-12511.696,34,7.3,53,18.7