version: 66.07
glider: 187
mission: 4
dive: 783
start: 9 8 111 15 11 56
data:
$ID,187
$MISSION,4
$DIVE,783
$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,-1586632.6
$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,31
$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
$GPS1,080911,150603,4751.229,-12510.802,11,1.6,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.1
$GPS2,080911,151102,4751.191,-12510.764,14,1.4,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.105,-0.013
$KALMAN_X,386859.7,180.5,-179.0,-391359.4,-179.0
$KALMAN_Y,-791094.2,90.3,-263.1,799937.6,291.2
$MHEAD_RNG_PITCHd_Wd,244.2,913,-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,-59.00,0.000,6,0.000,0.000,109,2170,2858,0,0,0,0,0,0
$GC,81,-0.90,-55.1,2.6,-2.7,1,100,10.05,2.50,-2.03,0.000,4,0.221,0.066,2613,3694,2962,0,0,0,0,0,0
$GC,188,-0.87,-55.1,32.8,-18.5,1,193,0.00,2.38,0.00,0.000,6,0.000,0.043,2613,2169,2964,0,0,0,0,0,0
$GC,395,-0.84,-55.1,68.9,-17.2,4,400,0.12,2.45,0.00,0.000,4,0.174,0.055,2635,3689,2967,0,0,0,0,0,0
$GC,446,-0.84,-55.1,75.6,-11.3,4,451,0.00,2.30,0.00,0.000,6,0.000,0.042,2635,2203,2966,0,0,0,0,0,0
$GC,701,-0.84,-55.1,110.6,-14.2,7,705,0.00,2.38,0.00,0.000,4,0.000,0.056,2624,3694,2967,0,0,0,0,0,0
$GC,751,-0.84,-55.1,117.7,-14.2,7,755,0.00,2.30,0.00,0.000,6,0.000,0.041,2623,2209,2967,0,0,0,0,0,0
$GC,1327,-0.84,-55.1,195.2,-13.8,9,1331,0.00,2.38,0.00,0.000,4,0.000,0.049,2623,669,2968,0,0,0,0,0,0
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1496,begin apogee
$GC,1506,-0.22,0.0,220.1,15.3,9,1557,0.73,0.00,47.40,0.702,6,0.133,0.000,2844,2061,2734,0,0,0,0,0,0
$STATE,1558,end apogee,CONTROL_FINISHED_OK
$STATE,1558,begin climb
$GC,1560,0.90,55.1,224.9,0.0,9,1611,1.00,0.00,47.03,0.686,6,0.073,0.000,3206,2061,2510,0,0,0,0,0,0
$GC,1961,0.90,62.1,206.1,5.2,11,1975,0.00,2.45,6.62,0.565,4,0.000,0.049,3218,548,2481,0,0,0,0,0,0
$GC,2021,0.89,62.1,202.5,6.3,11,2025,0.00,2.35,0.00,0.000,6,0.000,0.044,3217,2071,2480,0,0,0,0,0,0
$GC,2594,0.88,63.0,167.4,6.0,13,2598,0.00,2.35,0.00,0.000,4,0.000,0.053,3218,3581,2478,0,0,0,0,0,0
$GC,2677,0.86,63.0,162.0,6.1,13,2682,0.12,2.35,0.00,0.000,6,0.180,0.040,3198,2061,2477,0,0,0,0,0,0
$GC,3220,0.87,79.4,139.0,3.9,15,3241,0.00,2.38,16.10,0.638,4,0.000,0.048,3208,552,2410,0,0,0,0,0,0
$GC,3392,0.87,79.4,128.0,8.0,15,3396,0.00,2.35,0.00,0.000,6,0.000,0.044,3208,2081,2408,0,0,0,0,0,0
$GC,3847,0.87,82.0,98.3,5.8,17,3852,0.00,2.35,0.00,0.000,4,0.000,0.055,3208,3576,2407,0,0,0,0,0,0
$GC,3992,0.86,88.8,92.4,5.2,18,4006,0.00,2.30,9.15,0.578,6,0.000,0.041,3219,2080,2371,0,0,0,0,0,0
$GC,4270,0.86,90.5,75.6,5.9,21,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2080,2370,0,0,0,0,0,0
$GC,4472,0.87,102.2,69.3,4.5,23,4491,0.00,2.42,12.68,0.591,4,0.000,0.054,3219,3570,2317,0,0,0,0,0,0
$GC,4744,0.88,122.4,58.7,3.4,25,4769,0.00,2.30,18.30,0.600,6,0.000,0.041,3231,2087,2237,0,0,0,0,0,0
$GC,5007,0.88,124.3,44.6,5.9,28,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2087,2233,0,0,0,0,0,0
$GC,5206,0.89,131.6,36.1,5.1,30,5220,0.00,2.45,9.10,0.545,4,0.000,0.051,3243,546,2197,0,0,0,0,0,0
$GC,5447,0.90,138.4,22.1,5.2,32,5462,0.12,2.40,7.40,0.519,6,0.161,0.045,3210,2102,2169,0,0,0,0,0,0
$GC,5745,0.95,174.0,17.8,1.3,35,5781,0.00,2.35,30.98,0.584,4,0.000,0.054,3210,3577,2023,0,0,0,0,0,0
$GC,5836,0.98,183.3,14.6,4.8,35,5851,0.00,2.30,9.00,0.522,6,0.000,0.042,3218,2101,1986,0,0,0,0,0,0
$GC,6053,1.03,205.9,8.0,3.0,38,6078,0.00,2.38,19.62,0.562,4,0.000,0.057,3219,3581,1894,0,0,0,0,0,0
$GC,6150,1.07,219.2,4.9,4.3,38,6165,0.00,2.28,9.55,0.518,2,0.000,0.042,3229,2124,1851,0,0,0,0,0,0
$STATE,6165,end climb,SURFACE_DEPTH_REACHED
$STATE,6165,begin surface coast
$FINISH,3.5,NaN
$STATE,6168,end surface coast,CONTROL_FINISHED_OK
$STATE,6169,begin surface
$SM_CCo,6188,65.65,0.542,2,0,1409,325.02
$SM_GC,1.91,0.00,0.00,65.65,0.000,0.000,0.542,111,2179,1409,-8.78,0.11,325.02
$IRIDIUM_FIX,4735.69,-12518.46,080911,131304
$TT8_MAMPS,0.027713
$HUMID,42.87
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.9,86.432
$10V_AH,9.9,85.304
$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,20.600,56.675,242.925,65.650,0.000,28.155,30.540,117.867,0.000,0.000,15.317,352.701,4659.323,351.943,990.589,217.818,33.344,828.225,0.000,805.905,0.000,0.536,0.000
$DEVICE_MAMPS,221.085,116.280,701.505,542.385,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,39
$CAP_FILE_SIZE,65886,0
$CFSIZE,260165632,155275264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080911,165736,4751.223,-12511.137,36,0.9,36,18.7