version: 66.07
glider: 187
mission: 4
dive: 843
start: 9 13 111 6 53 2
data:
$ID,187
$MISSION,4
$DIVE,843
$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,-1586707.6
$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,34
$R_STBD_OVSHOOT,44
$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
$GPS1,130911,064654,4751.366,-12512.067,29,1.1,46,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-78.0
$GPS2,130911,065208,4751.368,-12512.041,13,2.0,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.063,-0.085
$KALMAN_X,393183.9,-293.2,-345.7,-398627.6,600.2
$KALMAN_Y,-806017.2,72.5,11.2,814933.0,2.5
$MHEAD_RNG_PITCHd_Wd,124.7,708,-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,-59.65,0.000,6,0.000,0.000,114,2195,2858,0,0,0,0,0,0
$GC,81,-0.91,-74.8,0.0,-0.0,0,97,10.15,0.00,-3.55,0.000,6,0.223,0.000,2618,2191,3041,0,0,0,0,0,0
$GC,291,-0.89,-74.8,48.9,-16.2,2,295,0.00,2.33,0.00,0.000,4,0.000,0.053,2610,3677,3047,0,0,0,0,0,0
$GC,358,-0.87,-74.8,62.2,-20.3,2,363,0.12,2.35,0.00,0.000,6,0.161,0.040,2641,2159,3047,0,0,0,0,0,0
$GC,600,-0.87,-74.8,105.5,-17.6,5,604,0.00,2.30,0.00,0.000,4,0.000,0.047,2640,664,3049,0,0,0,0,0,0
$GC,696,-0.87,-74.8,120.7,-15.2,5,701,0.00,2.28,0.00,0.000,6,0.000,0.044,2632,2150,3050,0,0,0,0,0,0
$GC,1234,-0.87,-74.8,194.4,-13.8,7,1238,0.00,2.30,0.00,0.000,4,0.000,0.049,2631,667,3049,0,0,0,0,0,0
$GC,1263,-0.87,-74.8,198.6,-15.2,7,1267,0.00,2.28,0.00,0.000,6,0.000,0.046,2620,2152,3049,0,0,0,0,0,0
$STATE,1405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1405,begin apogee
$GC,1414,-0.22,0.0,220.2,14.8,7,1481,0.70,0.00,62.55,0.687,6,0.131,0.000,2843,2052,2735,0,0,0,0,0,0
$STATE,1481,end apogee,CONTROL_FINISHED_OK
$STATE,1482,begin climb
$GC,1486,0.91,74.8,224.3,0.0,7,1557,1.02,0.00,63.78,0.672,6,0.073,0.000,3213,2053,2429,0,0,0,0,0,0
$GC,1858,0.91,74.8,198.6,7.8,9,1862,0.00,2.35,0.00,0.000,4,0.000,0.049,3224,549,2423,0,0,0,0,0,0
$GC,1893,0.90,74.8,195.9,8.2,9,1897,0.00,2.33,0.00,0.000,6,0.000,0.043,3224,2067,2423,0,0,0,0,0,0
$GC,2494,0.89,74.8,145.9,8.2,11,2498,0.00,2.38,0.00,0.000,4,0.000,0.054,3224,3572,2420,0,0,0,0,0,0
$GC,2673,0.87,74.8,131.6,7.4,11,2678,0.15,2.35,0.00,0.000,6,0.173,0.041,3198,2061,2418,0,0,0,0,0,0
$GC,3122,0.87,77.7,106.0,5.7,13,3126,0.00,2.40,0.00,0.000,4,0.000,0.054,3198,3580,2418,0,0,0,0,0,0
$GC,3218,0.87,87.3,101.3,4.8,13,3233,0.00,2.30,10.05,0.577,6,0.000,0.041,3207,2081,2379,0,0,0,0,0,0
$GC,3650,0.88,94.3,77.6,5.2,16,3664,0.00,2.45,7.78,0.545,4,0.000,0.050,3218,559,2349,0,0,0,0,0,0
$GC,3919,0.90,131.1,65.2,1.1,18,3958,0.00,2.33,32.33,0.606,6,0.000,0.044,3218,2067,2199,0,0,0,0,0,0
$GC,4184,0.90,131.1,50.6,6.4,21,4188,0.00,2.40,0.00,0.000,4,0.000,0.055,3218,3578,2194,0,0,0,0,0,0
$GC,4325,0.90,131.1,39.0,8.2,22,4329,0.00,2.22,0.00,0.000,6,0.000,0.041,3229,2134,2193,0,0,0,0,0,0
$GC,4605,0.91,140.9,24.2,4.8,25,4615,0.00,0.00,8.95,0.530,6,0.000,0.000,3229,2133,2159,0,0,0,0,0,0
$GC,4806,0.92,153.0,15.7,4.5,27,4825,0.00,2.53,11.77,0.543,4,0.000,0.050,3241,557,2110,0,0,0,0,0,0
$GC,5079,0.98,209.9,13.6,-1.7,29,5135,0.00,2.45,48.05,0.574,6,0.000,0.045,3241,2157,1878,0,0,0,0,0,0
$STATE,5334,end climb,SURFACE_DEPTH_REACHED
$STATE,5334,begin surface coast
$FINISH,0.6,NaN
$STATE,5434,end surface coast,CONTROL_FINISHED_OK
$STATE,5434,begin surface
$SM_CCo,5453,65.43,0.487,2,0,1408,325.02
$SM_GC,1.40,0.00,0.00,65.43,0.000,0.000,0.487,117,2162,1408,-8.76,-0.37,325.02
$IRIDIUM_FIX,4732.49,-12510.28,130911,040404
$TT8_MAMPS,0.027713
$HUMID,43.03
$INTERNAL_PRESSURE,9.14759
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.8,90.480
$10V_AH,9.9,86.986
$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,20.150,42.425,245.250,65.425,0.000,28.721,34.797,127.553,0.000,0.000,14.118,315.753,4046.954,360.174,921.012,204.300,33.343,787.135,0.000,735.048,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,86.445,686.970,487.305,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,33
$CAP_FILE_SIZE,56579,0
$CFSIZE,260165632,153497600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130911,082621,4751.290,-12511.613,11,3.2,30,18.7