version: 66.07
glider: 187
mission: 4
dive: 845
start: 9 13 111 10 24 32
data:
$ID,187
$MISSION,4
$DIVE,845
$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,-1586710.1
$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,39
$R_STBD_OVSHOOT,43
$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
$GPS1,130911,101831,4751.577,-12511.987,47,1.1,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.9
$GPS2,130911,102338,4751.576,-12512.004,13,1.9,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.103,0.026
$KALMAN_X,392726.1,-224.3,234.3,-398771.3,41.8
$KALMAN_Y,-806261.1,154.0,609.4,814879.8,-664.7
$MHEAD_RNG_PITCHd_Wd,56.9,828,-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,-30.0,0.0,0.0,0,117,0.00,0.00,-96.38,0.000,6,0.000,0.000,111,2192,2860,0,0,0,0,0,0
$GC,120,-0.91,-74.8,5.1,-0.0,1,140,10.05,2.38,-3.42,0.000,4,0.220,0.057,2611,3677,3042,0,0,0,0,0,0
$GC,187,-0.88,-74.8,25.0,-19.5,1,191,0.00,2.35,0.00,0.000,6,0.000,0.040,2610,2173,3045,0,0,0,0,0,0
$GC,428,-0.86,-74.8,72.6,-19.7,4,433,0.12,2.38,0.00,0.000,4,0.176,0.047,2642,662,3048,0,0,0,0,0,0
$GC,473,-0.86,-74.8,81.4,-18.6,4,478,0.00,2.30,0.00,0.000,6,0.000,0.044,2633,2154,3048,0,0,0,0,0,0
$GC,933,-0.86,-74.8,154.2,-15.7,7,938,0.00,2.30,0.00,0.000,4,0.000,0.046,2632,663,3048,0,0,0,0,0,0
$GC,995,-0.86,-74.8,163.8,-14.8,7,999,0.00,2.30,0.00,0.000,6,0.000,0.045,2622,2155,3048,0,0,0,0,0,0
$STATE,1557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1557,begin apogee
$GC,1566,-0.22,0.0,243.4,14.6,9,1633,0.73,0.00,63.50,0.702,6,0.130,0.000,2849,2043,2734,0,0,0,0,0,0
$STATE,1633,end apogee,CONTROL_FINISHED_OK
$STATE,1633,begin climb
$GC,1636,0.91,74.8,243.4,0.0,9,1708,0.98,2.40,64.03,0.688,4,0.070,0.046,3213,553,2430,0,0,0,0,0,0
$GC,1723,0.92,85.5,245.7,4.7,9,1738,0.00,2.38,10.77,0.610,6,0.000,0.042,3213,2064,2386,0,0,0,0,0,0
$GC,2261,0.92,85.5,202.5,8.1,11,2265,0.00,2.38,0.00,0.000,4,0.000,0.054,3213,3570,2378,0,0,0,0,0,0
$GC,2295,0.90,85.5,199.5,8.8,11,2300,0.00,2.35,0.00,0.000,6,0.000,0.040,3224,2056,2377,0,0,0,0,0,0
$GC,2890,0.90,85.5,152.5,7.6,13,2894,0.00,2.40,0.00,0.000,4,0.000,0.054,3224,3578,2375,0,0,0,0,0,0
$GC,3061,0.88,88.6,140.5,5.7,13,3066,0.12,2.35,0.00,0.000,6,0.181,0.041,3205,2051,2374,0,0,0,0,0,0
$GC,3525,0.88,88.6,112.5,6.7,15,3529,0.00,2.35,0.00,0.000,4,0.000,0.050,3215,541,2373,0,0,0,0,0,0
$GC,3574,0.88,88.6,108.9,6.7,15,3579,0.00,2.33,0.00,0.000,6,0.000,0.044,3215,2053,2373,0,0,0,0,0,0
$GC,3951,0.88,95.8,89.6,5.1,17,3965,0.00,2.42,8.00,0.552,4,0.000,0.050,3226,548,2344,0,0,0,0,0,0
$GC,4016,0.90,121.1,87.7,2.7,17,4045,0.00,2.33,23.40,0.613,6,0.000,0.044,3226,2062,2240,0,0,0,0,0,0
$GC,4262,0.90,121.1,72.6,6.6,20,4266,0.00,2.38,0.00,0.000,4,0.000,0.054,3226,3572,2236,0,0,0,0,0,0
$GC,4357,0.91,133.7,66.8,4.4,20,4373,0.00,2.30,11.30,0.571,6,0.000,0.041,3237,2094,2189,0,0,0,0,0,0
$GC,4587,0.91,133.7,54.4,6.3,23,4591,0.00,2.40,0.00,0.000,4,0.000,0.050,3249,549,2187,0,0,0,0,0,0
$GC,4637,0.91,133.7,49.7,8.8,23,4641,0.15,2.35,0.00,0.000,6,0.157,0.044,3210,2089,2186,0,0,0,0,0,0
$GC,4890,0.92,133.7,33.3,6.4,26,4894,0.00,2.35,0.00,0.000,4,0.000,0.054,3209,3581,2186,0,0,0,0,0,0
$GC,5149,0.94,155.8,21.8,3.1,28,5174,0.00,2.25,19.90,0.571,6,0.000,0.041,3218,2107,2099,0,0,0,0,0,0
$GC,5420,0.97,176.6,12.8,3.3,31,5444,0.00,2.47,18.00,0.560,4,0.000,0.050,3230,558,2015,0,0,0,0,0,0
$GC,5700,1.03,211.0,9.8,1.4,33,5734,0.00,2.25,29.58,0.563,6,0.000,0.044,3230,2035,1874,0,0,0,0,0,0
$STATE,5844,end climb,SURFACE_DEPTH_REACHED
$STATE,5844,begin surface coast
$FINISH,0.6,NaN
$STATE,5945,end surface coast,CONTROL_FINISHED_OK
$STATE,5945,begin surface
$SM_CCo,5965,64.53,0.487,2,0,1409,325.02
$SM_GC,1.50,0.00,0.00,64.53,0.000,0.000,0.487,116,2191,1409,-8.76,0.45,325.02
$IRIDIUM_FIX,4732.49,-12503.20,130911,080804
$TT8_MAMPS,0.026964
$HUMID,43.89
$INTERNAL_PRESSURE,9.15736
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.8,90.630
$10V_AH,9.9,87.045
$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,20.250,56.775,248.475,64.525,0.000,26.694,31.186,129.429,0.000,0.000,14.534,343.396,4407.000,421.076,967.186,216.580,33.342,865.136,0.000,782.340,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,78.795,702.270,486.540,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297796
$DATA_FILE_SIZE,335,36
$CAP_FILE_SIZE,61816,0
$CFSIZE,260165632,153432064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130911,120622,4751.601,-12511.280,10,4.4,29,18.7