version: 66.07
glider: 187
mission: 4
dive: 850
start: 9 13 111 17 41 35
data:
$ID,187
$MISSION,4
$DIVE,850
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,-1586716.4
$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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,130911,173507,4751.292,-12511.587,19,1.9,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-79.0
$GPS2,130911,174040,4751.273,-12511.566,12,2.8,31,18.7
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.172,-0.023
$KALMAN_X,392979.1,-10.4,-268.5,-398197.6,81.2
$KALMAN_Y,-806667.6,360.3,-415.0,815547.4,51.8
$MHEAD_RNG_PITCHd_Wd,78.9,118,-28.2,-10.000
$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,12,begin dive
$GC,16,-0.92,-62.6,0.0,0.0,0,80,0.00,0.00,-62.08,0.000,6,0.000,0.000,109,2187,2992,0,0,0,0,0,0
$GC,83,-0.95,-117.3,2.2,-2.6,1,103,10.05,2.40,-3.83,0.000,4,0.223,0.058,2597,3690,3216,0,0,0,0,0,0
$GC,202,-0.92,-117.3,43.2,-25.3,2,207,0.00,2.38,0.00,0.000,6,0.000,0.043,2597,2169,3219,0,0,0,0,0,0
$GC,405,-0.90,-117.3,90.6,-23.5,4,410,0.12,2.38,0.00,0.000,4,0.189,0.049,2627,650,3221,0,0,0,0,0,0
$GC,480,-0.90,-117.3,106.8,-20.0,4,485,0.00,2.30,0.00,0.000,6,0.000,0.047,2618,2156,3221,0,0,0,0,0,0
$GC,809,-0.90,-117.3,166.0,-18.0,6,813,0.00,2.35,0.00,0.000,4,0.000,0.048,2617,652,3222,0,0,0,0,0,0
$GC,854,-0.90,-117.3,174.3,-18.1,6,858,0.00,2.30,0.00,0.000,6,0.000,0.047,2607,2152,3222,0,0,0,0,0,0
$STATE,884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,884,begin apogee
$GC,893,-0.22,0.0,180.1,17.9,6,993,0.75,0.00,95.28,0.667,6,0.134,0.000,2844,2041,2734,0,0,0,0,0,0
$STATE,995,end apogee,CONTROL_FINISHED_OK
$STATE,996,begin climb
$GC,998,0.95,117.3,186.3,0.0,6,1107,1.05,0.00,98.30,0.651,6,0.074,0.000,3219,2041,2256,0,0,0,0,0,0
$GC,1436,0.95,117.3,142.8,11.8,8,1441,0.00,2.42,0.00,0.000,4,0.000,0.054,3219,3584,2249,0,0,0,0,0,0
$GC,1509,0.94,117.3,132.7,14.1,8,1514,0.00,2.33,0.00,0.000,6,0.000,0.041,3231,2079,2248,0,0,0,0,0,0
$GC,2063,0.94,122.0,75.5,9.5,10,2073,0.00,2.42,3.62,0.386,4,0.000,0.050,3243,554,2237,0,0,0,0,0,0
$GC,2165,0.96,146.9,68.0,7.3,10,2195,0.00,2.33,22.75,0.591,6,0.000,0.044,3243,2082,2135,0,0,0,0,0,0
$GC,2389,0.96,153.0,48.5,9.3,13,2397,0.00,0.00,6.10,0.490,6,0.000,0.000,3243,2082,2110,0,0,0,0,0,0
$GC,2588,0.97,157.1,28.9,9.6,15,2595,0.00,0.00,5.03,0.454,6,0.000,0.000,3243,2082,2093,0,0,0,0,0,0
$GC,2791,0.97,161.9,10.8,9.5,17,2801,0.00,2.40,5.32,0.458,4,0.000,0.049,3254,549,2075,0,0,0,0,0,0
$GC,2964,1.07,288.9,10.3,-3.6,18,3077,0.00,2.30,102.72,0.575,6,0.000,0.043,3254,2055,1555,0,0,0,0,0,0
$STATE,3209,end climb,SURFACE_DEPTH_REACHED
$STATE,3210,begin surface coast
$FINISH,0.6,NaN
$STATE,3311,end surface coast,CONTROL_FINISHED_OK
$STATE,3311,begin surface
$SM_CCo,3330,22.33,0.379,1,0,1409,325.02
$SM_GC,1.21,0.00,0.00,22.33,0.000,0.000,0.379,115,2193,1409,-8.77,0.51,325.02
$IRIDIUM_FIX,4738.89,-12511.36,130911,161651
$TT8_MAMPS,0.026964
$HUMID,44.80
$INTERNAL_PRESSURE,9.14759
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.9,90.979
$10V_AH,9.9,87.161
$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,20.125,28.625,339.125,22.325,0.000,27.540,33.271,131.680,0.000,0.000,33.150,209.809,2328.644,360.936,627.820,173.812,33.350,667.721,0.000,430.458,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,79.560,667.080,379.440,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,335,22
$CAP_FILE_SIZE,41094,0
$CFSIZE,260165632,153317376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130911,183826,4751.274,-12511.133,12,2.0,12,18.7