version: 66.07
glider: 187
mission: 4
dive: 851
start: 9 13 111 18 44 31
data:
$ID,187
$MISSION,4
$DIVE,851
$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,-1586717.6
$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,36
$R_STBD_OVSHOOT,48
$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
$GPS1,130911,183826,4751.274,-12511.133,12,2.0,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-78.1
$GPS2,130911,184336,4751.253,-12511.101,13,1.2,29,18.7
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.179,0.014
$KALMAN_X,392907.1,22.6,-261.0,-397580.8,169.5
$KALMAN_Y,-806802.2,322.2,-199.3,815465.4,36.5
$MHEAD_RNG_PITCHd_Wd,255.8,480,-27.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.89,-66.9,0.0,0.0,0,81,0.00,0.00,-62.80,0.000,6,0.000,0.000,115,2193,3009,0,0,0,0,0,0
$GC,84,-0.92,-117.3,0.0,-0.0,0,104,10.12,2.45,-3.65,0.000,4,0.226,0.060,2614,667,3218,0,0,0,0,0,0
$GC,110,-0.74,-117.3,18.8,-43.5,0,115,0.28,2.30,0.00,0.000,6,0.177,0.042,2678,2161,3220,0,0,0,0,0,0
$GC,392,-0.74,-117.3,69.6,-16.6,3,396,0.00,2.40,0.00,0.000,4,0.000,0.055,2669,3686,3223,0,0,0,0,0,0
$GC,432,-0.75,-117.3,76.5,-16.7,3,436,0.00,2.35,0.00,0.000,6,0.000,0.041,2668,2180,3224,0,0,0,0,0,0
$GC,898,-0.76,-117.3,145.4,-14.6,6,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2174,3225,0,0,0,0,0,0
$STATE,1195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1195,begin apogee
$GC,1202,-0.22,0.0,186.1,14.2,7,1302,0.55,0.00,96.88,0.672,6,0.119,0.000,2845,2040,2735,0,0,0,0,0,0
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1303,begin climb
$GC,1306,0.92,117.3,186.1,0.0,7,1409,1.05,0.00,99.90,0.657,6,0.073,0.000,3214,2040,2256,0,0,0,0,0,0
$GC,1499,0.98,217.4,180.9,-0.0,8,1588,0.00,2.58,81.88,0.646,4,0.000,0.053,3214,3580,1846,0,0,0,0,0,0
$GC,1607,0.98,217.4,166.5,16.2,8,1612,0.00,2.42,0.00,0.000,6,0.000,0.041,3226,2064,1843,0,0,0,0,0,0
$GC,2122,0.98,217.4,76.0,17.0,10,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2064,1836,0,0,0,0,0,0
$GC,2323,1.00,217.4,51.0,15.6,12,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2064,1836,0,0,0,0,0,0
$GC,2525,1.01,217.4,21.2,13.5,14,2529,0.00,2.38,0.00,0.000,4,0.000,0.055,3226,3569,1835,0,0,0,0,0,0
$GC,2594,1.06,255.1,14.6,6.2,14,2629,0.00,2.33,30.15,0.566,6,0.000,0.041,3237,2063,1694,0,0,0,0,0,0
$STATE,2828,end climb,SURFACE_DEPTH_REACHED
$STATE,2829,begin surface coast
$FINISH,0.7,NaN
$STATE,2929,end surface coast,CONTROL_FINISHED_OK
$STATE,2931,begin surface
$SM_CCo,2951,43.58,0.463,2,0,1409,325.02
$SM_GC,2.52,0.00,0.00,43.58,0.000,0.000,0.463,117,2191,1409,-8.76,0.45,325.02
$IRIDIUM_FIX,4732.49,-12507.66,130911,171754
$TT8_MAMPS,0.026964
$HUMID,43.85
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.9,91.051
$10V_AH,9.9,87.176
$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,20.050,19.550,308.800,43.575,0.000,26.432,33.063,117.879,0.000,0.000,30.386,160.296,2215.436,428.537,369.295,154.384,33.349,577.615,0.000,199.587,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,79.560,671.670,462.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,335,18
$CAP_FILE_SIZE,29042,0
$CFSIZE,260165632,153305088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130911,193537,4751.306,-12511.523,12,1.8,20,18.7