version: 66.07
glider: 187
mission: 4
dive: 852
start: 9 13 111 19 41 51
data:
$ID,187
$MISSION,4
$DIVE,852
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,-1586718.9
$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,45
$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
$GPS1,130911,193537,4751.306,-12511.523,12,1.8,20,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-79.1
$GPS2,130911,194056,4751.287,-12511.465,38,2.0,38,18.7
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.169,0.037
$KALMAN_X,392921.5,81.5,-146.2,-398224.1,43.6
$KALMAN_Y,-806945.8,248.5,31.2,815515.1,10.0
$MHEAD_RNG_PITCHd_Wd,263.7,31,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.92,-62.6,0.0,0.0,0,80,0.00,0.00,-62.45,0.000,6,0.000,0.000,116,2191,2991,0,0,0,0,0,0
$GC,84,-0.95,-117.3,0.0,-0.0,0,103,9.88,2.42,-3.88,0.000,4,0.219,0.058,2606,665,3217,0,0,0,0,0,0
$GC,186,-0.93,-117.3,38.9,-23.7,0,190,0.00,2.33,0.00,0.000,6,0.000,0.046,2597,2166,3220,0,0,0,0,0,0
$STATE,289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,290,begin apogee
$GC,297,-0.22,0.0,62.2,21.4,1,394,0.82,0.00,94.22,0.583,6,0.142,0.000,2848,2036,2735,0,0,0,0,0,0
$STATE,396,end apogee,CONTROL_FINISHED_OK
$STATE,397,begin climb
$GC,399,0.95,117.3,69.7,0.0,2,509,1.08,2.42,96.07,0.568,4,0.080,0.047,3237,558,2256,0,0,0,0,0,0
$GC,587,0.95,118.9,58.9,9.8,3,592,0.00,2.33,0.00,0.000,6,0.000,0.043,3237,2076,2252,0,0,0,0,0,0
$GC,812,0.97,145.9,42.6,7.1,6,841,0.00,2.40,24.05,0.543,4,0.000,0.054,3237,3577,2139,0,0,0,0,0,0
$GC,960,0.98,163.7,29.5,8.1,7,981,0.00,2.33,15.77,0.525,6,0.000,0.040,3248,2077,2066,0,0,0,0,0,0
$GC,1232,1.01,188.4,9.1,7.4,10,1258,0.00,2.40,20.67,0.532,4,0.000,0.047,3260,550,1966,0,0,0,0,0,0
$STATE,1311,end climb,SURFACE_DEPTH_REACHED
$STATE,1312,begin surface coast
$FINISH,3.7,NaN
$STATE,1321,end surface coast,CONTROL_FINISHED_OK
$STATE,1321,begin surface
$SM_CCo,1343,88.62,0.506,5,0,1409,325.02
$SM_GC,1.97,0.00,0.00,88.62,0.000,0.000,0.506,106,2184,1409,-8.80,0.25,325.02
$IRIDIUM_FIX,4735.69,-12511.36,130911,181812
$TT8_MAMPS,0.026964
$HUMID,41.06
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,24.0,91.113
$10V_AH,9.9,87.190
$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,20.225,19.350,250.800,88.625,0.000,26.078,33.180,118.757,0.000,0.000,39.170,134.959,732.594,414.000,364.444,142.807,33.353,559.163,0.000,185.217,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,71.910,582.930,505.665,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,335,10
$CAP_FILE_SIZE,24832,0
$CFSIZE,260165632,153288704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,130911,200719,4751.263,-12511.528,13,1.9,30,18.7