version: 66.07
glider: 187
mission: 4
dive: 855
start: 9 13 111 21 3 32
data:
$ID,187
$MISSION,4
$DIVE,855
$D_SURF,4
$D_FLARE,3
$D_TGT,30
$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,10
$T_MISSION,20
$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,-1586722.6
$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,37
$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
$GPS1,130911,205714,4751.158,-12511.504,17,1.3,17,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-77.3
$GPS2,130911,210237,4751.120,-12511.465,11,1.2,16,18.7
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.029,0.238
$KALMAN_X,392945.5,118.6,-40.3,-398391.3,11.4
$KALMAN_Y,-807318.8,91.9,126.1,815647.0,-39.0
$MHEAD_RNG_PITCHd_Wd,334.3,333,-20.4,-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,-0.71,-117.3,0.0,0.0,0,79,0.00,0.00,-60.75,0.000,2,0.000,0.000,111,2190,2985,0,0,0,0,0,0
$GC,82,-0.71,-117.3,5.0,-7.1,3,105,10.23,2.42,-4.05,0.000,4,0.223,0.061,2684,654,3217,0,0,0,0,0,0
$STATE,160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,160,begin apogee
$GC,170,-0.22,0.0,30.7,20.6,6,266,0.52,0.00,92.50,0.542,6,0.124,0.000,2846,2048,2735,0,0,0,0,0,0
$STATE,268,end apogee,CONTROL_FINISHED_OK
$STATE,268,begin climb
$GC,271,0.71,117.3,39.7,0.0,11,381,0.85,2.50,94.93,0.530,4,0.084,0.052,3144,3569,2255,0,0,0,0,0,0
$GC,428,0.77,220.6,37.7,4.3,18,515,0.00,2.35,81.75,0.527,6,0.000,0.038,3155,2053,1835,0,0,0,0,0,0
$GC,595,0.84,287.5,28.9,6.3,26,654,0.10,2.45,53.10,0.518,4,0.096,0.049,3226,555,1561,0,0,0,0,0,0
$GC,671,0.84,287.5,19.7,12.9,29,679,0.12,2.38,0.00,0.000,6,0.136,0.041,3190,2081,1558,0,0,0,0,0,0
$GC,741,0.86,287.5,12.4,10.8,33,742,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2081,1557,0,0,0,0,0,0
$GC,803,0.89,294.5,6.6,9.6,36,813,0.00,2.40,6.03,0.406,4,0.000,0.047,3192,555,1534,0,0,0,0,0,0
$STATE,841,end climb,SURFACE_DEPTH_REACHED
$STATE,841,begin surface coast
$FINISH,3.2,1.023275
$STATE,851,end surface coast,CONTROL_FINISHED_OK
$STATE,851,begin surface
$SM_CCo,875,20.45,0.463,1,0,1410,325.02
$SM_GC,1.44,0.00,0.00,20.45,0.000,0.000,0.463,109,2181,1410,-8.79,0.17,325.02
$IRIDIUM_FIX,4735.69,-12509.51,130911,202015
$TT8_MAMPS,0.026964
$HUMID,39.95
$INTERNAL_PRESSURE,9.17689
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,24.2,91.294
$10V_AH,9.9,87.228
$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,19.875,19.200,328.300,20.450,0.000,28.041,38.759,133.352,0.000,0.000,17.088,150.563,228.326,386.646,336.034,135.408,33.356,533.516,0.000,156.784,0.000,0.538,0.000
$DEVICE_MAMPS,223.380,61.200,541.620,462.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,23.577,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297816
$DATA_FILE_SIZE,334,38
$CAP_FILE_SIZE,23974,0
$CFSIZE,260165632,153239552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130911,212014,4751.137,-12511.455,62,1.5,62,18.7