version: 66.07
glider: 187
mission: 4
dive: 776
start: 9 8 111 1 32 20
data:
$ID,187
$MISSION,4
$DIVE,776
$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,-1586623.9
$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,41
$R_STBD_OVSHOOT,31
$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
$GPS1,080911,012617,4751.019,-12511.379,10,1.9,19,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.5
$GPS2,080911,013126,4751.008,-12511.391,17,2.0,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.105,0.014
$KALMAN_X,388824.7,52.2,-37.6,-394118.1,-368.8
$KALMAN_Y,-790585.4,-183.3,-476.8,799580.4,502.2
$MHEAD_RNG_PITCHd_Wd,63.5,552,-27.7,-6.111
$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,-0.88,-30.0,0.0,0.0,0,70,0.00,0.00,-52.28,0.000,2,0.000,0.000,107,2175,2622,0,0,0,0,0,0
$GC,74,-0.89,-36.4,3.3,-5.2,0,95,10.23,2.35,-6.07,0.000,4,0.229,0.058,2622,668,2885,0,0,0,0,0,0
$GC,338,-0.87,-36.4,50.8,-15.7,3,342,0.00,2.33,0.00,0.000,6,0.000,0.046,2613,2183,2889,0,0,0,0,0,0
$GC,547,-0.85,-36.4,80.7,-14.4,5,552,0.12,2.38,0.00,0.000,4,0.182,0.047,2645,661,2890,0,0,0,0,0,0
$GC,701,-0.85,-36.4,99.5,-11.8,6,705,0.00,2.28,0.00,0.000,6,0.000,0.047,2635,2145,2891,0,0,0,0,0,0
$GC,1064,-0.85,-36.4,142.3,-11.7,8,1068,0.00,2.30,0.00,0.000,4,0.000,0.049,2634,659,2891,0,0,0,0,0,0
$GC,1155,-0.85,-36.4,153.2,-12.0,8,1159,0.00,2.25,0.00,0.000,6,0.000,0.047,2624,2126,2891,0,0,0,0,0,0
$GC,1699,-0.85,-36.4,218.1,-11.8,10,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2126,2891,0,0,0,0,0,0
$GC,1998,-0.85,-36.4,251.5,-11.5,11,2003,0.00,2.53,0.00,0.000,4,0.000,0.059,2612,3693,2890,0,0,0,0,0,0
$STATE,2012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2012,begin apogee
$GC,2021,-0.22,0.0,253.4,11.1,11,2057,0.73,0.00,32.60,0.719,6,0.136,0.000,2842,2056,2735,0,0,0,0,0,0
$STATE,2058,end apogee,CONTROL_FINISHED_OK
$STATE,2058,begin climb
$GC,2061,0.89,36.4,255.9,0.0,11,2101,1.00,2.45,31.67,0.705,4,0.070,0.048,3219,555,2586,0,0,0,0,0,0
$GC,2348,0.88,63.7,248.3,2.4,12,2378,0.00,2.33,24.08,0.702,6,0.000,0.043,3219,2065,2474,0,0,0,0,0,0
$GC,2962,0.87,63.7,207.2,7.2,14,2966,0.00,2.38,0.00,0.000,4,0.000,0.055,3219,3580,2469,0,0,0,0,0,0
$GC,3220,0.84,63.7,186.8,7.4,14,3225,0.15,2.33,0.00,0.000,6,0.177,0.041,3193,2070,2467,0,0,0,0,0,0
$GC,3590,0.84,63.7,162.3,6.6,16,3594,0.00,2.40,0.00,0.000,4,0.000,0.055,3193,3581,2467,0,0,0,0,0,0
$GC,3848,0.82,63.7,142.4,8.5,16,3852,0.00,2.33,0.00,0.000,6,0.000,0.041,3202,2071,2466,0,0,0,0,0,0
$GC,4218,0.82,63.7,116.9,6.7,18,4222,0.00,2.38,0.00,0.000,4,0.000,0.054,3202,3581,2466,0,0,0,0,0,0
$GC,4253,0.80,64.3,114.7,6.0,18,4258,0.12,2.33,0.00,0.000,6,0.180,0.041,3183,2077,2466,0,0,0,0,0,0
$GC,4846,0.82,85.9,94.6,3.2,20,4871,0.00,2.45,19.27,0.626,4,0.000,0.050,3193,552,2384,0,0,0,0,0,0
$GC,5090,0.82,85.9,80.2,6.8,22,5094,0.00,2.30,0.00,0.000,6,0.000,0.044,3193,2059,2382,0,0,0,0,0,0
$GC,5376,0.82,93.6,65.3,5.1,25,5385,0.00,0.00,7.70,0.551,6,0.000,0.000,3193,2059,2353,0,0,0,0,0,0
$GC,5577,0.83,108.1,58.6,4.1,27,5596,0.00,2.42,14.15,0.593,4,0.000,0.050,3204,552,2294,0,0,0,0,0,0
$GC,5850,0.84,109.5,44.8,5.9,29,5854,0.00,2.25,0.00,0.000,6,0.000,0.044,3204,2033,2291,0,0,0,0,0,0
$GC,6109,0.85,126.2,34.2,3.8,32,6132,0.00,2.40,16.48,0.583,4,0.000,0.050,3215,546,2219,0,0,0,0,0,0
$GC,6291,0.86,131.1,27.2,5.4,33,6302,0.00,2.30,5.40,0.475,6,0.000,0.044,3215,2039,2200,0,0,0,0,0,0
$GC,6528,0.88,135.6,14.6,5.5,36,6539,0.00,2.35,5.43,0.470,4,0.000,0.050,3226,538,2181,0,0,0,0,0,0
$GC,6618,0.93,188.9,14.9,-1.2,36,6668,0.00,2.17,45.70,0.587,6,0.000,0.044,3226,1961,1963,0,0,0,0,0,0
$GC,6938,0.96,208.1,4.6,3.5,40,6952,0.00,0.00,11.88,0.537,2,0.000,0.000,3226,1960,1907,0,0,0,0,0,0
$STATE,6953,end climb,SURFACE_DEPTH_REACHED
$STATE,6953,begin surface coast
$FINISH,3.5,NaN
$STATE,6956,end surface coast,CONTROL_FINISHED_OK
$STATE,6956,begin surface
$SM_CCo,6976,70.50,0.535,3,0,1410,325.02
$SM_GC,1.95,0.00,0.00,70.50,0.000,0.000,0.535,108,2186,1410,-8.79,0.31,325.02
$IRIDIUM_FIX,4732.49,-12507.66,070911,232308
$TT8_MAMPS,0.027713
$HUMID,43.06
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,24.0,85.982
$10V_AH,9.9,85.099
$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,20.775,56.875,214.350,70.500,0.000,25.890,31.353,128.638,0.000,0.000,18.267,400.665,5247.174,332.413,1182.294,216.850,33.339,881.305,0.000,985.336,0.000,0.535,0.000
$DEVICE_MAMPS,228.735,58.905,719.100,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,40
$CAP_FILE_SIZE,70860,0
$CFSIZE,260165632,155496448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,080911,033131,4751.200,-12511.376,49,0.8,49,18.7