version: 66.07
glider: 187
mission: 4
dive: 779
start: 9 8 111 7 42 22
data:
$ID,187
$MISSION,4
$DIVE,779
$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,-1586627.6
$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,45
$R_STBD_OVSHOOT,43
$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
$GPS1,080911,073557,4751.196,-12511.180,48,2.1,67,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.1
$GPS2,080911,074128,4751.146,-12511.212,13,2.1,32,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.071,0.078
$KALMAN_X,387841.1,-321.6,-1.9,-392573.6,-99.7
$KALMAN_Y,-790279.6,-130.4,426.9,798567.8,35.9
$MHEAD_RNG_PITCHd_Wd,298.9,439,-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,-30.0,0.0,0.0,0,78,0.00,0.00,-60.38,0.000,6,0.000,0.000,114,2184,2859,0,0,0,0,0,0
$GC,81,-0.91,-74.8,0.0,-0.0,0,101,10.18,2.45,-3.72,0.000,4,0.226,0.069,2613,3682,3043,0,0,0,0,0,0
$GC,207,-0.88,-74.8,35.7,-22.8,1,211,0.00,2.33,0.00,0.000,6,0.000,0.042,2613,2176,3045,0,0,0,0,0,0
$GC,405,-0.86,-74.8,74.0,-19.1,3,410,0.10,2.35,0.00,0.000,4,0.200,0.049,2637,663,3047,0,0,0,0,0,0
$GC,487,-0.86,-74.8,89.1,-19.7,3,491,0.00,2.30,0.00,0.000,6,0.000,0.047,2628,2162,3047,0,0,0,0,0,0
$GC,916,-0.86,-74.8,152.8,-14.7,6,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2162,3048,0,0,0,0,0,0
$GC,1216,-0.86,-74.8,194.3,-14.3,7,1220,0.00,2.33,0.00,0.000,4,0.000,0.049,2626,662,3048,0,0,0,0,0,0
$GC,1260,-0.86,-74.8,200.6,-14.3,7,1265,0.00,2.33,0.00,0.000,6,0.000,0.047,2616,2173,3048,0,0,0,0,0,0
$STATE,1851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1851,begin apogee
$GC,1858,-0.22,0.0,286.1,14.7,9,1925,0.73,0.00,63.90,0.747,6,0.129,0.000,2844,2047,2734,0,0,0,0,0,0
$STATE,1926,end apogee,CONTROL_FINISHED_OK
$STATE,1926,begin climb
$GC,1930,0.91,74.8,286.1,0.0,9,2002,1.00,2.40,64.47,0.730,4,0.069,0.047,3219,552,2429,0,0,0,0,0,0
$GC,2060,0.90,74.8,283.3,8.4,9,2065,0.00,2.38,0.00,0.000,6,0.000,0.044,3219,2074,2425,0,0,0,0,0,0
$GC,2558,0.88,74.8,241.9,8.5,11,2563,0.00,2.35,0.00,0.000,4,0.000,0.054,3218,3575,2421,0,0,0,0,0,0
$GC,2818,0.86,74.8,216.7,9.1,11,2823,0.12,2.33,0.00,0.000,6,0.186,0.041,3200,2078,2418,0,0,0,0,0,0
$GC,3187,0.86,74.8,184.6,8.8,13,3191,0.00,2.38,0.00,0.000,4,0.000,0.055,3200,3573,2418,0,0,0,0,0,0
$GC,3220,0.84,74.8,181.1,10.1,13,3224,0.00,2.33,0.00,0.000,6,0.000,0.041,3209,2067,2417,0,0,0,0,0,0
$GC,3818,0.84,74.8,131.4,8.7,15,3822,0.00,2.40,0.00,0.000,4,0.000,0.055,3209,3577,2417,0,0,0,0,0,0
$GC,3978,0.82,74.8,122.0,6.7,15,3982,0.12,2.33,0.00,0.000,6,0.181,0.041,3190,2081,2416,0,0,0,0,0,0
$GC,4447,0.83,91.9,103.1,3.8,17,4466,0.00,2.45,13.85,0.610,4,0.000,0.051,3199,554,2360,0,0,0,0,0,0
$GC,4720,0.83,91.9,89.2,6.3,17,4724,0.00,2.35,0.00,0.000,6,0.000,0.044,3199,2083,2358,0,0,0,0,0,0
$GC,5080,0.84,108.0,74.7,3.9,21,5100,0.00,2.40,15.32,0.602,4,0.000,0.048,3211,550,2293,0,0,0,0,0,0
$GC,5198,0.85,121.8,70.6,4.2,22,5217,0.00,2.33,13.15,0.588,6,0.000,0.044,3211,2063,2237,0,0,0,0,0,0
$GC,5503,0.85,123.1,52.4,5.9,25,5508,0.00,2.40,0.00,0.000,4,0.000,0.055,3211,3581,2234,0,0,0,0,0,0
$GC,5762,0.86,140.9,36.3,3.7,27,5786,0.00,2.33,17.15,0.582,6,0.000,0.041,3222,2069,2160,0,0,0,0,0,0
$GC,6036,0.86,150.2,23.4,4.8,30,6050,0.00,2.38,9.07,0.538,4,0.000,0.051,3234,556,2122,0,0,0,0,0,0
$GC,6143,0.88,153.3,17.2,5.7,30,6152,0.12,2.30,4.20,0.418,6,0.163,0.044,3201,2049,2109,0,0,0,0,0,0
$GC,6366,0.93,185.9,12.8,1.7,33,6400,0.00,2.47,28.38,0.577,4,0.000,0.054,3201,3569,1976,0,0,0,0,0,0
$GC,6503,0.95,190.1,6.0,5.5,34,6512,0.00,2.38,4.53,0.422,6,0.000,0.041,3211,2053,1958,0,0,0,0,0,0
$STATE,6555,end climb,SURFACE_DEPTH_REACHED
$STATE,6555,begin surface coast
$FINISH,3.5,NaN
$STATE,6561,end surface coast,CONTROL_FINISHED_OK
$STATE,6561,begin surface
$SM_CCo,6580,78.68,0.550,2,0,1409,325.02
$SM_GC,2.14,0.00,0.00,78.68,0.000,0.000,0.550,133,2183,1409,-8.71,0.23,325.02
$IRIDIUM_FIX,4735.69,-12507.66,080911,050558
$TT8_MAMPS,0.026964
$HUMID,42.71
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.8,86.175
$10V_AH,9.9,85.194
$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,20.725,57.075,234.025,78.675,0.000,28.358,34.880,125.468,0.000,0.000,33.983,373.332,4946.067,387.133,1083.655,216.848,33.339,870.426,0.000,872.133,0.000,0.536,0.000
$DEVICE_MAMPS,225.675,78.030,747.405,550.035,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297816
$DATA_FILE_SIZE,333,34
$CAP_FILE_SIZE,66171,0
$CFSIZE,260165632,155402240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080911,093455,4751.236,-12511.689,43,1.7,43,18.7