version: 66.07
glider: 187
mission: 4
dive: 788
start: 9 9 111 0 56 14
data:
$ID,187
$MISSION,4
$DIVE,788
$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,-1586638.9
$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,38
$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
$GPS1,090911,005020,4751.045,-12510.959,12,1.6,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.0
$GPS2,090911,005520,4751.022,-12510.957,12,1.2,12,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.038,0.099
$KALMAN_X,386777.8,158.3,-99.1,-391573.5,-431.0
$KALMAN_Y,-791870.9,-84.3,-403.0,800720.1,-57.7
$MHEAD_RNG_PITCHd_Wd,320.3,829,-27.7,-6.111
$D_GRID,220
$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,-59.85,0.000,6,0.000,0.000,115,2185,2858,0,0,0,0,0,0
$GC,81,-0.91,-65.3,2.0,-1.3,1,101,10.12,2.42,-2.88,0.000,4,0.225,0.057,2624,662,3005,0,0,0,0,0,0
$GC,119,-0.81,-65.3,18.5,-32.5,1,124,0.15,2.38,0.00,0.000,6,0.170,0.049,2653,2174,3007,0,0,0,0,0,0
$GC,388,-0.81,-65.3,65.6,-16.6,4,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2174,3009,0,0,0,0,0,0
$GC,589,-0.81,-65.3,94.6,-15.2,6,593,0.00,2.35,0.00,0.000,4,0.000,0.049,2653,664,3011,0,0,0,0,0,0
$GC,621,-0.81,-65.3,99.1,-13.6,6,626,0.00,2.38,0.00,0.000,6,0.000,0.047,2643,2196,3011,0,0,0,0,0,0
$GC,997,-0.81,-65.3,147.5,-13.0,8,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2196,3011,0,0,0,0,0,0
$GC,1296,-0.81,-65.3,185.1,-12.8,9,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2196,3011,0,0,0,0,0,0
$STATE,1594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1594,begin apogee
$GC,1601,-0.22,0.0,227.0,13.1,10,1660,0.65,0.00,56.20,0.704,6,0.125,0.000,2849,2052,2734,0,0,0,0,0,0
$STATE,1661,end apogee,CONTROL_FINISHED_OK
$STATE,1661,begin climb
$GC,1665,0.91,65.3,227.0,0.0,10,1730,0.98,2.50,55.53,0.686,4,0.070,0.048,3215,549,2467,0,0,0,0,0,0
$GC,1752,0.91,72.8,227.0,5.1,10,1767,0.00,2.40,7.93,0.581,6,0.000,0.043,3215,2071,2437,0,0,0,0,0,0
$GC,2294,0.91,72.8,181.9,8.5,12,2298,0.00,2.40,0.00,0.000,4,0.000,0.055,3216,3573,2432,0,0,0,0,0,0
$GC,2553,0.89,72.8,158.9,8.4,12,2557,0.00,2.33,0.00,0.000,6,0.000,0.041,3227,2070,2430,0,0,0,0,0,0
$GC,2922,0.87,72.8,125.7,9.1,14,2926,0.00,2.40,0.00,0.000,4,0.000,0.054,3227,3582,2430,0,0,0,0,0,0
$GC,3113,0.85,77.7,112.5,5.4,14,3124,0.17,2.35,4.22,0.454,6,0.172,0.041,3193,2061,2417,0,0,0,0,0,0
$GC,3554,0.85,79.5,88.1,5.9,16,3558,0.00,2.35,0.00,0.000,4,0.000,0.050,3203,545,2417,0,0,0,0,0,0
$GC,3617,0.85,79.5,84.2,6.6,16,3621,0.00,2.33,0.00,0.000,6,0.000,0.045,3202,2071,2417,0,0,0,0,0,0
$GC,3864,0.87,108.8,78.0,2.1,19,3898,0.00,2.42,28.17,0.617,4,0.000,0.054,3203,3576,2290,0,0,0,0,0,0
$GC,3994,0.87,108.8,72.1,6.6,20,3998,0.00,2.33,0.00,0.000,6,0.000,0.041,3214,2083,2287,0,0,0,0,0,0
$GC,4279,0.87,116.4,56.8,5.1,23,4293,0.00,2.45,7.60,0.535,4,0.000,0.054,3214,3582,2260,0,0,0,0,0,0
$GC,4503,0.89,138.3,44.6,3.1,25,4528,0.00,2.40,19.70,0.587,6,0.000,0.041,3226,2029,2170,0,0,0,0,0,0
$GC,4810,0.89,138.3,27.3,6.6,28,4814,0.00,2.45,0.00,0.000,4,0.000,0.055,3226,3584,2167,0,0,0,0,0,0
$GC,4900,0.89,138.3,21.7,7.4,28,4906,0.12,2.40,0.00,0.000,6,0.168,0.042,3206,2039,2165,0,0,0,0,0,0
$GC,5119,0.94,191.3,23.5,-1.1,31,5169,0.00,2.38,44.28,0.587,4,0.000,0.052,3215,549,1954,0,0,0,0,0,0
$GC,5316,0.99,207.9,19.6,3.8,32,5336,0.00,2.28,14.55,0.550,6,0.000,0.044,3215,2022,1886,0,0,0,0,0,0
$GC,5538,1.02,208.6,6.5,6.0,35,5543,0.10,2.45,0.00,0.000,4,0.100,0.054,3269,3568,1882,0,0,0,0,0,0
$STATE,5569,end climb,SURFACE_DEPTH_REACHED
$STATE,5569,begin surface coast
$FINISH,2.9,NaN
$STATE,5575,end surface coast,CONTROL_FINISHED_OK
$STATE,5575,begin surface
$SM_CCo,5598,66.30,0.498,2,0,1409,325.02
$SM_GC,2.10,0.00,0.00,66.30,0.000,0.000,0.498,109,2158,1409,-8.79,-0.48,325.02
$IRIDIUM_FIX,4735.69,-12509.51,080911,232315
$TT8_MAMPS,0.026964
$HUMID,42.55
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.9,86.776
$10V_AH,9.9,85.452
$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,21.050,52.550,238.175,66.300,0.000,26.138,35.420,121.991,0.000,0.000,13.711,300.103,4323.142,367.683,795.183,196.318,33.363,747.262,0.000,618.374,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,68.085,703.800,498.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,35
$CAP_FILE_SIZE,56303,0
$CFSIZE,260165632,155123712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090911,023206,4751.233,-12511.475,39,0.8,39,18.7