version: 66.07
glider: 187
mission: 4
dive: 792
start: 9 9 111 8 34 4
data:
$ID,187
$MISSION,4
$DIVE,792
$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,-1586643.9
$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,30
$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
$GPS1,090911,082745,4751.773,-12511.438,13,2.0,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.7
$GPS2,090911,083310,4751.764,-12511.483,13,3.7,32,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.040,-0.098
$KALMAN_X,386361.4,-421.6,234.7,-391563.8,-203.0
$KALMAN_Y,-793035.4,-12.8,377.9,802396.6,-350.4
$MHEAD_RNG_PITCHd_Wd,139.0,859,-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,-60.20,0.000,6,0.000,0.000,115,2172,2857,0,0,0,0,0,0
$GC,81,-0.91,-74.8,0.0,-0.0,0,101,10.12,2.40,-3.67,0.000,4,0.224,0.054,2618,646,3043,0,0,0,0,0,0
$GC,319,-0.90,-74.8,63.1,-15.8,2,324,0.00,2.38,0.00,0.000,6,0.000,0.047,2608,2181,3046,0,0,0,0,0,0
$GC,611,-0.88,-74.8,104.6,-14.5,5,615,0.00,2.35,0.00,0.000,4,0.000,0.048,2607,661,3048,0,0,0,0,0,0
$GC,714,-0.86,-74.8,123.2,-18.7,5,719,0.15,2.30,0.00,0.000,6,0.168,0.047,2636,2165,3048,0,0,0,0,0,0
$GC,1247,-0.86,-74.8,191.9,-12.6,7,1251,0.00,2.45,0.00,0.000,4,0.000,0.057,2627,3694,3048,0,0,0,0,0,0
$GC,1420,-0.86,-74.8,216.1,-13.0,7,1424,0.00,2.38,0.00,0.000,6,0.000,0.041,2626,2165,3048,0,0,0,0,0,0
$STATE,1451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1451,begin apogee
$GC,1459,-0.22,0.0,220.4,12.7,7,1526,0.68,0.00,62.47,0.698,6,0.129,0.000,2843,2041,2734,0,0,0,0,0,0
$STATE,1526,end apogee,CONTROL_FINISHED_OK
$STATE,1526,begin climb
$GC,1529,0.91,74.8,223.7,0.0,7,1597,1.02,0.00,63.90,0.680,6,0.073,0.000,3212,2040,2429,0,0,0,0,0,0
$GC,1866,0.90,74.8,199.3,7.5,9,1870,0.00,2.42,0.00,0.000,4,0.000,0.054,3212,3582,2423,0,0,0,0,0,0
$GC,2096,0.88,74.8,179.0,8.7,9,2100,0.00,2.35,0.00,0.000,6,0.000,0.041,3223,2066,2421,0,0,0,0,0,0
$GC,2494,0.87,74.8,154.2,6.3,11,2498,0.00,2.38,0.00,0.000,4,0.000,0.054,3223,3578,2421,0,0,0,0,0,0
$GC,2752,0.84,74.8,138.3,7.0,11,2757,0.15,2.30,0.00,0.000,6,0.171,0.041,3196,2076,2418,0,0,0,0,0,0
$GC,3122,0.85,85.2,120.1,4.7,13,3136,0.00,2.42,8.73,0.578,4,0.000,0.050,3205,553,2387,0,0,0,0,0,0
$GC,3245,0.85,85.2,112.7,6.6,13,3249,0.00,2.28,0.00,0.000,6,0.000,0.044,3206,2052,2386,0,0,0,0,0,0
$GC,3753,0.86,106.1,94.1,3.3,15,3778,0.00,2.45,18.98,0.613,4,0.000,0.054,3206,3572,2302,0,0,0,0,0,0
$GC,3812,0.87,114.5,91.7,5.0,15,3826,0.00,2.38,8.88,0.560,6,0.000,0.041,3217,2044,2267,0,0,0,0,0,0
$GC,4064,0.87,114.5,75.2,6.8,18,4068,0.00,2.35,0.00,0.000,4,0.000,0.050,3229,544,2265,0,0,0,0,0,0
$GC,4323,0.87,125.2,60.4,4.6,20,4338,0.00,2.17,10.12,0.561,6,0.000,0.044,3229,1977,2224,0,0,0,0,0,0
$GC,4591,0.88,133.2,46.8,5.0,23,4605,0.00,2.55,8.10,0.534,4,0.000,0.054,3229,3569,2191,0,0,0,0,0,0
$GC,4675,0.88,134.9,42.4,5.9,23,4680,0.15,2.40,0.00,0.000,6,0.167,0.041,3201,2007,2190,0,0,0,0,0,0
$GC,4899,0.90,136.8,29.2,5.8,26,4909,0.00,2.30,4.65,0.446,4,0.000,0.050,3211,546,2177,0,0,0,0,0,0
$GC,5165,0.94,171.9,18.5,1.3,28,5200,0.00,2.17,30.95,0.579,6,0.000,0.044,3211,1970,2033,0,0,0,0,0,0
$GC,5427,0.99,200.4,12.7,2.2,31,5457,0.00,2.25,24.10,0.564,4,0.000,0.052,3221,553,1917,0,0,0,0,0,0
$GC,5488,1.03,201.5,9.6,6.0,31,5492,0.00,2.22,0.00,0.000,6,0.000,0.044,3221,1985,1915,0,0,0,0,0,0
$STATE,5631,end climb,SURFACE_DEPTH_REACHED
$STATE,5631,begin surface coast
$FINISH,0.8,NaN
$STATE,5732,end surface coast,CONTROL_FINISHED_OK
$STATE,5732,begin surface
$SM_CCo,5751,69.85,0.499,2,0,1409,325.02
$SM_GC,2.08,0.00,0.00,69.85,0.000,0.000,0.499,116,2187,1409,-8.77,0.34,325.02
$IRIDIUM_FIX,4735.69,-12516.60,090911,060648
$TT8_MAMPS,0.026964
$HUMID,42.79
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.9,87.035
$10V_AH,9.9,85.567
$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,20.400,52.075,240.875,69.850,0.000,26.170,33.321,127.199,0.000,0.000,34.820,337.815,4268.864,371.040,991.722,197.296,33.350,815.979,0.000,782.654,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,78.030,697.680,498.780,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297796
$DATA_FILE_SIZE,332,34
$CAP_FILE_SIZE,61807,0
$CFSIZE,260165632,154996736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090911,101306,4751.404,-12511.166,70,1.3,70,18.7