version: 66.07
glider: 187
mission: 4
dive: 796
start: 9 9 111 16 6 26
data:
$ID,187
$MISSION,4
$DIVE,796
$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,-1586648.9
$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,43
$R_STBD_OVSHOOT,35
$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
$GPS1,090911,160038,4751.528,-12511.598,9,1.7,9,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-76.2
$GPS2,090911,160532,4751.474,-12511.548,13,1.1,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.080,-0.069
$KALMAN_X,385430.9,411.8,-199.2,-391112.8,-309.7
$KALMAN_Y,-793707.8,230.5,-275.7,802946.6,17.8
$MHEAD_RNG_PITCHd_Wd,112.1,334,-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,-30.0,0.0,0.0,0,76,0.00,0.00,-59.03,0.000,6,0.000,0.000,119,2166,2859,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,99,10.12,2.38,-3.60,0.000,4,0.225,0.057,2619,669,3044,0,0,0,0,0,0
$GC,352,-0.90,-74.8,62.1,-17.0,2,356,0.00,2.33,0.00,0.000,6,0.000,0.046,2610,2173,3047,0,0,0,0,0,0
$GC,611,-0.88,-74.8,107.6,-17.4,5,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2174,3049,0,0,0,0,0,0
$GC,913,-0.86,-74.8,151.5,-15.6,6,918,0.12,2.38,0.00,0.000,4,0.174,0.048,2642,663,3050,0,0,0,0,0,0
$GC,957,-0.86,-74.8,158.6,-14.5,6,961,0.00,2.38,0.00,0.000,6,0.000,0.047,2633,2194,3050,0,0,0,0,0,0
$GC,1540,-0.86,-74.8,233.9,-12.2,8,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2194,3050,0,0,0,0,0,0
$STATE,1837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1837,begin apogee
$GC,1843,-0.22,0.0,272.0,12.4,9,1910,0.68,0.00,63.85,0.731,6,0.129,0.000,2845,2051,2734,0,0,0,0,0,0
$STATE,1911,end apogee,CONTROL_FINISHED_OK
$STATE,1911,begin climb
$GC,1914,0.91,74.8,272.0,0.0,9,1983,1.02,0.00,64.28,0.715,6,0.073,0.000,3213,2051,2429,0,0,0,0,0,0
$GC,2546,0.91,74.8,225.8,8.0,11,2551,0.00,2.42,0.00,0.000,4,0.000,0.054,3213,3587,2421,0,0,0,0,0,0
$GC,2805,0.89,74.8,200.4,9.4,11,2809,0.00,2.38,0.00,0.000,6,0.000,0.041,3224,2053,2419,0,0,0,0,0,0
$GC,3173,0.87,74.8,167.8,8.9,13,3177,0.00,2.40,0.00,0.000,4,0.000,0.054,3224,3577,2418,0,0,0,0,0,0
$GC,3380,0.85,74.8,146.6,10.2,13,3385,0.15,2.33,0.00,0.000,6,0.177,0.041,3197,2071,2417,0,0,0,0,0,0
$GC,3802,0.85,74.8,117.2,6.6,15,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2071,2417,0,0,0,0,0,0
$GC,4099,0.85,77.0,102.6,5.8,16,4104,0.00,2.35,0.00,0.000,4,0.000,0.050,3207,550,2416,0,0,0,0,0,0
$GC,4211,0.86,90.6,96.7,4.3,16,4231,0.00,2.35,13.07,0.603,6,0.000,0.044,3207,2093,2364,0,0,0,0,0,0
$GC,4630,0.86,100.3,76.5,4.8,19,4641,0.00,0.00,9.40,0.571,6,0.000,0.000,3207,2092,2326,0,0,0,0,0,0
$GC,4831,0.87,110.5,66.3,4.7,21,4846,0.00,2.33,10.38,0.572,4,0.000,0.053,3207,3570,2284,0,0,0,0,0,0
$GC,4876,0.87,110.5,63.1,7.6,21,4880,0.00,2.30,0.00,0.000,6,0.000,0.041,3218,2094,2282,0,0,0,0,0,0
$GC,5133,0.88,123.0,50.6,4.4,24,5152,0.00,2.42,11.98,0.575,4,0.000,0.055,3218,3578,2232,0,0,0,0,0,0
$GC,5287,0.88,123.0,42.2,6.1,25,5291,0.00,2.20,0.00,0.000,6,0.000,0.041,3229,2151,2230,0,0,0,0,0,0
$GC,5551,0.88,129.3,28.6,5.2,28,5565,0.00,2.58,6.95,0.517,4,0.000,0.050,3242,546,2206,0,0,0,0,0,0
$GC,5796,0.89,151.0,21.3,3.2,30,5822,0.12,2.40,19.58,0.575,6,0.160,0.044,3209,2114,2119,0,0,0,0,0,0
$GC,6082,0.93,173.5,12.2,3.0,33,6107,0.00,2.35,19.75,0.568,4,0.000,0.056,3209,3577,2026,0,0,0,0,0,0
$GC,6175,0.98,197.1,10.1,2.9,33,6200,0.00,2.30,20.58,0.560,6,0.000,0.042,3218,2113,1931,0,0,0,0,0,0
$STATE,6396,end climb,SURFACE_DEPTH_REACHED
$STATE,6397,begin surface coast
$FINISH,0.8,NaN
$STATE,6495,end surface coast,CONTROL_FINISHED_OK
$STATE,6496,begin surface
$SM_CCo,6516,84.82,0.494,4,0,1409,325.02
$SM_GC,2.14,0.00,0.00,84.82,0.000,0.000,0.494,108,2174,1409,-8.79,-0.03,325.02
$IRIDIUM_FIX,4801.38,-12528.13,090911,141435
$TT8_MAMPS,0.026964
$HUMID,42.20
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.8,87.296
$10V_AH,9.9,85.683
$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,20.225,42.825,239.800,84.825,0.000,26.568,30.987,117.661,0.000,0.000,14.808,339.619,5034.067,405.266,936.145,207.188,33.347,831.767,0.000,764.273,0.000,0.536,0.000
$DEVICE_MAMPS,224.910,119.340,731.340,494.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,37
$CAP_FILE_SIZE,59562,0
$CFSIZE,260165632,154882048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,090911,175808,4751.356,-12511.017,41,1.2,42,18.7