version: 66.07
glider: 187
mission: 4
dive: 797
start: 9 9 111 18 4 14
data:
$ID,187
$MISSION,4
$DIVE,797
$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,-1586650.1
$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,39
$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
$GPS1,090911,175808,4751.356,-12511.017,41,1.2,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.6
$GPS2,090911,180320,4751.276,-12511.016,14,1.3,14,18.7
$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,385299.3,441.8,-88.2,-390463.4,-218.7
$KALMAN_Y,-793799.7,152.3,110.0,802365.4,-3.1
$MHEAD_RNG_PITCHd_Wd,258.9,579,-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,-30.0,0.0,0.0,0,77,0.00,0.00,-59.25,0.000,6,0.000,0.000,108,2175,2858,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,100,10.18,2.47,-3.60,0.000,4,0.225,0.064,2609,3693,3043,0,0,0,0,0,0
$GC,307,-0.89,-74.8,57.0,-18.5,2,312,0.00,2.38,0.00,0.000,6,0.000,0.041,2609,2170,3047,0,0,0,0,0,0
$GC,510,-0.87,-74.8,92.1,-17.1,4,512,0.10,0.00,0.00,0.000,6,0.187,0.000,2633,2165,3048,0,0,0,0,0,0
$GC,913,-0.86,-74.8,149.7,-14.9,6,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2164,3049,0,0,0,0,0,0
$GC,1211,-0.86,-74.8,193.9,-14.7,7,1215,0.00,2.42,0.00,0.000,4,0.000,0.057,2624,3682,3049,0,0,0,0,0,0
$GC,1250,-0.86,-74.8,199.4,-14.1,7,1254,0.00,2.40,0.00,0.000,6,0.000,0.043,2624,2155,3049,0,0,0,0,0,0
$STATE,1834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1834,begin apogee
$GC,1841,-0.22,0.0,280.2,13.8,9,1908,0.70,0.00,63.85,0.738,6,0.129,0.000,2844,2049,2734,0,0,0,0,0,0
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1912,0.91,74.8,280.2,0.0,9,1983,1.02,2.50,64.28,0.719,4,0.072,0.051,3213,3581,2430,0,0,0,0,0,0
$GC,2032,0.89,74.8,277.8,8.8,9,2036,0.00,2.40,0.00,0.000,6,0.000,0.041,3224,2067,2425,0,0,0,0,0,0
$GC,2535,0.87,74.8,229.3,9.8,11,2539,0.00,2.38,0.00,0.000,4,0.000,0.050,3236,548,2421,0,0,0,0,0,0
$GC,2574,0.86,74.8,225.5,9.1,11,2579,0.15,2.30,0.00,0.000,6,0.172,0.044,3198,2056,2421,0,0,0,0,0,0
$GC,3161,0.86,74.8,180.2,7.5,13,3165,0.00,2.38,0.00,0.000,4,0.000,0.055,3198,3570,2420,0,0,0,0,0,0
$GC,3244,0.84,74.8,173.2,8.1,13,3249,0.00,2.38,0.00,0.000,6,0.000,0.041,3207,2049,2418,0,0,0,0,0,0
$GC,3793,0.84,74.8,128.1,8.7,15,3797,0.00,2.33,0.00,0.000,4,0.000,0.050,3219,550,2418,0,0,0,0,0,0
$GC,3814,0.84,74.8,126.2,8.8,15,3818,0.00,2.33,0.00,0.000,6,0.000,0.044,3219,2061,2418,0,0,0,0,0,0
$GC,4419,0.85,87.0,95.1,4.5,17,4434,0.00,2.40,9.75,0.583,4,0.000,0.055,3218,3572,2379,0,0,0,0,0,0
$GC,4631,0.84,99.3,83.4,4.4,18,4651,0.15,2.35,11.95,0.589,6,0.174,0.041,3192,2059,2330,0,0,0,0,0,0
$GC,4850,0.85,109.7,73.0,4.7,21,4865,0.00,2.38,10.48,0.572,4,0.000,0.049,3201,546,2287,0,0,0,0,0,0
$GC,4922,0.87,109.7,69.0,6.2,21,4926,0.00,2.35,0.00,0.000,6,0.000,0.045,3201,2071,2286,0,0,0,0,0,0
$GC,5157,0.88,115.3,56.2,5.4,24,5171,0.00,2.40,6.47,0.516,4,0.000,0.054,3201,3577,2264,0,0,0,0,0,0
$GC,5391,0.89,120.6,42.6,5.4,26,5402,0.00,2.22,6.03,0.496,6,0.000,0.041,3213,2128,2243,0,0,0,0,0,0
$GC,5692,0.90,132.8,28.9,4.4,29,5711,0.00,2.55,11.77,0.552,4,0.000,0.050,3224,549,2192,0,0,0,0,0,0
$GC,5723,0.93,151.2,27.6,3.6,29,5748,0.00,2.45,17.27,0.568,6,0.000,0.044,3224,2136,2118,0,0,0,0,0,0
$GC,6005,0.95,158.2,13.2,5.2,32,6019,0.00,2.35,6.95,0.500,4,0.000,0.055,3225,3576,2088,0,0,0,0,0,0
$STATE,6204,end climb,NO_VERTICAL_VELOCITY
$STATE,6204,begin surface
$SM_CCo,6207,270.75,0.519,15,0,469,555.60
$SM_GC,1.54,8.10,0.00,0.00,0.029,0.000,0.000,121,2170,463,-8.61,-0.14,557.32
$IRIDIUM_FIX,4735.69,-12509.51,090911,161621
$TT8_MAMPS,0.026964
$HUMID,42.28
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.8,87.385
$10V_AH,9.9,85.714
$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,20.400,52.500,208.800,270.750,0.000,25.168,34.324,133.927,0.000,0.000,15.431,351.861,4791.492,629.677,1002.948,211.641,33.348,1076.161,0.000,808.705,0.000,0.536,0.000
$DEVICE_MAMPS,224.910,88.740,738.225,519.435,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,33
$CAP_FILE_SIZE,63921,0
$CFSIZE,260165632,154849280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,090911,195631,4751.326,-12511.762,13,1.7,31,18.7