version: 66.07
glider: 187
mission: 4
dive: 769
start: 9 7 111 13 15 8
data:
$ID,187
$MISSION,4
$DIVE,769
$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,-1586615.1
$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,40
$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
$GPS1,070911,130630,4751.006,-12512.059,37,1.6,42,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.8
$GPS2,070911,131414,4751.008,-12512.005,14,1.7,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.105,-0.009
$KALMAN_X,390483.8,-491.6,-17.1,-396008.8,-15.7
$KALMAN_Y,-790909.9,29.5,-560.1,799778.7,589.8
$MHEAD_RNG_PITCHd_Wd,76.1,847,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.88,-30.0,0.0,0.0,0,114,0.00,0.00,-94.15,0.000,6,0.000,0.000,130,2194,2860,0,0,0,0,0,0
$GC,119,-0.89,-47.2,2.9,-3.8,1,137,10.07,2.42,-1.35,0.000,4,0.225,0.060,2629,656,2928,0,0,0,0,0,0
$GC,391,-0.88,-47.2,55.9,-15.9,3,395,0.00,2.30,0.00,0.000,6,0.000,0.044,2620,2167,2933,0,0,0,0,0,0
$GC,650,-0.86,-47.2,93.1,-14.3,6,654,0.00,2.35,0.00,0.000,4,0.000,0.047,2619,662,2934,0,0,0,0,0,0
$GC,785,-0.85,-47.2,110.3,-13.0,7,790,0.12,2.28,0.00,0.000,6,0.171,0.045,2640,2154,2934,0,0,0,0,0,0
$GC,1282,-0.85,-47.2,166.7,-11.7,9,1286,0.00,2.33,0.00,0.000,4,0.000,0.047,2640,663,2934,0,0,0,0,0,0
$GC,1370,-0.85,-47.2,177.8,-11.7,9,1375,0.00,2.25,0.00,0.000,6,0.000,0.047,2632,2141,2934,0,0,0,0,0,0
$STATE,1905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1905,begin apogee
$GC,1912,-0.22,0.0,238.6,10.9,11,1956,0.68,0.00,41.05,0.704,6,0.128,0.000,2844,2045,2734,0,0,0,0,0,0
$STATE,1957,end apogee,CONTROL_FINISHED_OK
$STATE,1957,begin climb
$GC,1959,0.89,47.2,238.6,0.0,11,2004,1.02,0.00,41.22,0.689,6,0.069,0.000,3213,2045,2541,0,0,0,0,0,0
$GC,2210,0.90,92.0,226.9,-0.0,12,2254,0.00,2.50,38.78,0.686,4,0.000,0.054,3214,3568,2358,0,0,0,0,0,0
$GC,2325,0.88,92.0,216.3,12.3,12,2330,0.00,2.35,0.00,0.000,6,0.000,0.041,3225,2056,2355,0,0,0,0,0,0
$GC,2840,0.87,92.0,157.2,11.3,14,2844,0.00,2.42,0.00,0.000,4,0.000,0.054,3225,3581,2352,0,0,0,0,0,0
$GC,2912,0.84,92.0,148.4,12.7,14,2918,0.15,2.35,0.00,0.000,6,0.174,0.041,3197,2065,2350,0,0,0,0,0,0
$GC,3466,0.84,92.0,100.4,8.1,16,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2064,2349,0,0,0,0,0,0
$GC,3766,0.84,92.0,78.5,7.7,17,3770,0.00,2.35,0.00,0.000,4,0.000,0.050,3207,548,2347,0,0,0,0,0,0
$GC,3811,0.84,92.0,75.4,6.6,17,3816,0.00,2.33,0.00,0.000,6,0.000,0.044,3207,2080,2347,0,0,0,0,0,0
$GC,4081,0.85,106.4,64.0,4.1,20,4099,0.00,2.47,11.55,0.575,4,0.000,0.050,3219,538,2300,0,0,0,0,0,0
$GC,4352,0.86,115.1,48.0,4.9,22,4366,0.00,2.25,9.12,0.550,6,0.000,0.044,3219,2023,2264,0,0,0,0,0,0
$GC,4615,0.87,134.3,38.7,3.5,25,4639,0.00,2.38,17.15,0.581,4,0.000,0.050,3229,549,2187,0,0,0,0,0,0
$GC,4675,0.87,135.0,35.9,6.0,25,4679,0.00,2.30,0.00,0.000,6,0.000,0.044,3230,2044,2185,0,0,0,0,0,0
$GC,4921,0.87,135.0,18.3,7.4,28,4925,0.00,2.35,0.00,0.000,4,0.000,0.050,3241,545,2183,0,0,0,0,0,0
$GC,5064,0.88,158.1,12.0,3.0,29,5091,0.12,2.28,21.02,0.570,6,0.161,0.044,3208,2033,2089,0,0,0,0,0,0
$GC,5341,0.94,194.8,8.8,1.1,32,5377,0.00,2.35,31.20,0.571,4,0.000,0.050,3217,541,1939,0,0,0,0,0,0
$GC,5437,0.99,221.9,7.2,2.4,32,5466,0.00,2.28,23.08,0.555,6,0.000,0.045,3216,2018,1829,0,0,0,0,0,0
$STATE,5537,end climb,SURFACE_DEPTH_REACHED
$STATE,5537,begin surface coast
$FINISH,0.8,NaN
$STATE,5656,end surface coast,CONTROL_FINISHED_OK
$STATE,5656,begin surface
$SM_CCo,5677,66.90,0.476,4,0,1408,325.02
$SM_GC,1.53,0.00,0.00,66.90,0.000,0.000,0.476,117,2188,1408,-8.76,0.40,325.02
$IRIDIUM_FIX,4735.69,-12513.98,070911,111110
$TT8_MAMPS,0.026964
$HUMID,42.63
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,24.0,85.480
$10V_AH,9.9,84.906
$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,20.200,47.225,234.175,66.900,0.000,55.018,113.993,121.462,0.000,0.000,15.053,318.904,4310.518,396.700,1016.765,192.768,33.342,821.391,0.000,729.102,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,87.210,703.800,475.830,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,35
$CAP_FILE_SIZE,58901,0
$CFSIZE,260165632,155713536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,070911,145226,4751.159,-12511.790,35,1.4,35,18.7