version: 66.07
glider: 187
mission: 4
dive: 772
start: 9 7 111 18 32 32
data:
$ID,187
$MISSION,4
$DIVE,772
$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,-1586618.9
$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,36
$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
$GPS1,070911,182637,4751.072,-12511.575,11,1.8,15,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.7
$GPS2,070911,183138,4751.024,-12511.605,13,1.7,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.016,0.105
$KALMAN_X,389435.6,396.2,-103.7,-395272.0,74.6
$KALMAN_Y,-790851.5,-15.8,461.9,798769.9,-29.4
$MHEAD_RNG_PITCHd_Wd,350.1,534,-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,-30.0,0.0,0.0,0,78,0.00,0.00,-60.17,0.000,6,0.000,0.000,109,2164,2858,0,0,0,0,0,0
$GC,81,-0.90,-61.1,2.7,-1.9,1,97,10.02,0.00,-2.60,0.000,6,0.223,0.000,2621,2161,2987,0,0,0,0,0,0
$GC,291,-0.88,-61.1,47.5,-18.5,3,295,0.00,2.40,0.00,0.000,4,0.000,0.055,2611,3684,2991,0,0,0,0,0,0
$GC,386,-0.88,-61.1,67.6,-19.4,3,390,0.00,2.28,0.00,0.000,6,0.000,0.040,2610,2195,2992,0,0,0,0,0,0
$GC,600,-0.87,-61.1,103.8,-17.2,6,604,0.00,2.35,0.00,0.000,4,0.000,0.047,2610,667,2993,0,0,0,0,0,0
$GC,634,-0.86,-61.1,108.9,-14.8,6,639,0.15,2.33,0.00,0.000,6,0.168,0.047,2638,2187,2993,0,0,0,0,0,0
$GC,1229,-0.86,-61.1,185.3,-12.9,8,1233,0.00,2.38,0.00,0.000,4,0.000,0.049,2638,669,2994,0,0,0,0,0,0
$GC,1347,-0.86,-61.1,200.6,-12.4,8,1351,0.00,2.33,0.00,0.000,6,0.000,0.047,2629,2188,2993,0,0,0,0,0,0
$STATE,1853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1853,begin apogee
$GC,1859,-0.22,0.0,262.2,11.5,10,1915,0.68,0.00,52.90,0.729,6,0.127,0.000,2843,2045,2735,0,0,0,0,0,0
$STATE,1916,end apogee,CONTROL_FINISHED_OK
$STATE,1916,begin climb
$GC,1919,0.90,61.1,262.2,0.0,10,1979,1.00,2.53,52.45,0.712,4,0.071,0.053,3207,3568,2484,0,0,0,0,0,0
$GC,2001,0.88,61.1,260.3,6.1,10,2006,0.00,2.38,0.00,0.000,6,0.000,0.039,3218,2056,2482,0,0,0,0,0,0
$GC,2546,0.86,61.1,221.7,6.4,12,2551,0.00,2.42,0.00,0.000,4,0.000,0.055,3218,3581,2478,0,0,0,0,0,0
$GC,2805,0.83,61.1,205.2,6.8,12,2810,0.15,2.35,0.00,0.000,6,0.180,0.041,3192,2064,2476,0,0,0,0,0,0
$GC,3175,0.83,69.5,186.4,5.0,14,3189,0.00,2.47,7.28,0.588,4,0.000,0.054,3192,3577,2450,0,0,0,0,0,0
$GC,3230,0.82,86.2,184.2,3.8,14,3251,0.00,2.33,16.08,0.656,6,0.000,0.041,3202,2066,2383,0,0,0,0,0,0
$GC,3804,0.82,86.2,149.6,6.9,16,3809,0.00,2.40,0.00,0.000,4,0.000,0.054,3202,3583,2379,0,0,0,0,0,0
$GC,3905,0.80,86.2,141.9,7.8,16,3910,0.12,2.35,0.00,0.000,6,0.183,0.041,3184,2070,2378,0,0,0,0,0,0
$GC,4437,0.81,98.8,114.5,4.4,18,4455,0.00,2.47,11.48,0.609,4,0.000,0.051,3192,543,2332,0,0,0,0,0,0
$GC,4708,0.82,115.8,101.5,3.8,18,4729,0.00,2.33,15.95,0.619,6,0.000,0.044,3192,2068,2263,0,0,0,0,0,0
$GC,5067,0.83,125.4,84.6,4.8,22,5082,0.00,2.40,9.55,0.578,4,0.000,0.056,3193,3581,2222,0,0,0,0,0,0
$GC,5138,0.83,125.4,79.6,7.1,22,5142,0.00,2.35,0.00,0.000,6,0.000,0.042,3204,2073,2221,0,0,0,0,0,0
$GC,5378,0.83,125.4,64.4,6.3,25,5382,0.00,2.38,0.00,0.000,4,0.000,0.051,3216,550,2221,0,0,0,0,0,0
$GC,5624,0.83,131.4,47.2,5.3,27,5636,0.00,2.30,6.43,0.518,6,0.000,0.044,3216,2065,2199,0,0,0,0,0,0
$GC,5907,0.85,167.2,42.1,1.2,30,5940,0.00,0.00,31.40,0.602,6,0.000,0.000,3215,2065,2053,0,0,0,0,0,0
$GC,6219,0.87,167.2,15.1,9.5,33,6223,0.00,2.38,0.00,0.000,4,0.000,0.055,3216,3578,2045,0,0,0,0,0,0
$GC,6477,0.90,187.5,6.7,3.3,35,6501,0.00,2.38,17.25,0.562,6,0.000,0.041,3227,2050,1969,0,0,0,0,0,0
$STATE,6651,end climb,SURFACE_DEPTH_REACHED
$STATE,6651,begin surface coast
$FINISH,0.8,NaN
$STATE,6754,end surface coast,CONTROL_FINISHED_OK
$STATE,6754,begin surface
$SM_CCo,6772,84.07,0.501,4,0,1409,325.02
$SM_GC,2.06,0.00,0.00,84.07,0.000,0.000,0.501,119,2187,1409,-8.76,0.37,325.02
$IRIDIUM_FIX,4735.69,-12509.51,070911,161646
$TT8_MAMPS,0.026964
$HUMID,42.51
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.9,85.699
$10V_AH,9.9,84.992
$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,20.125,52.625,220.750,84.075,0.000,27.326,34.137,125.109,0.000,0.000,14.422,374.286,5122.754,372.788,1109.023,209.911,33.345,880.333,0.000,917.196,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,80.325,729.045,501.075,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297804
$DATA_FILE_SIZE,334,38
$CAP_FILE_SIZE,66801,0
$CFSIZE,260165632,155619328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,070911,202830,4751.516,-12511.685,41,1.5,41,18.7