version: 66.07
glider: 187
mission: 4
dive: 799
start: 9 9 111 21 44 26
data:
$ID,187
$MISSION,4
$DIVE,799
$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,-1586652.6
$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
$GPS1,090911,213752,4751.505,-12511.177,14,2.2,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.0
$GPS2,090911,214332,4751.440,-12511.196,11,2.0,11,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.043,0.097
$KALMAN_X,385061.2,222.2,287.2,-390606.5,-593.6
$KALMAN_Y,-794299.1,-20.2,294.1,803156.8,-804.7
$MHEAD_RNG_PITCHd_Wd,5.3,439,-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,-59.25,0.000,6,0.000,0.000,130,2193,2859,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,100,10.00,2.42,-3.55,0.000,4,0.223,0.056,2618,664,3044,0,0,0,0,0,0
$GC,118,-0.83,-74.8,18.1,-29.6,0,123,0.15,2.30,0.00,0.000,6,0.174,0.045,2646,2162,3045,0,0,0,0,0,0
$GC,387,-0.83,-74.8,69.7,-18.7,3,391,0.00,2.40,0.00,0.000,4,0.000,0.055,2637,3691,3047,0,0,0,0,0,0
$GC,484,-0.83,-74.8,87.3,-18.7,3,488,0.00,2.30,0.00,0.000,6,0.000,0.041,2636,2199,3048,0,0,0,0,0,0
$GC,893,-0.83,-74.8,148.4,-15.0,5,897,0.00,2.38,0.00,0.000,4,0.000,0.047,2635,667,3049,0,0,0,0,0,0
$GC,1100,-0.83,-74.8,180.8,-16.6,5,1104,0.00,2.35,0.00,0.000,6,0.000,0.046,2625,2195,3049,0,0,0,0,0,0
$GC,1526,-0.83,-74.8,248.5,-15.9,7,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2195,3049,0,0,0,0,0,0
$STATE,1822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1822,begin apogee
$GC,1829,-0.22,0.0,284.6,14.2,8,1896,0.68,0.00,63.83,0.733,6,0.101,0.000,2852,2050,2734,0,0,0,0,0,0
$STATE,1897,end apogee,CONTROL_FINISHED_OK
$STATE,1897,begin climb
$GC,1900,0.91,74.8,284.6,0.0,8,1968,1.08,0.00,65.00,0.717,6,0.101,0.000,3207,2050,2429,0,0,0,0,0,0
$GC,2127,0.94,119.6,274.7,-0.0,9,2171,0.00,2.50,38.72,0.705,4,0.000,0.054,3208,3572,2247,0,0,0,0,0,0
$GC,2256,0.94,119.6,260.1,13.6,9,2261,0.00,2.35,0.00,0.000,6,0.000,0.041,3219,2062,2241,0,0,0,0,0,0
$GC,2754,0.94,119.6,204.2,11.1,11,2758,0.00,2.42,0.00,0.000,4,0.000,0.054,3219,3584,2238,0,0,0,0,0,0
$GC,2848,0.94,119.6,192.5,12.5,11,2852,0.00,2.35,0.00,0.000,6,0.000,0.041,3230,2057,2237,0,0,0,0,0,0
$GC,3380,0.94,119.6,136.5,11.2,13,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2056,2236,0,0,0,0,0,0
$GC,3679,0.94,119.6,103.6,11.1,14,3683,0.00,2.35,0.00,0.000,4,0.000,0.051,3242,540,2236,0,0,0,0,0,0
$GC,3920,0.94,119.6,85.3,6.2,14,3925,0.00,2.33,0.00,0.000,6,0.000,0.044,3243,2067,2235,0,0,0,0,0,0
$GC,4313,0.94,123.9,63.9,5.5,18,4317,0.00,2.35,0.00,0.000,4,0.000,0.054,3242,3578,2234,0,0,0,0,0,0
$GC,4484,0.94,127.2,55.1,5.7,19,4496,0.12,2.35,5.60,0.490,6,0.174,0.041,3223,2045,2216,0,0,0,0,0,0
$GC,4732,0.97,145.5,46.0,3.6,22,4757,0.00,2.42,17.33,0.584,4,0.000,0.051,3232,543,2141,0,0,0,0,0,0
$GC,4823,0.99,149.9,41.5,5.5,22,4833,0.00,2.30,5.28,0.470,6,0.000,0.044,3232,2048,2122,0,0,0,0,0,0
$GC,5041,1.00,153.1,29.0,5.7,25,5050,0.00,2.45,4.22,0.424,4,0.000,0.055,3232,3566,2110,0,0,0,0,0,0
$GC,5304,1.04,198.4,17.2,-0.1,27,5348,0.00,2.33,38.95,0.580,6,0.000,0.041,3244,2069,1926,0,0,0,0,0,0
$GC,5577,1.09,221.3,10.2,3.0,30,5602,0.00,2.42,19.50,0.554,4,0.000,0.056,3244,3570,1831,0,0,0,0,0,0
$STATE,5691,end climb,SURFACE_DEPTH_REACHED
$STATE,5691,begin surface coast
$FINISH,3.3,NaN
$STATE,5695,end surface coast,CONTROL_FINISHED_OK
$STATE,5695,begin surface
$SM_CCo,5716,64.47,0.537,2,0,1408,325.02
$SM_GC,1.47,0.00,0.00,64.47,0.000,0.000,0.537,110,2173,1408,-8.78,-0.06,325.02
$IRIDIUM_FIX,4748.51,-12532.26,090911,191914
$TT8_MAMPS,0.027713
$HUMID,43.34
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.8,87.526
$10V_AH,9.9,85.762
$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,20.600,47.500,258.425,64.475,0.000,28.449,42.719,150.330,0.000,0.000,12.543,299.576,4401.170,406.805,844.540,190.328,33.343,764.914,0.000,625.094,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,68.085,732.870,537.030,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,31
$CAP_FILE_SIZE,53653,0
$CFSIZE,260165632,154804224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090911,232224,4751.580,-12511.021,29,1.4,46,18.7