version: 66.07
glider: 187
mission: 4
dive: 801
start: 9 10 111 1 36 7
data:
$ID,187
$MISSION,4
$DIVE,801
$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,-1586655.1
$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,33
$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
$GPS1,100911,013004,4751.596,-12511.388,9,2.2,28,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.8
$GPS2,100911,013513,4751.534,-12511.406,10,1.7,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.106,0.004
$KALMAN_X,385223.8,-128.3,5.6,-390396.4,-344.8
$KALMAN_Y,-795055.9,-147.4,-316.9,804827.8,-445.0
$MHEAD_RNG_PITCHd_Wd,69.0,443,-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,-30.0,0.0,0.0,0,62,0.00,0.00,-44.03,0.000,2,0.000,0.000,105,2172,2448,0,0,0,0,0,0
$GC,66,-0.89,-46.9,3.0,-3.8,1,95,10.10,2.42,-11.82,0.000,4,0.221,0.057,2624,653,2930,0,0,0,0,0,0
$GC,258,-0.87,-46.9,37.8,-15.8,2,262,0.00,2.33,0.00,0.000,6,0.000,0.045,2615,2176,2931,0,0,0,0,0,0
$GC,481,-0.85,-46.9,74.3,-16.5,5,486,0.12,2.38,0.00,0.000,4,0.180,0.047,2646,657,2932,0,0,0,0,0,0
$GC,673,-0.85,-46.9,98.0,-11.8,6,677,0.00,2.28,0.00,0.000,6,0.000,0.045,2637,2151,2933,0,0,0,0,0,0
$GC,996,-0.85,-46.9,140.1,-13.1,8,1000,0.00,2.42,0.00,0.000,4,0.000,0.056,2625,3686,2933,0,0,0,0,0,0
$GC,1017,-0.85,-46.9,143.1,-13.3,8,1021,0.00,2.40,0.00,0.000,6,0.000,0.041,2624,2135,2933,0,0,0,0,0,0
$GC,1621,-0.85,-46.9,224.6,-14.1,10,1625,0.00,2.28,0.00,0.000,4,0.000,0.049,2623,664,2933,0,0,0,0,0,0
$GC,1667,-0.83,-46.9,231.2,-15.4,10,1672,0.15,2.28,0.00,0.000,6,0.166,0.045,2653,2154,2933,0,0,0,0,0,0
$STATE,1844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1844,begin apogee
$GC,1851,-0.22,0.0,253.1,11.0,10,1895,0.57,0.00,41.05,0.708,6,0.125,0.000,2842,2039,2735,0,0,0,0,0,0
$STATE,1896,end apogee,CONTROL_FINISHED_OK
$STATE,1896,begin climb
$GC,1900,0.89,46.9,256.0,0.0,10,1946,1.00,0.00,40.45,0.695,6,0.076,0.000,3203,2039,2543,0,0,0,0,0,0
$GC,2247,0.90,64.9,243.7,3.7,12,2268,0.00,2.45,16.12,0.666,4,0.000,0.051,3203,3584,2469,0,0,0,0,0,0
$GC,2521,0.89,64.9,225.0,7.9,12,2526,0.00,2.35,0.00,0.000,6,0.000,0.040,3214,2055,2465,0,0,0,0,0,0
$GC,2873,0.89,64.9,197.8,7.8,14,2877,0.00,2.42,0.00,0.000,4,0.000,0.053,3215,3587,2465,0,0,0,0,0,0
$GC,3097,0.87,64.9,178.3,8.8,14,3101,0.00,2.35,0.00,0.000,6,0.000,0.041,3226,2067,2464,0,0,0,0,0,0
$GC,3500,0.86,64.9,149.6,6.9,16,3504,0.00,2.40,0.00,0.000,4,0.000,0.054,3226,3576,2464,0,0,0,0,0,0
$GC,3572,0.84,64.9,143.8,8.1,16,3577,0.17,2.33,0.00,0.000,6,0.171,0.041,3193,2061,2463,0,0,0,0,0,0
$GC,4134,0.85,91.2,122.4,2.5,18,4163,0.00,2.40,22.98,0.636,4,0.000,0.050,3202,559,2363,0,0,0,0,0,0
$GC,4315,0.85,91.2,112.6,8.2,18,4319,0.00,2.33,0.00,0.000,6,0.000,0.045,3201,2066,2361,0,0,0,0,0,0
$GC,4666,0.86,91.2,77.3,10.8,21,4670,0.00,2.35,0.00,0.000,4,0.000,0.050,3212,549,2360,0,0,0,0,0,0
$GC,4925,0.89,118.8,74.1,2.4,23,4954,0.00,2.28,24.55,0.611,6,0.000,0.043,3213,2037,2249,0,0,0,0,0,0
$GC,5198,0.91,118.8,55.2,7.7,26,5202,0.00,2.33,0.00,0.000,4,0.000,0.050,3224,553,2246,0,0,0,0,0,0
$GC,5434,0.93,138.8,44.0,3.4,28,5458,0.00,2.25,17.55,0.581,6,0.000,0.044,3224,2020,2169,0,0,0,0,0,0
$GC,5733,0.95,148.0,30.3,4.9,31,5747,0.00,2.47,9.23,0.537,4,0.000,0.054,3224,3574,2130,0,0,0,0,0,0
$GC,5930,0.97,158.2,20.1,4.7,32,5944,0.00,2.38,9.77,0.535,6,0.000,0.041,3236,2033,2091,0,0,0,0,0,0
$GC,6154,1.01,178.2,12.4,3.4,35,6178,0.00,2.38,18.17,0.562,4,0.000,0.051,3247,549,2007,0,0,0,0,0,0
$GC,6435,1.07,226.7,10.8,-0.5,37,6480,0.00,2.28,40.42,0.570,6,0.000,0.044,3247,2031,1810,0,0,0,0,0,0
$STATE,6579,end climb,SURFACE_DEPTH_REACHED
$STATE,6579,begin surface coast
$FINISH,0.8,NaN
$STATE,6681,end surface coast,CONTROL_FINISHED_OK
$STATE,6681,begin surface
$SM_CCo,6701,56.95,0.480,2,0,1410,325.02
$SM_GC,1.38,0.00,0.00,56.95,0.000,0.000,0.480,134,2179,1410,-8.71,0.11,325.02
$IRIDIUM_FIX,4732.49,-12510.28,090911,232309
$TT8_MAMPS,0.026964
$HUMID,43.58
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.9,87.647
$10V_AH,9.9,85.823
$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,20.250,56.850,240.300,56.950,0.000,26.146,32.806,125.827,0.000,0.000,16.703,386.328,4988.541,328.047,1161.468,221.034,33.351,874.901,0.000,966.509,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,77.265,708.390,479.655,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,39
$CAP_FILE_SIZE,70091,0
$CFSIZE,260165632,154726400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100911,033036,4751.466,-12511.251,61,0.9,61,18.7