version: 66.07
glider: 187
mission: 4
dive: 827
start: 9 12 111 1 32 8
data:
$ID,187
$MISSION,4
$DIVE,827
$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,-1586687.6
$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,49
$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
$GPS1,120911,012606,4751.615,-12511.263,34,1.7,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-77.6
$GPS2,120911,013114,4751.573,-12511.219,15,1.7,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.071,0.078
$KALMAN_X,388002.6,162.9,8.9,-393235.9,102.4
$KALMAN_Y,-802831.1,47.9,-23.9,812184.6,-976.6
$MHEAD_RNG_PITCHd_Wd,299.1,601,-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,-60.05,0.000,6,0.000,0.000,120,2191,2858,0,0,0,0,0,0
$GC,81,-0.91,-74.8,0.0,-0.0,0,101,10.15,2.45,-3.58,0.000,4,0.225,0.056,2618,665,3042,0,0,0,0,0,0
$GC,147,-0.89,-74.8,25.0,-22.1,0,152,0.00,2.33,0.00,0.000,6,0.000,0.047,2609,2158,3045,0,0,0,0,0,0
$GC,389,-0.86,-74.8,73.5,-20.2,3,394,0.12,2.47,0.00,0.000,4,0.182,0.056,2631,3698,3047,0,0,0,0,0,0
$GC,420,-0.85,-74.8,78.9,-17.5,3,424,0.00,2.38,0.00,0.000,6,0.000,0.041,2629,2179,3048,0,0,0,0,0,0
$GC,896,-0.85,-74.8,149.1,-14.9,6,900,0.00,2.35,0.00,0.000,4,0.000,0.047,2629,666,3050,0,0,0,0,0,0
$GC,1014,-0.85,-74.8,167.4,-14.5,6,1018,0.00,2.33,0.00,0.000,6,0.000,0.046,2619,2171,3049,0,0,0,0,0,0
$GC,1522,-0.85,-74.8,243.3,-15.2,8,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2171,3049,0,0,0,0,0,0
$STATE,1821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1821,begin apogee
$GC,1828,-0.22,0.0,287.2,15.0,9,1894,0.65,0.00,63.72,0.737,6,0.073,0.000,2855,2044,2735,0,0,0,0,0,0
$STATE,1895,end apogee,CONTROL_FINISHED_OK
$STATE,1895,begin climb
$GC,1898,0.91,74.8,287.2,0.0,9,1966,0.98,0.00,64.88,0.719,6,0.054,0.000,3218,2044,2430,0,0,0,0,0,0
$GC,2125,0.94,119.6,276.7,-0.0,10,2170,0.00,2.45,38.85,0.705,4,0.000,0.050,3230,553,2246,0,0,0,0,0,0
$GC,2215,0.94,119.6,268.4,11.3,10,2220,0.00,2.38,0.00,0.000,6,0.000,0.044,3229,2069,2244,0,0,0,0,0,0
$GC,2753,0.94,119.6,211.4,10.4,12,2757,0.00,2.38,0.00,0.000,4,0.000,0.055,3230,3570,2238,0,0,0,0,0,0
$GC,2900,0.94,119.6,194.5,11.6,12,2904,0.00,2.33,0.00,0.000,6,0.000,0.041,3241,2076,2236,0,0,0,0,0,0
$GC,3386,0.94,119.6,142.5,10.6,14,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2074,2236,0,0,0,0,0,0
$GC,3687,0.94,119.6,113.7,10.2,15,3691,0.00,2.38,0.00,0.000,4,0.000,0.054,3242,3573,2235,0,0,0,0,0,0
$GC,3744,0.93,119.6,107.2,11.1,15,3749,0.12,2.35,0.00,0.000,6,0.180,0.041,3222,2062,2234,0,0,0,0,0,0
$GC,4115,0.94,119.6,77.7,6.2,17,4119,0.00,2.35,0.00,0.000,4,0.000,0.051,3232,544,2234,0,0,0,0,0,0
$GC,4183,0.94,121.4,73.7,5.9,17,4187,0.00,2.38,0.00,0.000,6,0.000,0.044,3232,2095,2234,0,0,0,0,0,0
$GC,4424,0.95,131.9,62.2,4.7,20,4438,0.00,2.35,9.62,0.558,4,0.000,0.055,3232,3582,2197,0,0,0,0,0,0
$GC,4450,0.95,136.8,60.8,5.5,20,4460,0.00,2.33,6.05,0.499,6,0.000,0.042,3243,2093,2177,0,0,0,0,0,0
$GC,4726,0.95,136.8,43.1,6.5,23,4730,0.00,2.42,0.00,0.000,4,0.000,0.050,3255,546,2174,0,0,0,0,0,0
$GC,4804,0.95,137.9,38.6,6.0,23,4808,0.00,2.38,0.00,0.000,6,0.000,0.045,3255,2100,2175,0,0,0,0,0,0
$GC,5029,0.95,140.3,25.7,5.8,26,5036,0.00,0.00,4.45,0.438,6,0.000,0.000,3255,2100,2162,0,0,0,0,0,0
$GC,5229,0.96,149.6,18.0,4.8,28,5243,0.00,2.35,9.57,0.536,4,0.000,0.057,3255,3573,2124,0,0,0,0,0,0
$GC,5289,0.97,166.5,15.9,3.8,28,5310,0.12,2.33,15.68,0.560,6,0.174,0.042,3235,2080,2056,0,0,0,0,0,0
$GC,5539,1.02,205.2,13.5,0.8,31,5578,0.00,2.47,33.10,0.571,4,0.000,0.051,3245,556,1897,0,0,0,0,0,0
$STATE,5778,end climb,SURFACE_DEPTH_REACHED
$STATE,5778,begin surface coast
$FINISH,3.6,NaN
$STATE,5784,end surface coast,CONTROL_FINISHED_OK
$STATE,5784,begin surface
$SM_CCo,5807,71.20,0.530,3,0,1409,325.02
$SM_GC,1.86,0.00,0.00,71.20,0.000,0.000,0.530,106,2176,1409,-8.80,0.03,325.02
$IRIDIUM_FIX,4732.49,-12516.60,110911,222227
$TT8_MAMPS,0.027713
$HUMID,42.87
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.8,89.435
$10V_AH,9.9,86.544
$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,20.575,52.625,245.925,71.200,0.000,24.707,32.008,131.150,0.000,0.000,15.897,304.719,4510.437,414.525,779.355,201.089,33.340,763.722,0.000,599.449,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,74.205,736.695,530.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,33
$CAP_FILE_SIZE,55737,0
$CFSIZE,260165632,153972736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,120911,031201,4751.625,-12511.640,59,1.5,59,18.7