version: 66.07
glider: 187
mission: 4
dive: 829
start: 9 12 111 5 11 26
data:
$ID,187
$MISSION,4
$DIVE,829
$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,-1586690.1
$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,38
$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
$GPS1,120911,050513,4751.535,-12512.001,13,2.0,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-78.2
$GPS2,120911,051032,4751.572,-12511.960,14,1.9,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.044,-0.096
$KALMAN_X,389139.7,-252.7,-182.3,-394687.3,702.2
$KALMAN_Y,-803325.3,-14.3,-151.2,812864.4,-269.6
$MHEAD_RNG_PITCHd_Wd,185.9,781,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.88,-30.0,0.0,0.0,0,76,0.00,0.00,-58.78,0.000,6,0.000,0.000,107,2207,2858,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,100,10.18,2.50,-3.47,0.000,4,0.223,0.058,2624,659,3043,0,0,0,0,0,0
$GC,171,-0.89,-74.8,30.2,-18.9,0,175,0.00,2.33,0.00,0.000,6,0.000,0.047,2614,2171,3046,0,0,0,0,0,0
$GC,389,-0.86,-74.8,72.6,-19.3,3,393,0.00,2.45,0.00,0.000,4,0.000,0.057,2603,3692,3048,0,0,0,0,0,0
$GC,429,-0.84,-74.8,79.9,-17.1,3,434,0.15,2.35,0.00,0.000,6,0.157,0.041,2642,2172,3048,0,0,0,0,0,0
$GC,893,-0.84,-74.8,148.9,-14.7,6,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2169,3050,0,0,0,0,0,0
$GC,1192,-0.84,-74.8,191.3,-14.4,7,1197,0.00,2.33,0.00,0.000,4,0.000,0.048,2642,669,3050,0,0,0,0,0,0
$GC,1209,-0.84,-74.8,193.7,-14.1,7,1213,0.00,2.33,0.00,0.000,6,0.000,0.046,2632,2185,3050,0,0,0,0,0,0
$STATE,1397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1397,begin apogee
$GC,1404,-0.22,0.0,220.8,14.2,7,1470,0.65,0.00,62.62,0.693,6,0.131,0.000,2841,2054,2735,0,0,0,0,0,0
$STATE,1471,end apogee,CONTROL_FINISHED_OK
$STATE,1471,begin climb
$GC,1474,0.91,74.8,224.7,0.0,7,1545,1.02,2.47,63.60,0.677,4,0.074,0.053,3209,3579,2429,0,0,0,0,0,0
$GC,1566,0.90,74.8,220.9,6.2,8,1570,0.00,2.38,0.00,0.000,6,0.000,0.039,3220,2069,2427,0,0,0,0,0,0
$GC,2137,0.90,74.8,176.7,7.8,10,2142,0.00,2.38,0.00,0.000,4,0.000,0.054,3220,3577,2421,0,0,0,0,0,0
$GC,2188,0.87,74.8,172.5,8.1,10,2193,0.12,2.35,0.00,0.000,6,0.179,0.041,3201,2066,2420,0,0,0,0,0,0
$GC,2764,0.87,74.8,133.9,7.0,12,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2064,2419,0,0,0,0,0,0
$GC,3064,0.87,74.8,113.9,6.9,13,3068,0.00,2.42,0.00,0.000,4,0.000,0.055,3201,3586,2419,0,0,0,0,0,0
$GC,3322,0.87,87.8,97.8,4.3,13,3338,0.00,2.35,10.85,0.584,6,0.000,0.041,3211,2056,2376,0,0,0,0,0,0
$GC,3691,0.88,105.0,83.1,3.8,17,3712,0.00,2.38,16.08,0.606,4,0.000,0.048,3222,553,2305,0,0,0,0,0,0
$GC,3737,0.88,109.0,80.9,5.6,17,3747,0.00,2.33,5.03,0.473,6,0.000,0.044,3222,2070,2289,0,0,0,0,0,0
$GC,3994,0.88,109.0,64.7,6.3,20,3998,0.00,2.40,0.00,0.000,4,0.000,0.055,3222,3575,2287,0,0,0,0,0,0
$GC,4251,0.89,123.4,50.4,4.1,22,4271,0.00,2.28,13.20,0.577,6,0.000,0.041,3233,2088,2232,0,0,0,0,0,0
$GC,4524,0.90,140.8,39.8,3.7,25,4545,0.00,2.42,16.00,0.578,4,0.000,0.049,3245,552,2161,0,0,0,0,0,0
$GC,4610,0.90,140.8,34.9,7.2,25,4615,0.12,2.38,0.00,0.000,6,0.159,0.044,3212,2098,2159,0,0,0,0,0,0
$GC,4829,0.92,150.2,23.9,4.8,28,4843,0.00,2.35,9.55,0.536,4,0.000,0.055,3212,3580,2121,0,0,0,0,0,0
$GC,4874,0.93,150.2,21.2,7.2,28,4878,0.00,2.33,0.00,0.000,6,0.000,0.042,3221,2080,2120,0,0,0,0,0,0
$GC,5132,0.97,166.7,9.9,3.9,31,5152,0.00,2.40,14.98,0.555,4,0.000,0.056,3221,3581,2054,0,0,0,0,0,0
$GC,5405,1.01,210.2,10.2,0.2,33,5449,0.00,2.28,36.58,0.571,6,0.000,0.041,3233,2101,1877,0,0,0,0,0,0
$STATE,5655,end climb,SURFACE_DEPTH_REACHED
$STATE,5655,begin surface coast
$FINISH,0.7,NaN
$STATE,5759,end surface coast,CONTROL_FINISHED_OK
$STATE,5759,begin surface
$SM_CCo,5780,64.88,0.444,1,0,1409,325.02
$SM_GC,1.34,0.00,0.00,64.88,0.000,0.000,0.444,127,2185,1409,-8.73,0.28,325.02
$IRIDIUM_FIX,4735.69,-12507.66,120911,030344
$TT8_MAMPS,0.026964
$HUMID,42.83
$INTERNAL_PRESSURE,9.14759
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.9,89.559
$10V_AH,9.9,86.599
$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,20.200,52.425,248.475,64.875,0.000,28.535,36.058,134.333,0.000,0.000,15.207,315.496,4434.953,358.101,866.838,201.251,33.345,763.257,0.000,670.749,0.000,0.535,0.000
$DEVICE_MAMPS,223.380,104.805,693.090,444.465,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297816
$DATA_FILE_SIZE,334,37
$CAP_FILE_SIZE,59440,0
$CFSIZE,260165632,153911296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120911,065025,4751.334,-12511.930,50,1.1,50,18.7