version: 66.07
glider: 187
mission: 4
dive: 713
start: 9 3 111 2 34 46
data:
$ID,187
$MISSION,4
$DIVE,713
$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,-1585642.2
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,030911,022833,4751.199,-12511.556,34,7.3,54,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-77.8
$GPS2,030911,023352,4751.099,-12511.510,16,9.7,35,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.021,0.199
$KALMAN_X,378140.6,-253.7,194.0,-383505.1,201.4
$KALMAN_Y,-789832.8,-130.8,225.4,798242.8,-1349.4
$MHEAD_RNG_PITCHd_Wd,335.4,374,-13.6,-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,-0.50,-117.3,0.0,0.0,0,84,0.00,0.00,-66.43,0.000,6,0.000,0.000,131,2186,3214,0,0,0,0,0,0
$GC,88,-0.50,-117.3,2.6,-2.2,1,103,10.48,2.40,0.00,0.000,4,0.223,0.045,2747,659,3218,0,0,0,0,0,0
$GC,144,-0.45,-117.3,28.1,-17.3,1,149,0.12,2.35,0.00,0.000,6,0.138,0.049,2774,2176,3220,0,0,0,0,0,0
$GC,390,-0.44,-117.3,49.3,-8.4,4,394,0.00,2.40,0.00,0.000,4,0.000,0.060,2765,3693,3221,0,0,0,0,0,0
$GC,430,-0.44,-117.3,53.1,-9.3,4,434,0.00,2.38,0.00,0.000,6,0.000,0.043,2765,2162,3222,0,0,0,0,0,0
$GC,694,-0.44,-117.3,78.3,-9.6,7,698,0.00,2.33,0.00,0.000,4,0.000,0.050,2765,668,3222,0,0,0,0,0,0
$GC,743,-0.44,-117.3,83.0,-8.1,7,748,0.00,2.33,0.00,0.000,6,0.000,0.048,2757,2181,3222,0,0,0,0,0,0
$GC,1007,-0.44,-117.3,102.9,-7.5,10,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2180,3222,0,0,0,0,0,0
$GC,1309,-0.44,-117.3,126.5,-7.7,11,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2181,3223,0,0,0,0,0,0
$GC,1608,-0.44,-117.3,147.5,-7.5,12,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2180,3222,0,0,0,0,0,0
$GC,1909,-0.44,-117.3,166.7,-7.1,13,1913,0.00,2.38,0.00,0.000,4,0.000,0.050,2756,665,3222,0,0,0,0,0,0
$GC,1970,-0.44,-117.3,171.2,-7.1,13,1974,0.00,2.30,0.00,0.000,6,0.000,0.049,2749,2161,3221,0,0,0,0,0,0
$GC,2534,-0.44,-117.3,213.4,-7.6,15,2539,0.10,2.38,0.00,0.000,4,0.152,0.051,2778,663,3221,0,0,0,0,0,0
$GC,2578,-0.46,-117.3,216.7,-7.0,15,2583,0.00,2.33,0.00,0.000,6,0.000,0.049,2778,2156,3221,0,0,0,0,0,0
$GC,3160,-0.47,-117.3,251.8,-6.1,17,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2156,3221,0,0,0,0,0,0
$STATE,3458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3458,begin apogee
$GC,3466,-0.22,0.0,269.1,6.0,18,3566,0.22,0.00,97.80,0.750,6,0.099,0.000,2855,2046,2735,0,0,0,0,0,0
$STATE,3567,end apogee,CONTROL_FINISHED_OK
$STATE,3567,begin climb
$GC,3570,0.50,117.3,269.1,0.0,18,3679,0.62,2.53,99.82,0.729,4,0.070,0.055,3082,3580,2255,0,0,0,0,0,0
$GC,3744,0.47,117.3,266.9,7.2,18,3748,0.00,2.40,0.00,0.000,6,0.000,0.043,3093,2058,2249,0,0,0,0,0,0
$GC,4192,0.45,117.3,235.9,6.8,20,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2056,2246,0,0,0,0,0,0
$GC,4491,0.43,117.3,216.4,6.7,21,4492,0.12,0.00,0.00,0.000,6,0.151,0.000,3056,2054,2245,0,0,0,0,0,0
$GC,4793,0.41,117.3,197.7,6.5,22,4797,0.00,2.42,0.00,0.000,4,0.000,0.058,3055,3579,2243,0,0,0,0,0,0
$GC,4853,0.41,117.3,193.0,7.9,22,4858,0.00,2.35,0.00,0.000,6,0.000,0.044,3063,2054,2242,0,0,0,0,0,0
$GC,5420,0.41,117.3,152.7,7.2,24,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2053,2242,0,0,0,0,0,0
$GC,5719,0.41,117.3,134.4,6.7,25,5723,0.00,2.40,0.00,0.000,4,0.000,0.057,3064,3576,2242,0,0,0,0,0,0
$GC,5740,0.42,124.0,133.1,5.9,25,5750,0.00,2.35,4.55,0.490,6,0.000,0.044,3074,2063,2229,0,0,0,0,0,0
$GC,6349,0.42,132.4,99.5,5.8,27,6363,0.00,2.47,8.85,0.586,4,0.000,0.059,3074,3578,2194,0,0,0,0,0,0
$GC,6400,0.43,165.1,97.4,5.0,27,6435,0.00,2.35,28.40,0.640,6,0.000,0.044,3083,2054,2064,0,0,0,0,0,0
$GC,6660,0.46,219.5,86.6,4.2,30,6711,0.00,2.40,45.60,0.633,4,0.000,0.052,3093,545,1839,0,0,0,0,0,0
$GC,6737,0.51,277.6,83.5,4.1,30,6791,0.00,2.40,47.88,0.620,6,0.000,0.047,3093,2069,1602,0,0,0,0,0,0
$GC,7072,0.53,277.6,61.6,7.0,34,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2069,1591,0,0,0,0,0,0
$GC,7274,0.55,277.6,48.2,6.8,36,7278,0.00,2.40,0.00,0.000,4,0.000,0.054,3094,549,1589,0,0,0,0,0,0
$GC,7291,0.58,277.6,47.2,6.6,36,7295,0.00,2.35,0.00,0.000,6,0.000,0.046,3094,2076,1589,0,0,0,0,0,0
$GC,7582,0.62,277.6,28.8,6.3,39,7587,0.00,2.42,0.00,0.000,4,0.000,0.053,3093,543,1588,0,0,0,0,0,0
$GC,7784,0.71,317.1,16.9,4.7,40,7821,0.15,2.25,31.08,0.583,6,0.083,0.046,3160,2020,1442,0,0,0,0,0,0
$STATE,8106,end climb,SURFACE_DEPTH_REACHED
$STATE,8106,begin surface coast
$FINISH,1.1,NaN
$STATE,8206,end surface coast,CONTROL_FINISHED_OK
$STATE,8206,begin surface
$SM_CCo,8225,8.40,0.086,1,0,1411,325.02
$SM_GC,3.88,0.00,0.00,8.40,0.000,0.000,0.086,111,2187,1411,-8.78,0.34,325.02
$IRIDIUM_FIX,4732.49,-12512.90,030911,000048
$TT8_MAMPS,0.026964
$HUMID,43.14
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.7,81.613
$10V_AH,9.9,83.276
$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,19.700,57.425,363.975,8.400,0.000,26.015,32.357,120.896,0.000,0.000,37.536,355.487,6637.032,409.775,959.638,203.397,33.362,872.553,0.000,752.624,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,81.855,749.700,85.680,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297788
$DATA_FILE_SIZE,333,45
$CAP_FILE_SIZE,67417,0
$CFSIZE,260165632,157401088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030911,045357,4751.306,-12511.487,51,6.1,71,18.7