version: 66.07
glider: 187
mission: 4
dive: 715
start: 9 3 111 6 52 46
data:
$ID,187
$MISSION,4
$DIVE,715
$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,-1585644.8
$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,42
$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
$GPS1,030911,064004,4751.466,-12511.501,23,3.5,42,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-77.0
$GPS2,030911,065149,4751.418,-12511.460,13,1.6,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.090,0.056
$KALMAN_X,378912.2,-190.4,-154.6,-383928.7,607.0
$KALMAN_Y,-791286.1,-370.4,-320.6,801067.5,-608.6
$MHEAD_RNG_PITCHd_Wd,283.1,221,-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,15,-0.88,-30.0,0.0,0.0,0,76,0.00,0.00,-58.60,0.000,6,0.000,0.000,109,2189,2858,0,0,0,0,0,0
$GC,79,-0.91,-74.8,0.0,-0.0,0,99,10.18,2.42,-3.60,0.000,4,0.226,0.067,2608,3678,3043,0,0,0,0,0,0
$GC,192,-0.90,-74.8,33.0,-17.5,1,196,0.00,2.35,0.00,0.000,6,0.000,0.041,2607,2167,3046,0,0,0,0,0,0
$GC,400,-0.87,-74.8,72.8,-19.4,3,402,0.12,0.00,0.00,0.000,6,0.179,0.000,2639,2162,3047,0,0,0,0,0,0
$GC,601,-0.86,-74.8,103.9,-16.9,5,605,0.00,2.30,0.00,0.000,4,0.000,0.047,2639,663,3048,0,0,0,0,0,0
$GC,626,-0.86,-74.8,107.4,-15.5,5,631,0.00,2.35,0.00,0.000,6,0.000,0.046,2630,2181,3047,0,0,0,0,0,0
$GC,1231,-0.86,-74.8,191.6,-13.1,7,1235,0.00,2.35,0.00,0.000,4,0.000,0.049,2629,661,3048,0,0,0,0,0,0
$GC,1272,-0.86,-74.8,196.6,-12.8,7,1277,0.00,2.38,0.00,0.000,6,0.000,0.047,2618,2189,3048,0,0,0,0,0,0
$STATE,1857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1857,begin apogee
$GC,1865,-0.22,0.0,276.1,14.0,9,1932,0.73,0.00,63.45,0.740,6,0.133,0.000,2844,2047,2735,0,0,0,0,0,0
$STATE,1932,end apogee,CONTROL_FINISHED_OK
$STATE,1933,begin climb
$GC,1935,0.91,74.8,276.1,0.0,9,2005,1.02,0.00,64.05,0.723,6,0.073,0.000,3211,2048,2430,0,0,0,0,0,0
$GC,2571,0.90,74.8,231.2,8.3,11,2575,0.00,2.42,0.00,0.000,4,0.000,0.054,3211,3580,2420,0,0,0,0,0,0
$GC,2813,0.88,74.8,208.0,9.6,11,2817,0.00,2.33,0.00,0.000,6,0.000,0.041,3223,2061,2419,0,0,0,0,0,0
$GC,3198,0.86,74.8,170.9,9.7,13,3202,0.00,2.40,0.00,0.000,4,0.000,0.056,3223,3579,2418,0,0,0,0,0,0
$GC,3456,0.83,74.8,143.2,10.3,13,3461,0.17,2.33,0.00,0.000,6,0.181,0.041,3190,2073,2417,0,0,0,0,0,0
$GC,3829,0.83,74.8,118.2,6.3,15,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2068,2417,0,0,0,0,0,0
$GC,4132,0.83,77.1,102.6,5.8,16,4136,0.00,2.40,0.00,0.000,4,0.000,0.055,3190,3587,2417,0,0,0,0,0,0
$GC,4389,0.84,89.6,88.1,4.4,16,4408,0.00,2.33,11.90,0.594,6,0.000,0.041,3199,2064,2369,0,0,0,0,0,0
$GC,4764,0.85,99.1,71.5,4.8,20,4778,0.00,2.35,9.77,0.574,4,0.000,0.051,3211,553,2329,0,0,0,0,0,0
$GC,4947,0.86,114.0,62.8,4.1,21,4966,0.00,2.33,13.93,0.592,6,0.000,0.044,3211,2066,2270,0,0,0,0,0,0
$GC,5181,0.86,114.0,48.9,6.2,24,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2066,2267,0,0,0,0,0,0
$GC,5381,0.86,121.6,41.2,5.1,26,5395,0.00,2.42,7.68,0.535,4,0.000,0.050,3222,552,2238,0,0,0,0,0,0
$GC,5543,0.86,126.5,32.3,5.4,27,5554,0.00,2.28,5.57,0.486,6,0.000,0.044,3222,2029,2219,0,0,0,0,0,0
$GC,5801,0.88,146.9,22.7,3.3,30,5826,0.00,2.47,18.80,0.580,4,0.000,0.055,3223,3566,2134,0,0,0,0,0,0
$GC,5960,0.88,154.1,15.0,5.1,31,5975,0.12,2.30,7.15,0.508,6,0.176,0.041,3203,2078,2106,0,0,0,0,0,0
$GC,6224,0.93,184.1,9.7,2.0,34,6255,0.00,2.38,25.75,0.575,4,0.000,0.054,3203,3576,1983,0,0,0,0,0,0
$GC,6508,0.98,213.5,4.6,2.1,36,6538,0.00,2.42,24.35,0.564,2,0.000,0.042,3213,2014,1865,0,0,0,0,0,0
$STATE,6539,end climb,SURFACE_DEPTH_REACHED
$STATE,6539,begin surface coast
$FINISH,1.0,NaN
$STATE,6648,end surface coast,CONTROL_FINISHED_OK
$STATE,6648,begin surface
$SM_CCo,6666,68.25,0.438,3,0,1409,325.02
$SM_GC,1.84,0.00,0.00,68.25,0.000,0.000,0.438,112,2196,1409,-8.78,0.59,325.02
$IRIDIUM_FIX,4732.49,-12516.60,030911,060649
$TT8_MAMPS,0.026964
$HUMID,42.20
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.9,81.767
$10V_AH,9.9,83.335
$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,20.375,47.750,252.400,68.250,0.000,85.607,144.275,229.962,0.000,0.000,13.943,369.571,5151.599,391.980,1324.552,229.495,33.354,873.701,0.000,875.331,0.000,0.536,0.000
$DEVICE_MAMPS,226.440,69.615,739.755,437.580,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,37
$CAP_FILE_SIZE,68364,0
$CFSIZE,260165632,157343744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030911,084628,4751.244,-12511.878,14,3.1,33,18.7