version: 66.07
glider: 187
mission: 4
dive: 716
start: 9 3 111 8 52 34
data:
$ID,187
$MISSION,4
$DIVE,716
$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,-1585646
$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,42
$R_STBD_OVSHOOT,40
$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
$GPS1,030911,084628,4751.244,-12511.878,14,3.1,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-78.1
$GPS2,030911,085140,4751.201,-12511.896,14,3.1,33,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.013,0.105
$KALMAN_X,379016.2,-36.5,-207.3,-384671.5,622.0
$KALMAN_Y,-792384.0,-308.9,-144.7,801530.3,-672.1
$MHEAD_RNG_PITCHd_Wd,334.0,547,-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,-30.0,0.0,0.0,0,76,0.00,0.00,-58.85,0.000,6,0.000,0.000,112,2196,2858,0,0,0,0,0,0
$GC,79,-0.91,-70.9,2.0,-0.5,1,95,10.12,0.00,-3.33,0.000,6,0.221,0.000,2621,2197,3026,0,0,0,0,0,0
$GC,228,-0.78,-70.9,40.1,-18.7,3,230,0.17,0.00,0.00,0.000,6,0.175,0.000,2670,2196,3030,0,0,0,0,0,0
$GC,431,-0.72,-70.9,70.4,-16.9,5,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2196,3032,0,0,0,0,0,0
$GC,630,-0.72,-70.9,97.2,-14.2,7,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2196,3032,0,0,0,0,0,0
$GC,1032,-0.73,-70.9,141.6,-11.7,9,1036,0.00,2.38,0.00,0.000,4,0.000,0.048,2670,664,3033,0,0,0,0,0,0
$GC,1128,-0.75,-70.9,152.8,-11.5,9,1133,0.00,2.25,0.00,0.000,6,0.000,0.045,2661,2141,3033,0,0,0,0,0,0
$GC,1660,-0.77,-70.9,212.2,-11.1,11,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2141,3032,0,0,0,0,0,0
$GC,1962,-0.79,-70.9,245.9,-11.1,12,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2141,3032,0,0,0,0,0,0
$STATE,2258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2258,begin apogee
$GC,2265,-0.22,0.0,276.6,10.9,13,2328,0.57,0.00,60.55,0.744,6,0.121,0.000,2844,2047,2735,0,0,0,0,0,0
$STATE,2329,end apogee,CONTROL_FINISHED_OK
$STATE,2329,begin climb
$GC,2332,0.91,70.9,276.6,0.0,13,2402,1.00,2.50,61.12,0.724,4,0.071,0.049,3216,549,2444,0,0,0,0,0,0
$GC,2428,0.90,70.9,272.8,8.8,13,2432,0.00,2.38,0.00,0.000,6,0.000,0.044,3217,2069,2442,0,0,0,0,0,0
$GC,2959,0.88,70.9,221.0,9.6,15,2963,0.00,2.35,0.00,0.000,4,0.000,0.055,3218,3575,2436,0,0,0,0,0,0
$GC,3078,0.85,70.9,209.2,9.7,15,3083,0.12,2.33,0.00,0.000,6,0.191,0.041,3199,2075,2434,0,0,0,0,0,0
$GC,3588,0.85,70.9,165.5,8.3,17,3592,0.00,2.38,0.00,0.000,4,0.000,0.055,3199,3576,2434,0,0,0,0,0,0
$GC,3730,0.83,70.9,153.2,9.1,17,3734,0.00,2.33,0.00,0.000,6,0.000,0.041,3208,2074,2433,0,0,0,0,0,0
$GC,4222,0.83,70.9,117.5,6.7,19,4226,0.00,2.38,0.00,0.000,4,0.000,0.055,3208,3583,2433,0,0,0,0,0,0
$GC,4328,0.81,75.7,111.5,5.5,19,4333,0.15,2.30,0.00,0.000,6,0.178,0.041,3182,2080,2431,0,0,0,0,0,0
$GC,4848,0.82,90.2,90.5,4.1,21,4868,0.00,2.38,15.57,0.614,4,0.000,0.050,3192,553,2366,0,0,0,0,0,0
$GC,5065,0.83,94.6,79.9,5.5,23,5075,0.00,2.35,5.15,0.496,6,0.000,0.045,3192,2080,2349,0,0,0,0,0,0
$GC,5274,0.83,107.6,70.6,4.3,25,5293,0.00,2.45,12.75,0.593,4,0.000,0.050,3203,549,2295,0,0,0,0,0,0
$GC,5398,0.84,122.2,65.2,4.1,26,5417,0.00,2.30,13.80,0.592,6,0.000,0.044,3203,2042,2236,0,0,0,0,0,0
$GC,5700,0.86,140.5,53.7,3.6,29,5724,0.00,2.47,16.55,0.593,4,0.000,0.055,3203,3570,2161,0,0,0,0,0,0
$GC,5770,0.86,140.5,47.3,10.4,29,5775,0.00,2.38,0.00,0.000,6,0.000,0.042,3215,2032,2158,0,0,0,0,0,0
$GC,6006,0.87,140.5,27.1,8.3,32,6010,0.00,2.30,0.00,0.000,4,0.000,0.051,3226,542,2157,0,0,0,0,0,0
$GC,6161,0.89,148.2,18.8,5.1,33,6175,0.00,2.25,7.28,0.518,6,0.000,0.045,3226,2013,2130,0,0,0,0,0,0
$GC,6429,0.92,180.3,13.2,1.7,36,6463,0.00,2.35,27.92,0.583,4,0.000,0.050,3237,552,1998,0,0,0,0,0,0
$GC,6546,0.97,212.4,9.5,1.7,37,6580,0.00,2.20,27.25,0.572,6,0.000,0.044,3237,1993,1868,0,0,0,0,0,0
$STATE,6849,end climb,SURFACE_DEPTH_REACHED
$STATE,6849,begin surface coast
$FINISH,1.0,NaN
$STATE,6948,end surface coast,CONTROL_FINISHED_OK
$STATE,6948,begin surface
$SM_CCo,6968,71.45,0.498,3,0,1409,325.02
$SM_GC,1.60,0.00,0.00,71.45,0.000,0.000,0.498,122,2185,1409,-8.75,0.28,325.02
$IRIDIUM_FIX,4732.49,-12510.28,030911,060641
$TT8_MAMPS,0.026964
$HUMID,42.24
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.9,81.833
$10V_AH,9.9,83.364
$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,20.175,47.375,247.950,71.450,0.000,24.693,30.282,123.356,0.000,0.000,35.133,343.868,5488.324,395.007,946.792,201.156,33.360,823.381,0.000,746.160,0.000,0.536,0.000
$DEVICE_MAMPS,221.085,87.975,744.345,498.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,41
$CAP_FILE_SIZE,63140,0
$CFSIZE,260165632,157315072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030911,105130,4751.556,-12511.882,37,1.3,42,18.7