version: 66.07
glider: 187
mission: 4
dive: 717
start: 9 3 111 10 57 38
data:
$ID,187
$MISSION,4
$DIVE,717
$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,-1585647.2
$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,35
$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
$GPS1,030911,105130,4751.556,-12511.882,37,1.3,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-79.2
$GPS2,030911,105644,4751.507,-12511.951,16,1.2,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.056,0.090
$KALMAN_X,378838.3,84.3,-119.5,-384770.3,364.0
$KALMAN_Y,-793175.8,-156.0,193.9,802391.8,-728.9
$MHEAD_RNG_PITCHd_Wd,13.2,700,-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,-58.50,0.000,6,0.000,0.000,122,2187,2857,0,0,0,0,0,0
$GC,79,-0.91,-74.8,0.0,-0.0,0,99,9.98,2.38,-3.50,0.000,4,0.221,0.054,2621,653,3044,0,0,0,0,0,0
$GC,133,-0.87,-74.8,24.2,-28.0,0,137,0.00,2.33,0.00,0.000,6,0.000,0.047,2611,2170,3045,0,0,0,0,0,0
$GC,386,-0.85,-74.8,67.6,-16.7,3,391,0.12,2.35,0.00,0.000,4,0.181,0.047,2642,664,3048,0,0,0,0,0,0
$GC,409,-0.84,-74.8,72.0,-18.3,3,413,0.00,2.33,0.00,0.000,6,0.000,0.046,2633,2173,3048,0,0,0,0,0,0
$GC,896,-0.84,-74.8,143.1,-14.3,6,900,0.00,2.35,0.00,0.000,4,0.000,0.049,2632,653,3049,0,0,0,0,0,0
$GC,940,-0.84,-74.8,149.8,-14.2,6,944,0.00,2.33,0.00,0.000,6,0.000,0.047,2622,2167,3049,0,0,0,0,0,0
$GC,1523,-0.84,-74.8,228.3,-13.2,8,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2167,3049,0,0,0,0,0,0
$STATE,1820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1820,begin apogee
$GC,1826,-0.22,0.0,269.9,13.5,9,1893,0.73,0.00,63.75,0.740,6,0.133,0.000,2846,2037,2735,0,0,0,0,0,0
$STATE,1894,end apogee,CONTROL_FINISHED_OK
$STATE,1894,begin climb
$GC,1897,0.91,74.8,269.9,0.0,9,1965,1.02,0.00,64.78,0.721,6,0.066,0.000,3214,2037,2430,0,0,0,0,0,0
$GC,2125,0.92,119.6,257.7,-0.0,10,2170,0.00,2.40,38.50,0.708,4,0.000,0.050,3225,566,2246,0,0,0,0,0,0
$GC,2187,0.92,119.6,251.0,12.1,10,2191,0.00,2.33,0.00,0.000,6,0.000,0.044,3226,2065,2245,0,0,0,0,0,0
$GC,2753,0.91,119.6,174.9,13.8,12,2757,0.00,2.38,0.00,0.000,4,0.000,0.055,3225,3574,2238,0,0,0,0,0,0
$GC,2894,0.89,119.6,153.9,14.3,12,2898,0.00,2.33,0.00,0.000,6,0.000,0.041,3237,2068,2236,0,0,0,0,0,0
$GC,3380,0.88,119.6,90.6,12.9,14,3381,0.12,0.00,0.00,0.000,6,0.187,0.000,3207,2062,2235,0,0,0,0,0,0
$GC,3580,0.88,119.6,72.9,11.7,16,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2063,2235,0,0,0,0,0,0
$GC,3782,0.88,119.6,59.6,7.6,18,3786,0.00,2.40,0.00,0.000,4,0.000,0.057,3206,3572,2234,0,0,0,0,0,0
$GC,3947,0.88,120.9,50.7,5.9,19,3952,0.00,2.33,0.00,0.000,6,0.000,0.042,3216,2060,2233,0,0,0,0,0,0
$GC,4199,0.88,129.2,37.6,5.0,22,4213,0.00,2.45,7.18,0.524,4,0.000,0.050,3227,541,2208,0,0,0,0,0,0
$GC,4467,0.89,141.8,23.4,4.4,24,4486,0.00,2.25,12.40,0.563,6,0.000,0.044,3227,2009,2157,0,0,0,0,0,0
$GC,4737,0.91,159.5,13.9,3.7,27,4758,0.00,2.30,16.23,0.570,4,0.000,0.048,3238,542,2083,0,0,0,0,0,0
$GC,4850,0.94,167.7,10.8,5.0,28,4865,0.00,2.30,8.02,0.519,6,0.000,0.045,3238,2036,2051,0,0,0,0,0,0
$GC,5060,0.98,205.5,9.0,0.9,30,5099,0.00,2.50,32.05,0.576,4,0.000,0.055,3238,3570,1896,0,0,0,0,0,0
$STATE,5282,end climb,SURFACE_DEPTH_REACHED
$STATE,5283,begin surface coast
$FINISH,3.7,NaN
$STATE,5288,end surface coast,CONTROL_FINISHED_OK
$STATE,5288,begin surface
$SM_CCo,5311,73.45,0.549,2,0,1410,325.02
$SM_GC,1.75,0.00,0.00,73.45,0.000,0.000,0.549,111,2157,1410,-8.78,-0.51,325.02
$IRIDIUM_FIX,4732.49,-12514.75,030911,080805
$TT8_MAMPS,0.026964
$HUMID,42.00
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.9,81.902
$10V_AH,9.9,83.388
$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,20.525,42.400,242.900,73.450,0.000,27.198,33.515,134.510,0.000,0.000,17.048,289.997,4053.583,405.134,792.346,175.950,33.357,746.826,0.000,598.128,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,74.205,739.755,548.505,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297840
$DATA_FILE_SIZE,334,32
$CAP_FILE_SIZE,51644,0
$CFSIZE,260165632,157298688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030911,122820,4751.841,-12511.414,9,1.9,9,18.7