version: 66.07
glider: 187
mission: 4
dive: 719
start: 9 3 111 14 28 26
data:
$ID,187
$MISSION,4
$DIVE,719
$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,-1585649.8
$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,41
$R_STBD_OVSHOOT,34
$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
$GPS1,030911,142236,4751.656,-12511.554,62,1.3,67,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-77.7
$GPS2,030911,142732,4751.655,-12511.601,16,2.0,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.065,0.084
$KALMAN_X,379326.5,166.1,37.6,-385071.2,366.2
$KALMAN_Y,-793997.9,203.7,387.0,802930.3,-922.1
$MHEAD_RNG_PITCHd_Wd,303.4,675,-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,-58.17,0.000,6,0.000,0.000,111,2186,2859,0,0,0,0,0,0
$GC,79,-0.90,-61.0,2.1,-1.9,1,94,10.10,0.00,-2.40,0.000,6,0.223,0.000,2624,2185,2986,0,0,0,0,0,0
$GC,289,-0.88,-61.0,50.3,-17.9,3,293,0.00,2.40,0.00,0.000,4,0.000,0.056,2615,3693,2990,0,0,0,0,0,0
$GC,361,-0.87,-61.0,64.4,-18.1,3,366,0.00,2.35,0.00,0.000,6,0.000,0.041,2614,2179,2991,0,0,0,0,0,0
$GC,597,-0.85,-61.0,100.0,-14.8,6,602,0.12,2.33,0.00,0.000,4,0.171,0.048,2646,665,2992,0,0,0,0,0,0
$GC,637,-0.85,-61.0,105.7,-14.2,6,642,0.00,2.30,0.00,0.000,6,0.000,0.046,2637,2167,2992,0,0,0,0,0,0
$GC,1238,-0.85,-61.0,179.6,-12.0,8,1242,0.00,2.33,0.00,0.000,4,0.000,0.049,2636,666,2992,0,0,0,0,0,0
$GC,1299,-0.85,-61.0,187.0,-11.4,8,1303,0.00,2.30,0.00,0.000,6,0.000,0.047,2626,2155,2992,0,0,0,0,0,0
$STATE,1867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1867,begin apogee
$GC,1876,-0.22,0.0,258.8,13.0,10,1931,0.70,0.00,52.65,0.730,6,0.134,0.000,2843,2043,2735,0,0,0,0,0,0
$STATE,1932,end apogee,CONTROL_FINISHED_OK
$STATE,1932,begin climb
$GC,1935,0.90,61.0,258.8,0.0,10,1995,1.02,2.53,52.22,0.714,4,0.076,0.053,3209,3568,2485,0,0,0,0,0,0
$GC,2045,0.88,61.0,257.2,6.8,10,2049,0.00,2.35,0.00,0.000,6,0.000,0.040,3220,2067,2481,0,0,0,0,0,0
$GC,2565,0.86,63.8,224.0,5.7,12,2569,0.00,2.35,0.00,0.000,4,0.000,0.050,3232,546,2478,0,0,0,0,0,0
$GC,2703,0.84,63.8,215.8,6.1,12,2708,0.15,2.35,0.00,0.000,6,0.182,0.044,3195,2074,2477,0,0,0,0,0,0
$GC,3196,0.84,66.6,187.3,5.7,14,3206,0.00,2.38,4.78,0.510,4,0.000,0.055,3195,3581,2462,0,0,0,0,0,0
$GC,3240,0.82,66.6,184.5,6.9,14,3244,0.00,2.38,0.00,0.000,6,0.000,0.041,3205,2053,2462,0,0,0,0,0,0
$GC,3821,0.82,68.6,149.6,5.8,16,3825,0.00,2.35,0.00,0.000,4,0.000,0.050,3216,549,2461,0,0,0,0,0,0
$GC,3872,0.82,77.2,146.8,4.9,16,3888,0.12,2.33,10.65,0.616,6,0.182,0.044,3187,2065,2420,0,0,0,0,0,0
$GC,4448,0.82,92.3,121.6,4.1,18,4467,0.00,2.40,14.62,0.629,4,0.000,0.056,3187,3570,2357,0,0,0,0,0,0
$GC,4579,0.82,92.3,112.7,7.4,18,4584,0.00,2.35,0.00,0.000,6,0.000,0.042,3196,2046,2354,0,0,0,0,0,0
$GC,4978,0.82,92.3,86.0,6.2,21,4983,0.00,2.33,0.00,0.000,4,0.000,0.051,3207,542,2354,0,0,0,0,0,0
$GC,5103,0.82,92.3,78.3,7.1,22,5107,0.00,2.30,0.00,0.000,6,0.000,0.045,3207,2039,2353,0,0,0,0,0,0
$GC,5394,0.84,109.8,65.2,3.7,25,5414,0.00,2.33,15.65,0.601,4,0.000,0.049,3218,548,2287,0,0,0,0,0,0
$GC,5549,0.84,120.5,59.5,4.6,26,5564,0.00,2.25,10.80,0.574,6,0.000,0.044,3218,2010,2243,0,0,0,0,0,0
$GC,5806,0.84,120.5,44.0,6.1,29,5810,0.00,2.28,0.00,0.000,4,0.000,0.050,3229,545,2240,0,0,0,0,0,0
$GC,5891,0.85,136.1,40.4,4.0,29,5911,0.12,2.20,14.23,0.578,6,0.172,0.044,3199,1979,2179,0,0,0,0,0,0
$GC,6113,0.87,143.1,29.0,5.2,32,6122,0.00,0.00,7.30,0.521,6,0.000,0.000,3199,1979,2151,0,0,0,0,0,0
$GC,6314,0.90,147.6,17.4,5.5,34,6325,0.00,2.50,5.18,0.464,4,0.000,0.054,3199,3570,2133,0,0,0,0,0,0
$GC,6533,0.95,197.3,12.9,-0.7,36,6583,0.00,2.50,42.25,0.585,6,0.000,0.041,3209,1956,1929,0,0,0,0,0,0
$GC,6845,1.02,235.2,8.1,1.0,39,6882,0.10,2.30,31.25,0.566,4,0.102,0.050,3271,538,1775,0,0,0,0,0,0
$STATE,6926,end climb,SURFACE_DEPTH_REACHED
$STATE,6927,begin surface coast
$FINISH,3.4,NaN
$STATE,6931,end surface coast,CONTROL_FINISHED_OK
$STATE,6931,begin surface
$SM_CCo,6954,55.50,0.549,1,0,1409,325.02
$SM_GC,1.87,0.00,0.00,55.50,0.000,0.000,0.549,109,2177,1409,-8.79,0.03,325.02
$IRIDIUM_FIX,4735.69,-12513.98,030911,121257
$TT8_MAMPS,0.026964
$HUMID,41.88
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,23.9,82.031
$10V_AH,9.9,83.448
$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,21.125,61.450,261.575,55.500,0.000,25.128,30.822,123.957,0.250,0.000,16.965,391.256,5222.872,374.354,1119.550,210.864,33.360,891.862,0.000,928.885,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,79.560,729.810,548.505,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297796
$DATA_FILE_SIZE,334,39
$CAP_FILE_SIZE,71268,0
$CFSIZE,260165632,157216768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030911,162643,4751.669,-12511.577,37,1.9,42,18.7