version: 66.07
glider: 187
mission: 4
dive: 720
start: 9 3 111 16 32 38
data:
$ID,187
$MISSION,4
$DIVE,720
$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,-1585651
$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,36
$R_STBD_OVSHOOT,32
$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
$GPS1,030911,162643,4751.669,-12511.577,37,1.9,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-77.9
$GPS2,030911,163144,4751.711,-12511.578,15,2.0,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.101,0.031
$KALMAN_X,379870.5,115.0,124.1,-385619.6,404.7
$KALMAN_Y,-794541.9,464.3,105.0,803605.1,-845.3
$MHEAD_RNG_PITCHd_Wd,268.3,772,-27.7,-6.111
$D_GRID,220
$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,-58.20,0.000,6,0.000,0.000,108,2177,2858,0,0,0,0,0,0
$GC,79,-0.91,-70.2,2.1,-0.6,1,99,10.07,2.45,-3.10,0.000,4,0.223,0.069,2614,3691,3024,0,0,0,0,0,0
$GC,351,-0.89,-70.2,64.6,-18.4,3,355,0.00,2.35,0.00,0.000,6,0.000,0.041,2613,2169,3028,0,0,0,0,0,0
$GC,609,-0.87,-70.2,106.9,-16.6,6,613,0.00,2.42,0.00,0.000,4,0.000,0.057,2602,3695,3029,0,0,0,0,0,0
$GC,672,-0.86,-70.2,116.4,-15.0,6,677,0.15,2.35,0.00,0.000,6,0.158,0.042,2641,2177,3029,0,0,0,0,0,0
$GC,1238,-0.86,-70.2,193.6,-13.4,8,1242,0.00,2.33,0.00,0.000,4,0.000,0.050,2641,665,3030,0,0,0,0,0,0
$GC,1283,-0.86,-70.2,199.0,-11.4,8,1287,0.00,2.33,0.00,0.000,6,0.000,0.047,2632,2179,3029,0,0,0,0,0,0
$STATE,1459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1459,begin apogee
$GC,1467,-0.22,0.0,220.5,12.5,8,1531,0.65,0.00,58.67,0.711,6,0.132,0.000,2840,2049,2735,0,0,0,0,0,0
$STATE,1532,end apogee,CONTROL_FINISHED_OK
$STATE,1532,begin climb
$GC,1535,0.91,70.2,224.0,0.0,8,1598,1.02,0.00,60.03,0.687,6,0.073,0.000,3210,2050,2448,0,0,0,0,0,0
$GC,1872,0.89,70.2,201.9,6.9,10,1876,0.00,2.42,0.00,0.000,4,0.000,0.054,3210,3578,2442,0,0,0,0,0,0
$GC,2062,0.87,70.2,185.7,8.8,10,2066,0.00,2.33,0.00,0.000,6,0.000,0.040,3221,2064,2439,0,0,0,0,0,0
$GC,2501,0.85,70.2,153.5,7.2,12,2505,0.00,2.40,0.00,0.000,4,0.000,0.055,3222,3583,2439,0,0,0,0,0,0
$GC,2573,0.82,70.2,146.6,9.7,12,2578,0.17,2.35,0.00,0.000,6,0.178,0.041,3189,2053,2438,0,0,0,0,0,0
$GC,3133,0.83,85.9,113.2,4.0,14,3152,0.00,2.40,13.18,0.607,4,0.000,0.050,3198,544,2384,0,0,0,0,0,0
$GC,3203,0.83,87.7,109.4,5.9,14,3207,0.00,2.33,0.00,0.000,6,0.000,0.044,3198,2052,2383,0,0,0,0,0,0
$GC,3561,0.85,108.9,96.5,3.2,16,3587,0.00,2.40,20.77,0.622,4,0.000,0.054,3198,3573,2289,0,0,0,0,0,0
$GC,3744,0.85,108.9,84.2,8.0,17,3748,0.00,2.33,0.00,0.000,6,0.000,0.041,3210,2077,2286,0,0,0,0,0,0
$GC,3974,0.85,113.2,71.4,5.5,20,3983,0.00,2.40,4.75,0.465,4,0.000,0.051,3222,542,2272,0,0,0,0,0,0
$GC,4208,0.85,121.4,61.6,5.0,22,4223,0.00,2.33,8.88,0.554,6,0.000,0.045,3221,2053,2238,0,0,0,0,0,0
$GC,4504,0.85,122.3,43.9,6.0,25,4508,0.00,2.33,0.00,0.000,4,0.000,0.049,3233,549,2236,0,0,0,0,0,0
$GC,4762,0.87,143.3,32.3,3.2,27,4787,0.12,2.25,19.33,0.581,6,0.174,0.044,3202,2023,2150,0,0,0,0,0,0
$GC,5043,0.89,154.1,19.7,4.6,30,5059,0.00,2.45,10.50,0.542,4,0.000,0.054,3202,3580,2104,0,0,0,0,0,0
$GC,5205,0.93,180.1,15.8,2.6,31,5235,0.00,2.38,22.52,0.571,6,0.000,0.041,3211,2028,1999,0,0,0,0,0,0
$GC,5462,0.98,211.1,10.8,1.9,34,5493,0.00,2.33,26.17,0.565,4,0.000,0.050,3222,549,1873,0,0,0,0,0,0
$STATE,5677,end climb,SURFACE_DEPTH_REACHED
$STATE,5677,begin surface coast
$FINISH,3.7,NaN
$STATE,5682,end surface coast,CONTROL_FINISHED_OK
$STATE,5682,begin surface
$SM_CCo,5705,67.55,0.528,3,0,1408,325.02
$SM_GC,2.08,0.00,0.00,67.55,0.000,0.000,0.528,109,2181,1408,-8.79,0.20,325.02
$IRIDIUM_FIX,4735.69,-12511.36,030911,141414
$TT8_MAMPS,0.027713
$HUMID,41.84
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,24.0,82.095
$10V_AH,9.9,83.477
$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,20.600,52.350,244.800,67.550,0.000,26.598,31.631,126.950,0.000,0.000,16.197,356.646,4104.740,368.666,1070.514,195.797,33.365,858.655,0.000,875.772,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,73.440,710.685,527.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,36
$CAP_FILE_SIZE,63932,0
$CFSIZE,260165632,157192192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030911,181024,4751.501,-12511.448,40,1.5,40,18.7