version: 66.07
glider: 187
mission: 4
dive: 721
start: 9 3 111 18 16 13
data:
$ID,187
$MISSION,4
$DIVE,721
$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,-1585652.2
$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,44
$R_STBD_OVSHOOT,36
$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
$GPS1,030911,181024,4751.501,-12511.448,40,1.5,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-77.7
$GPS2,030911,181519,4751.543,-12511.365,17,1.5,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.108,0.056
$KALMAN_X,380841.7,90.4,182.2,-386363.9,760.0
$KALMAN_Y,-794967.2,616.2,-148.2,803819.2,-907.0
$MHEAD_RNG_PITCHd_Wd,278.4,473,-24.2,-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,-0.78,-39.4,0.0,0.0,0,60,0.00,0.00,-42.53,0.000,2,0.000,0.000,108,2183,2397,0,0,0,0,0,0
$GC,64,-0.80,-73.6,3.0,-2.6,0,98,10.18,2.45,-16.48,0.000,4,0.223,0.060,2650,670,3038,0,0,0,0,0,0
$GC,217,-0.78,-73.6,31.3,-14.6,1,221,0.00,2.33,0.00,0.000,6,0.000,0.045,2641,2179,3039,0,0,0,0,0,0
$GC,424,-0.75,-73.6,67.4,-17.4,3,429,0.12,2.38,0.00,0.000,4,0.177,0.047,2674,671,3041,0,0,0,0,0,0
$GC,442,-0.73,-73.6,70.6,-17.3,3,446,0.00,2.33,0.00,0.000,6,0.000,0.045,2664,2179,3041,0,0,0,0,0,0
$GC,729,-0.73,-73.6,108.6,-12.4,6,733,0.00,2.33,0.00,0.000,4,0.000,0.048,2663,670,3042,0,0,0,0,0,0
$GC,756,-0.73,-73.6,113.1,-15.8,6,761,0.12,2.30,0.00,0.000,6,0.156,0.046,2686,2179,3042,0,0,0,0,0,0
$GC,1360,-0.74,-73.6,183.0,-11.4,8,1364,0.00,2.38,0.00,0.000,4,0.000,0.049,2687,664,3042,0,0,0,0,0,0
$GC,1410,-0.75,-73.6,189.7,-12.8,8,1414,0.00,2.33,0.00,0.000,6,0.000,0.047,2678,2178,3043,0,0,0,0,0,0
$GC,1985,-0.75,-73.6,249.7,-10.5,10,1990,0.00,2.40,0.00,0.000,4,0.000,0.058,2666,3691,3042,0,0,0,0,0,0
$STATE,2016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2016,begin apogee
$GC,2026,-0.22,0.0,253.2,10.6,10,2092,0.52,0.00,61.62,0.722,6,0.123,0.000,2838,2060,2735,0,0,0,0,0,0
$STATE,2092,end apogee,CONTROL_FINISHED_OK
$STATE,2093,begin climb
$GC,2095,0.80,73.6,256.1,0.0,10,2164,0.93,0.00,63.38,0.705,6,0.076,0.000,3171,2060,2433,0,0,0,0,0,0
$GC,2607,0.79,73.6,218.9,7.9,12,2612,0.00,2.42,0.00,0.000,4,0.000,0.056,3171,3580,2426,0,0,0,0,0,0
$GC,2832,0.76,73.6,200.0,7.8,12,2836,0.00,2.33,0.00,0.000,6,0.000,0.041,3182,2079,2423,0,0,0,0,0,0
$GC,3233,0.75,73.6,173.8,6.4,14,3237,0.00,2.38,0.00,0.000,4,0.000,0.056,3182,3584,2423,0,0,0,0,0,0
$GC,3480,0.72,73.6,155.1,6.4,14,3485,0.15,2.30,0.00,0.000,6,0.170,0.041,3155,2087,2422,0,0,0,0,0,0
$GC,3865,0.72,73.6,130.5,6.6,16,3869,0.00,2.40,0.00,0.000,4,0.000,0.050,3165,549,2421,0,0,0,0,0,0
$GC,3939,0.72,74.6,126.3,6.0,16,3943,0.00,2.35,0.00,0.000,6,0.000,0.044,3165,2093,2421,0,0,0,0,0,0
$GC,4494,0.73,86.1,98.1,4.9,18,4505,0.00,0.00,9.75,0.580,6,0.000,0.000,3165,2093,2384,0,0,0,0,0,0
$GC,4693,0.73,93.1,85.3,5.4,20,4707,0.00,2.38,7.97,0.556,4,0.000,0.055,3165,3570,2354,0,0,0,0,0,0
$GC,4907,0.74,131.3,78.5,2.1,21,4946,0.00,2.25,33.50,0.619,6,0.000,0.041,3176,2116,2198,0,0,0,0,0,0
$GC,5228,0.74,131.3,59.8,6.2,25,5232,0.00,2.47,0.00,0.000,4,0.000,0.051,3188,546,2193,0,0,0,0,0,0
$GC,5485,0.74,132.5,46.9,6.0,27,5489,0.00,2.45,0.00,0.000,6,0.000,0.045,3188,2135,2192,0,0,0,0,0,0
$GC,5753,0.74,132.5,30.3,6.2,30,5757,0.00,2.47,0.00,0.000,4,0.000,0.050,3200,548,2192,0,0,0,0,0,0
$GC,5959,0.75,139.2,20.7,5.4,31,5974,0.15,2.40,7.00,0.506,6,0.150,0.044,3159,2112,2167,0,0,0,0,0,0
$GC,6184,0.79,168.1,12.3,3.1,34,6215,0.00,2.30,25.77,0.573,4,0.000,0.054,3159,3570,2048,0,0,0,0,0,0
$GC,6468,0.86,226.2,9.8,0.1,36,6523,0.00,2.28,47.88,0.570,6,0.000,0.041,3167,2100,1811,0,0,0,0,0,0
$STATE,6718,end climb,SURFACE_DEPTH_REACHED
$STATE,6719,begin surface coast
$FINISH,1.0,NaN
$STATE,6818,end surface coast,CONTROL_FINISHED_OK
$STATE,6818,begin surface
$SM_CCo,6836,61.03,0.487,2,0,1409,325.02
$SM_GC,2.03,0.00,0.00,61.03,0.000,0.000,0.487,115,2181,1409,-8.77,0.17,325.02
$IRIDIUM_FIX,4735.69,-12511.36,030911,161622
$TT8_MAMPS,0.026964
$HUMID,41.88
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.9,82.161
$10V_AH,9.9,83.509
$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,20.125,57.050,256.875,61.025,0.000,26.217,30.631,121.498,0.000,0.000,17.912,391.965,5093.919,351.617,1173.176,201.535,33.354,904.590,0.000,981.236,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,105.570,722.160,486.540,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297808
$DATA_FILE_SIZE,334,40
$CAP_FILE_SIZE,70382,0
$CFSIZE,260165632,157151232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030911,201300,4751.194,-12511.631,44,0.9,60,18.7