version: 66.07
glider: 187
mission: 4
dive: 723
start: 9 3 111 22 26 19
data:
$ID,187
$MISSION,4
$DIVE,723
$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,-1585654.8
$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,32
$R_STBD_OVSHOOT,45
$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
$GPS1,030911,222004,4751.450,-12511.997,60,2.1,79,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-76.7
$GPS2,030911,222525,4751.396,-12511.997,15,1.2,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.031,0.115
$KALMAN_X,381791.0,60.3,-60.7,-387814.7,385.0
$KALMAN_Y,-796926.0,489.9,-90.7,805575.3,-1128.5
$MHEAD_RNG_PITCHd_Wd,356.1,666,-24.7,-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,-0.79,-37.7,0.0,0.0,0,76,0.00,0.00,-59.12,0.000,6,0.000,0.000,111,2201,2889,0,0,0,0,0,0
$GC,80,-0.83,-94.0,0.0,-0.0,0,99,10.30,0.00,-4.35,0.000,6,0.228,0.000,2640,2199,3122,0,0,0,0,0,0
$GC,294,-0.80,-94.0,51.1,-18.4,2,298,0.00,2.38,0.00,0.000,4,0.000,0.047,2640,661,3126,0,0,0,0,0,0
$GC,354,-0.80,-94.0,63.3,-18.0,2,359,0.12,2.30,0.00,0.000,6,0.171,0.046,2662,2165,3127,0,0,0,0,0,0
$GC,602,-0.80,-94.0,98.2,-14.1,5,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2164,3129,0,0,0,0,0,0
$GC,1005,-0.80,-94.0,147.7,-12.8,7,1009,0.00,2.35,0.00,0.000,4,0.000,0.049,2663,659,3129,0,0,0,0,0,0
$GC,1071,-0.80,-94.0,156.2,-12.8,7,1075,0.00,2.35,0.00,0.000,6,0.000,0.048,2653,2186,3129,0,0,0,0,0,0
$GC,1637,-0.80,-94.0,224.1,-12.0,9,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2187,3129,0,0,0,0,0,0
$STATE,1933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1933,begin apogee
$GC,1940,-0.22,0.0,260.6,12.1,10,2022,0.60,0.00,79.28,0.727,6,0.122,0.000,2845,2042,2735,0,0,0,0,0,0
$STATE,2023,end apogee,CONTROL_FINISHED_OK
$STATE,2023,begin climb
$GC,2026,0.83,94.0,260.6,0.0,10,2119,0.95,2.50,80.70,0.710,4,0.073,0.050,3197,553,2350,0,0,0,0,0,0
$GC,2147,0.81,94.0,258.4,8.5,10,2151,0.00,2.38,0.00,0.000,6,0.000,0.044,3198,2067,2348,0,0,0,0,0,0
$GC,2652,0.79,94.0,203.4,11.4,12,2656,0.00,2.38,0.00,0.000,4,0.000,0.055,3198,3580,2341,0,0,0,0,0,0
$GC,2805,0.76,94.0,184.5,12.6,12,2810,0.15,2.33,0.00,0.000,6,0.174,0.041,3171,2070,2339,0,0,0,0,0,0
$GC,3285,0.76,94.0,139.8,9.1,14,3289,0.00,2.40,0.00,0.000,4,0.000,0.057,3171,3577,2339,0,0,0,0,0,0
$GC,3391,0.75,94.0,129.6,10.0,14,3395,0.00,2.33,0.00,0.000,6,0.000,0.042,3181,2067,2338,0,0,0,0,0,0
$GC,3910,0.75,94.0,86.8,7.9,16,3914,0.00,2.40,0.00,0.000,4,0.000,0.057,3181,3577,2337,0,0,0,0,0,0
$GC,4005,0.73,94.0,80.2,6.6,16,4010,0.12,2.33,0.00,0.000,6,0.173,0.043,3161,2065,2336,0,0,0,0,0,0
$GC,4219,0.74,103.9,69.3,5.0,19,4233,0.00,2.45,7.18,0.536,4,0.000,0.051,3170,544,2310,0,0,0,0,0,0
$GC,4488,0.76,124.5,58.3,3.9,21,4513,0.00,2.33,19.40,0.597,6,0.000,0.045,3170,2070,2226,0,0,0,0,0,0
$GC,4755,0.78,143.3,47.8,4.1,24,4779,0.00,2.47,16.77,0.585,4,0.000,0.050,3181,544,2150,0,0,0,0,0,0
$GC,4879,0.80,147.7,42.0,5.6,25,4888,0.00,2.35,4.95,0.459,6,0.000,0.045,3181,2062,2132,0,0,0,0,0,0
$GC,5081,0.81,147.7,27.4,7.2,27,5085,0.00,2.38,0.00,0.000,4,0.000,0.051,3193,552,2129,0,0,0,0,0,0
$GC,5172,0.83,147.7,20.9,7.5,27,5177,0.00,2.28,0.00,0.000,6,0.000,0.046,3193,2043,2129,0,0,0,0,0,0
$GC,5386,0.85,163.3,11.9,4.4,30,5402,0.00,0.00,14.52,0.558,6,0.000,0.000,3192,2043,2068,0,0,0,0,0,0
$GC,5587,0.89,194.2,8.0,2.8,32,5620,0.00,2.50,26.42,0.571,4,0.000,0.055,3192,3575,1942,0,0,0,0,0,0
$GC,5639,0.93,219.7,6.7,3.3,32,5669,0.00,2.40,22.30,0.556,6,0.000,0.042,3203,2028,1838,0,0,0,0,0,0
$STATE,5791,end climb,SURFACE_DEPTH_REACHED
$STATE,5791,begin surface coast
$FINISH,0.8,NaN
$STATE,5892,end surface coast,CONTROL_FINISHED_OK
$STATE,5892,begin surface
$SM_CCo,5911,65.15,0.497,2,0,1409,325.02
$SM_GC,1.77,0.00,0.00,65.15,0.000,0.000,0.497,118,2195,1409,-8.76,0.57,325.02
$IRIDIUM_FIX,4732.49,-12507.66,030911,202048
$TT8_MAMPS,0.026964
$HUMID,42.40
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.8,82.305
$10V_AH,9.9,83.564
$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,20.325,47.975,271.525,65.150,0.000,28.411,39.889,134.615,0.000,0.000,15.996,312.818,4545.933,407.519,861.447,187.818,33.354,797.089,0.000,657.654,0.000,0.535,0.000
$DEVICE_MAMPS,227.970,68.850,726.750,497.250,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,35
$CAP_FILE_SIZE,57530,0
$CFSIZE,260165632,157102080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040911,000702,4751.796,-12511.625,17,2.0,17,18.7