version: 66.07
glider: 187
mission: 4
dive: 726
start: 9 4 111 3 40 56
data:
$ID,187
$MISSION,4
$DIVE,726
$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,-1585658.5
$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,39
$R_STBD_OVSHOOT,42
$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
$GPS1,040911,033507,4751.763,-12511.831,27,1.5,27,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.0
$GPS2,040911,034002,4751.734,-12511.896,16,1.8,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.022,0.104
$KALMAN_X,382588.6,-217.3,-158.9,-388110.0,552.5
$KALMAN_Y,-797733.2,-361.6,418.3,807349.6,-995.0
$MHEAD_RNG_PITCHd_Wd,329.3,956,-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,-30.0,0.0,0.0,0,101,0.00,0.00,-82.40,0.000,2,0.000,0.000,126,2188,2476,0,0,0,0,0,0
$GC,104,-0.89,-41.0,3.3,-4.6,0,130,10.05,2.38,-10.32,0.000,4,0.225,0.066,2620,3686,2904,0,0,0,0,0,0
$GC,310,-0.87,-41.0,44.0,-14.6,2,314,0.00,2.35,0.00,0.000,6,0.000,0.041,2620,2163,2907,0,0,0,0,0,0
$GC,523,-0.85,-41.0,78.3,-16.4,5,527,0.00,2.42,0.00,0.000,4,0.000,0.055,2608,3682,2908,0,0,0,0,0,0
$GC,560,-0.83,-41.0,82.8,-13.4,5,565,0.15,2.30,0.00,0.000,6,0.158,0.041,2648,2185,2908,0,0,0,0,0,0
$GC,1028,-0.83,-41.0,136.4,-11.3,8,1032,0.00,2.33,0.00,0.000,4,0.000,0.048,2648,662,2909,0,0,0,0,0,0
$GC,1183,-0.83,-41.0,153.7,-11.1,8,1187,0.00,2.33,0.00,0.000,6,0.000,0.046,2638,2182,2909,0,0,0,0,0,0
$GC,1663,-0.83,-41.0,209.0,-11.8,10,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2182,2909,0,0,0,0,0,0
$STATE,1961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1961,begin apogee
$GC,1970,-0.22,0.0,245.3,11.9,11,2009,0.68,0.00,36.35,0.708,6,0.130,0.000,2850,2050,2735,0,0,0,0,0,0
$STATE,2010,end apogee,CONTROL_FINISHED_OK
$STATE,2010,begin climb
$GC,2012,0.89,41.0,245.3,0.0,11,2057,0.98,2.53,35.67,0.696,4,0.070,0.053,3206,3581,2566,0,0,0,0,0,0
$GC,2284,0.88,67.4,242.0,2.5,11,2313,0.00,2.35,22.75,0.689,6,0.000,0.039,3217,2063,2461,0,0,0,0,0,0
$GC,2643,0.86,67.4,218.8,6.9,13,2647,0.00,2.35,0.00,0.000,4,0.000,0.050,3229,549,2458,0,0,0,0,0,0
$GC,2792,0.84,67.4,206.9,7.9,13,2797,0.15,2.30,0.00,0.000,6,0.173,0.043,3191,2062,2457,0,0,0,0,0,0
$GC,3274,0.84,67.4,174.4,6.4,15,3278,0.00,2.35,0.00,0.000,4,0.000,0.055,3191,3577,2455,0,0,0,0,0,0
$GC,3364,0.83,67.4,168.9,6.2,15,3368,0.00,2.33,0.00,0.000,6,0.000,0.041,3201,2064,2454,0,0,0,0,0,0
$GC,3902,0.83,71.5,140.1,5.5,17,3911,0.00,2.42,4.18,0.464,4,0.000,0.056,3201,3578,2443,0,0,0,0,0,0
$GC,4166,0.81,71.5,120.5,6.8,17,4170,0.00,2.30,0.00,0.000,6,0.000,0.041,3212,2076,2441,0,0,0,0,0,0
$GC,4535,0.82,80.8,102.1,4.8,19,4550,0.00,2.40,9.57,0.584,4,0.000,0.054,3212,3581,2405,0,0,0,0,0,0
$GC,4623,0.80,80.8,96.8,7.1,19,4628,0.17,2.38,0.00,0.000,6,0.174,0.041,3179,2052,2403,0,0,0,0,0,0
$GC,4959,0.82,112.9,85.7,1.7,21,4994,0.00,2.40,28.70,0.626,4,0.000,0.050,3188,553,2273,0,0,0,0,0,0
$GC,5117,0.83,112.9,77.3,7.5,22,5122,0.00,2.30,0.00,0.000,6,0.000,0.045,3188,2041,2271,0,0,0,0,0,0
$GC,5375,0.84,115.8,61.8,5.7,25,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2041,2270,0,0,0,0,0,0
$GC,5577,0.86,125.0,54.3,4.9,27,5593,0.00,2.33,11.18,0.569,4,0.000,0.049,3198,550,2224,0,0,0,0,0,0
$GC,5651,0.88,126.6,51.2,5.9,27,5655,0.00,2.25,0.00,0.000,6,0.000,0.044,3199,2027,2222,0,0,0,0,0,0
$GC,5886,0.90,128.5,37.5,5.9,30,5895,0.00,2.47,4.20,0.430,4,0.000,0.055,3199,3580,2210,0,0,0,0,0,0
$GC,6115,0.91,140.9,26.1,4.4,32,6134,0.00,2.38,12.18,0.560,6,0.000,0.041,3211,2034,2160,0,0,0,0,0,0
$GC,6426,0.94,168.7,16.3,2.3,35,6455,0.00,2.35,24.45,0.577,4,0.000,0.051,3222,550,2045,0,0,0,0,0,0
$GC,6631,0.99,195.5,12.6,2.5,36,6660,0.00,2.28,22.65,0.565,6,0.000,0.044,3222,2041,1937,0,0,0,0,0,0
$GC,6859,1.04,221.8,7.0,2.5,39,6888,0.00,2.45,22.67,0.555,4,0.000,0.055,3222,3558,1830,0,0,0,0,0,0
$STATE,6953,end climb,SURFACE_DEPTH_REACHED
$STATE,6953,begin surface coast
$FINISH,0.8,NaN
$STATE,7067,end surface coast,CONTROL_FINISHED_OK
$STATE,7067,begin surface
$SM_CCo,7087,63.12,0.478,3,0,1410,325.02
$SM_GC,1.75,0.00,0.00,63.12,0.000,0.000,0.478,114,2172,1410,-8.77,-0.08,325.02
$IRIDIUM_FIX,4729.30,-12521.83,040911,010135
$TT8_MAMPS,0.026964
$HUMID,41.65
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.1,82.517
$10V_AH,9.9,83.650
$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,20.200,61.350,234.550,63.125,0.000,25.725,31.444,122.470,0.000,0.000,17.190,394.473,5343.700,377.341,1145.450,208.506,33.347,920.738,0.000,954.189,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,72.675,707.625,478.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,40
$CAP_FILE_SIZE,72686,0
$CFSIZE,260165632,157003776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040911,054134,4751.727,-12511.823,13,2.1,32,18.7