version: 66.07
glider: 187
mission: 4
dive: 729
start: 9 4 111 8 58 4
data:
$ID,187
$MISSION,4
$DIVE,729
$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,-1585662.2
$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,36
$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
$GPS1,040911,085201,4751.152,-12511.368,18,3.5,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-78.4
$GPS2,040911,085710,4751.131,-12511.323,11,3.6,30,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.121,0.077
$KALMAN_X,383796.5,-461.0,139.4,-388667.7,807.3
$KALMAN_Y,-798807.8,-114.8,-302.0,807787.7,-331.0
$MHEAD_RNG_PITCHd_Wd,283.9,369,-20.3,-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,-0.67,-55.6,0.0,0.0,0,79,0.00,0.00,-61.25,0.000,6,0.000,0.000,108,2187,2963,0,0,0,0,0,0
$GC,83,-0.70,-102.6,2.3,-2.6,1,99,10.40,0.00,-3.42,0.000,6,0.221,0.000,2690,2183,3155,0,0,0,0,0,0
$GC,240,-0.51,-102.6,39.2,-18.2,3,242,0.20,0.00,0.00,0.000,6,0.146,0.000,2750,2183,3159,0,0,0,0,0,0
$GC,442,-0.44,-102.6,60.6,-14.2,5,446,0.00,2.35,0.00,0.000,4,0.000,0.050,2750,664,3161,0,0,0,0,0,0
$GC,482,-0.46,-102.6,64.8,-10.4,5,486,0.00,2.30,0.00,0.000,6,0.000,0.047,2744,2153,3161,0,0,0,0,0,0
$GC,746,-0.48,-102.6,89.9,-9.6,8,750,0.00,2.30,0.00,0.000,4,0.000,0.049,2743,664,3162,0,0,0,0,0,0
$GC,781,-0.50,-102.6,93.2,-9.3,8,785,0.00,2.33,0.00,0.000,6,0.000,0.047,2734,2165,3161,0,0,0,0,0,0
$GC,1256,-0.51,-102.6,135.1,-8.8,11,1260,0.00,2.45,0.00,0.000,4,0.000,0.060,2722,3690,3161,0,0,0,0,0,0
$GC,1283,-0.53,-102.6,137.5,-8.9,11,1287,0.00,2.38,0.00,0.000,6,0.000,0.043,2721,2156,3161,0,0,0,0,0,0
$GC,1888,-0.54,-102.6,192.5,-9.5,13,1892,0.00,2.30,0.00,0.000,4,0.000,0.050,2721,666,3161,0,0,0,0,0,0
$GC,1979,-0.56,-102.6,200.8,-8.5,13,1983,0.00,2.30,0.00,0.000,6,0.000,0.048,2713,2161,3161,0,0,0,0,0,0
$GC,2517,-0.56,-102.6,249.9,-8.8,15,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2161,3161,0,0,0,0,0,0
$STATE,2813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2813,begin apogee
$GC,2820,-0.22,0.0,274.8,8.6,16,2909,0.43,0.00,86.15,0.743,6,0.109,0.000,2852,2050,2735,0,0,0,0,0,0
$STATE,2910,end apogee,CONTROL_FINISHED_OK
$STATE,2910,begin climb
$GC,2912,0.70,102.6,274.8,0.0,16,3004,0.82,0.00,88.72,0.723,6,0.069,0.000,3146,2050,2316,0,0,0,0,0,0
$GC,3117,0.73,185.4,261.4,-0.0,17,3190,0.00,0.00,68.78,0.710,6,0.000,0.000,3146,2050,1977,0,0,0,0,0,0
$GC,3748,0.73,185.4,178.7,12.9,19,3752,0.00,2.42,0.00,0.000,4,0.000,0.056,3146,3579,1967,0,0,0,0,0,0
$GC,3804,0.73,185.4,170.6,14.3,19,3809,0.00,2.35,0.00,0.000,6,0.000,0.043,3157,2078,1965,0,0,0,0,0,0
$GC,4376,0.73,185.4,97.9,12.3,21,4380,0.00,2.40,0.00,0.000,4,0.000,0.053,3169,539,1964,0,0,0,0,0,0
$GC,4415,0.73,185.4,93.1,11.7,21,4420,0.00,2.38,0.00,0.000,6,0.000,0.047,3170,2074,1964,0,0,0,0,0,0
$GC,4678,0.73,185.4,62.8,11.7,24,4682,0.00,2.35,0.00,0.000,4,0.000,0.057,3169,3572,1963,0,0,0,0,0,0
$GC,4794,0.73,185.4,49.3,11.0,25,4798,0.00,2.30,0.00,0.000,6,0.000,0.043,3180,2077,1962,0,0,0,0,0,0
$GC,5001,0.73,185.4,29.9,9.0,27,5005,0.00,2.35,0.00,0.000,4,0.000,0.056,3180,3572,1962,0,0,0,0,0,0
$GC,5028,0.73,185.4,27.5,9.1,27,5033,0.12,2.30,0.00,0.000,6,0.159,0.043,3158,2074,1962,0,0,0,0,0,0
$GC,5304,0.74,185.4,8.7,6.8,30,5308,0.00,2.40,0.00,0.000,4,0.000,0.053,3167,537,1961,0,0,0,0,0,0
$STATE,5542,end climb,NO_VERTICAL_VELOCITY
$STATE,5542,begin surface
$SM_CCo,5547,202.95,0.549,4,0,469,555.60
$SM_GC,1.62,7.97,0.00,0.00,0.031,0.000,0.000,123,2173,461,-8.61,-0.06,557.57
$IRIDIUM_FIX,4735.69,-12418.78,040911,070706
$TT8_MAMPS,0.026964
$HUMID,41.77
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.8,82.751
$10V_AH,9.9,83.728
$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,19.950,42.750,243.650,202.950,0.000,28.532,32.251,119.014,0.000,0.000,31.905,295.926,4383.474,554.139,792.961,171.323,33.343,891.182,0.000,602.504,0.000,0.536,0.000
$DEVICE_MAMPS,221.085,81.855,742.815,549.270,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,332,32
$CAP_FILE_SIZE,51977,0
$CFSIZE,260165632,156938240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,040911,103710,4751.276,-12512.026,9,2.5,28,18.7