version: 66.07
glider: 187
mission: 4
dive: 731
start: 9 4 111 12 44 25
data:
$ID,187
$MISSION,4
$DIVE,731
$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,-1585664.8
$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,40
$R_STBD_OVSHOOT,38
$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
$GPS1,040911,123830,4751.652,-12511.754,31,1.8,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.4
$GPS2,040911,124331,4751.595,-12511.748,11,1.1,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.085,0.063
$KALMAN_X,384110.3,-37.9,-142.6,-389646.9,583.6
$KALMAN_Y,-800411.2,448.4,90.7,809288.4,-728.4
$MHEAD_RNG_PITCHd_Wd,287.5,640,-27.7,-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,-0.88,-30.0,0.0,0.0,0,77,0.00,0.00,-59.10,0.000,6,0.000,0.000,118,2186,2858,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,100,10.12,2.45,-3.58,0.000,4,0.226,0.070,2612,3687,3043,0,0,0,0,0,0
$GC,235,-0.89,-74.8,41.5,-19.4,1,239,0.00,2.35,0.00,0.000,6,0.000,0.041,2611,2166,3046,0,0,0,0,0,0
$GC,498,-0.87,-74.8,89.0,-17.8,4,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2160,3048,0,0,0,0,0,0
$GC,899,-0.86,-74.8,149.3,-15.7,6,904,0.12,2.40,0.00,0.000,4,0.174,0.056,2634,3682,3049,0,0,0,0,0,0
$GC,945,-0.86,-74.8,155.4,-12.9,6,949,0.00,2.33,0.00,0.000,6,0.000,0.041,2633,2170,3049,0,0,0,0,0,0
$GC,1528,-0.86,-74.8,231.4,-13.0,8,1532,0.00,2.33,0.00,0.000,4,0.000,0.049,2633,656,3049,0,0,0,0,0,0
$GC,1680,-0.86,-74.8,251.5,-13.6,8,1684,0.00,2.33,0.00,0.000,6,0.000,0.047,2623,2173,3049,0,0,0,0,0,0
$STATE,1688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1688,begin apogee
$GC,1694,-0.22,0.0,253.1,13.2,8,1763,0.70,0.00,62.90,0.721,6,0.130,0.000,2846,2048,2735,0,0,0,0,0,0
$STATE,1764,end apogee,CONTROL_FINISHED_OK
$STATE,1764,begin climb
$GC,1768,0.91,74.8,256.8,0.0,8,1838,1.00,0.00,64.05,0.704,6,0.070,0.000,3209,2048,2429,0,0,0,0,0,0
$GC,2153,0.90,74.8,228.4,8.4,10,2157,0.00,2.33,0.00,0.000,4,0.000,0.050,3221,555,2422,0,0,0,0,0,0
$GC,2277,0.88,74.8,217.7,9.1,10,2282,0.00,2.30,0.00,0.000,6,0.000,0.044,3220,2049,2421,0,0,0,0,0,0
$GC,2788,0.87,74.8,174.4,8.2,12,2793,0.00,2.40,0.00,0.000,4,0.000,0.055,3220,3577,2419,0,0,0,0,0,0
$GC,2833,0.84,74.8,169.9,10.2,12,2838,0.15,2.38,0.00,0.000,6,0.179,0.041,3194,2036,2417,0,0,0,0,0,0
$GC,3414,0.84,74.8,122.0,7.6,14,3418,0.00,2.30,0.00,0.000,4,0.000,0.050,3204,550,2417,0,0,0,0,0,0
$GC,3442,0.84,78.5,120.3,5.6,14,3446,0.00,2.30,0.00,0.000,6,0.000,0.045,3204,2047,2417,0,0,0,0,0,0
$GC,4046,0.85,84.5,88.1,5.3,16,4060,0.00,2.47,7.32,0.550,4,0.000,0.054,3204,3571,2390,0,0,0,0,0,0
$GC,4072,0.86,97.7,86.8,4.3,16,4091,0.00,2.38,13.27,0.595,6,0.000,0.041,3215,2039,2335,0,0,0,0,0,0
$GC,4357,0.86,100.9,71.2,5.7,19,4366,0.00,2.47,3.88,0.423,4,0.000,0.057,3215,3564,2323,0,0,0,0,0,0
$GC,4621,0.86,123.0,62.9,3.1,21,4647,0.12,2.33,20.35,0.604,6,0.182,0.041,3196,2058,2232,0,0,0,0,0,0
$GC,4891,0.87,123.0,47.3,6.4,24,4895,0.00,2.42,0.00,0.000,4,0.000,0.057,3196,3581,2228,0,0,0,0,0,0
$GC,5148,0.88,135.2,31.8,4.4,26,5164,0.00,2.35,11.30,0.560,6,0.000,0.042,3205,2062,2183,0,0,0,0,0,0
$GC,5421,0.90,148.6,20.0,4.3,29,5435,0.00,0.00,12.73,0.559,6,0.000,0.000,3205,2062,2129,0,0,0,0,0,0
$GC,5618,0.93,159.3,10.7,4.6,31,5634,0.00,2.42,10.55,0.540,4,0.000,0.055,3205,3576,2083,0,0,0,0,0,0
$GC,5889,0.97,197.6,9.0,0.9,33,5928,0.00,2.35,32.08,0.573,6,0.000,0.042,3217,2049,1928,0,0,0,0,0,0
$STATE,6145,end climb,SURFACE_DEPTH_REACHED
$STATE,6145,begin surface coast
$FINISH,0.9,NaN
$STATE,6248,end surface coast,CONTROL_FINISHED_OK
$STATE,6248,begin surface
$SM_CCo,6266,78.50,0.500,3,0,1409,325.02
$SM_GC,1.54,0.00,0.00,78.50,0.000,0.000,0.500,122,2185,1409,-8.75,0.28,325.02
$IRIDIUM_FIX,4732.49,-12510.28,040911,101048
$TT8_MAMPS,0.026964
$HUMID,42.16
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.9,82.881
$10V_AH,9.9,83.785
$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,20.275,47.725,238.425,78.500,0.000,27.943,34.700,116.915,0.000,0.000,17.288,343.809,4771.645,376.420,979.877,198.466,33.349,830.726,0.000,793.843,0.000,0.535,0.000
$DEVICE_MAMPS,226.440,81.855,720.630,499.545,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297804
$DATA_FILE_SIZE,334,37
$CAP_FILE_SIZE,62304,0
$CFSIZE,260165632,156872704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040911,143134,4751.750,-12511.935,9,2.4,28,18.7