version: 66.07
glider: 187
mission: 4
dive: 741
start: 9 5 111 6 47 8
data:
$ID,187
$MISSION,4
$DIVE,741
$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,-1585677.2
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,050911,064124,4751.765,-12511.817,31,2.0,48,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-77.5
$GPS2,050911,064614,4751.780,-12511.875,13,2.0,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.024,-0.103
$KALMAN_X,387604.2,-407.9,1.3,-393069.9,356.2
$KALMAN_Y,-803481.4,-214.7,103.2,813347.6,-323.5
$MHEAD_RNG_PITCHd_Wd,148.2,1016,-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,-30.0,0.0,0.0,0,74,0.00,0.00,-55.97,0.000,6,0.000,0.000,116,2168,2859,0,0,0,0,0,0
$GC,77,-0.89,-47.9,2.4,-3.7,1,96,10.30,2.35,-1.33,0.000,4,0.232,0.050,2622,641,2935,0,0,0,0,0,0
$GC,333,-0.88,-47.9,59.4,-18.5,3,338,0.00,2.35,0.00,0.000,6,0.000,0.046,2612,2182,2939,0,0,0,0,0,0
$GC,608,-0.85,-47.9,99.7,-13.7,6,613,0.12,2.35,0.00,0.000,4,0.174,0.055,2635,3691,2940,0,0,0,0,0,0
$GC,661,-0.85,-47.9,106.3,-13.7,6,665,0.00,2.33,0.00,0.000,6,0.000,0.040,2634,2181,2940,0,0,0,0,0,0
$GC,1012,-0.85,-47.9,151.8,-12.9,8,1016,0.00,2.33,0.00,0.000,4,0.000,0.048,2634,657,2940,0,0,0,0,0,0
$GC,1057,-0.85,-47.9,158.0,-13.8,8,1061,0.00,2.35,0.00,0.000,6,0.000,0.045,2623,2183,2940,0,0,0,0,0,0
$STATE,1636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1636,begin apogee
$GC,1643,-0.22,0.0,230.1,12.2,10,1688,0.70,0.00,42.33,0.702,6,0.130,0.000,2843,2050,2735,0,0,0,0,0,0
$STATE,1689,end apogee,CONTROL_FINISHED_OK
$STATE,1689,begin climb
$GC,1693,0.89,47.9,230.1,0.0,10,1743,1.00,2.42,40.97,0.688,4,0.070,0.047,3218,560,2539,0,0,0,0,0,0
$GC,1873,0.88,54.4,225.3,5.2,10,1886,0.00,2.30,6.50,0.561,6,0.000,0.043,3219,2066,2513,0,0,0,0,0,0
$GC,2323,0.87,54.7,198.4,6.1,12,2327,0.00,2.38,0.00,0.000,4,0.000,0.054,3219,3570,2510,0,0,0,0,0,0
$GC,2581,0.84,59.9,181.5,5.4,12,2592,0.15,2.28,5.55,0.532,6,0.181,0.040,3193,2075,2490,0,0,0,0,0,0
$GC,2957,0.84,68.4,163.0,4.9,14,2971,0.00,2.40,8.93,0.601,4,0.000,0.054,3192,3563,2456,0,0,0,0,0,0
$GC,3124,0.83,68.4,152.6,7.3,14,3128,0.00,2.25,0.00,0.000,6,0.000,0.041,3201,2092,2454,0,0,0,0,0,0
$GC,3588,0.83,79.7,129.5,4.6,16,3604,0.00,2.40,11.25,0.612,4,0.000,0.049,3214,542,2409,0,0,0,0,0,0
$GC,3654,0.84,84.0,126.3,5.5,16,3665,0.00,2.35,5.30,0.511,6,0.000,0.045,3214,2070,2392,0,0,0,0,0,0
$GC,4213,0.84,84.0,89.7,6.3,18,4217,0.00,2.38,0.00,0.000,4,0.000,0.055,3214,3583,2390,0,0,0,0,0,0
$GC,4473,0.84,116.7,77.6,1.7,20,4508,0.12,2.33,29.00,0.621,6,0.180,0.041,3194,2059,2259,0,0,0,0,0,0
$GC,4747,0.86,120.5,64.0,5.6,23,4756,0.00,2.42,4.20,0.437,4,0.000,0.057,3194,3574,2243,0,0,0,0,0,0
$GC,4931,0.86,120.7,52.3,6.1,24,4935,0.00,2.30,0.00,0.000,6,0.000,0.041,3203,2082,2241,0,0,0,0,0,0
$GC,5172,0.87,125.5,39.2,5.5,27,5182,0.00,2.38,5.80,0.492,4,0.000,0.054,3203,3573,2222,0,0,0,0,0,0
$GC,5315,0.88,139.3,32.1,4.2,28,5335,0.00,2.35,13.32,0.568,6,0.000,0.041,3215,2060,2166,0,0,0,0,0,0
$GC,5596,0.90,150.1,19.1,4.6,31,5611,0.00,2.42,10.40,0.544,4,0.000,0.054,3215,3579,2122,0,0,0,0,0,0
$GC,5635,0.90,154.6,17.1,5.5,31,5646,0.00,2.30,5.57,0.469,6,0.000,0.041,3226,2090,2102,0,0,0,0,0,0
$GC,5899,0.94,189.0,11.5,1.4,34,5933,0.00,2.38,29.30,0.575,4,0.000,0.056,3226,3573,1963,0,0,0,0,0,0
$GC,6091,0.98,219.8,9.4,1.9,35,6122,0.00,2.22,26.15,0.563,6,0.000,0.041,3237,2140,1837,0,0,0,0,0,0
$STATE,6323,end climb,SURFACE_DEPTH_REACHED
$STATE,6324,begin surface coast
$FINISH,0.7,NaN
$STATE,6423,end surface coast,CONTROL_FINISHED_OK
$STATE,6423,begin surface
$SM_CCo,6443,65.45,0.483,3,0,1409,325.02
$SM_GC,1.61,0.00,0.00,65.45,0.000,0.000,0.483,112,2142,1409,-8.78,-0.93,325.02
$IRIDIUM_FIX,4735.69,-12516.60,050911,040425
$TT8_MAMPS,0.026964
$HUMID,42.28
$INTERNAL_PRESSURE,9.14759
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.0,83.570
$10V_AH,9.9,84.063
$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,20.475,56.475,244.575,65.450,0.000,26.291,29.475,114.975,0.000,0.000,14.590,374.896,4811.191,368.402,1060.823,206.251,33.340,863.292,0.000,880.893,0.000,0.536,0.000
$DEVICE_MAMPS,231.795,72.675,701.505,483.480,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,332,39
$CAP_FILE_SIZE,67905,0
$CFSIZE,260165632,156573696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,050911,083707,4751.391,-12511.468,37,1.8,37,18.7