version: 66.07
glider: 187
mission: 4
dive: 750
start: 9 5 111 23 59 38
data:
$ID,187
$MISSION,4
$DIVE,750
$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,-1586591.4
$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,34
$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
$GPS1,050911,235343,4751.284,-12511.497,22,1.8,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-78.1
$GPS2,050911,235844,4751.272,-12511.481,15,1.8,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.048,-0.094
$KALMAN_X,388802.9,156.5,-31.5,-394314.5,-272.0
$KALMAN_Y,-801588.2,-266.4,-278.3,810953.7,588.5
$MHEAD_RNG_PITCHd_Wd,134.4,50,-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,-30.0,0.0,0.0,0,60,0.00,0.00,-42.42,0.000,2,0.000,0.000,113,2163,2414,0,0,0,0,0,0
$GC,64,-0.89,-42.6,3.2,-4.4,0,93,10.10,2.50,-11.88,0.000,4,0.223,0.067,2616,3686,2911,0,0,0,0,0,0
$GC,346,-0.87,-42.6,54.8,-17.9,3,350,0.00,2.33,0.00,0.000,6,0.000,0.041,2615,2170,2915,0,0,0,0,0,0
$GC,616,-0.85,-42.6,93.3,-13.8,6,621,0.12,2.40,0.00,0.000,4,0.174,0.055,2638,3692,2917,0,0,0,0,0,0
$GC,718,-0.85,-42.6,107.4,-13.2,6,723,0.00,2.35,0.00,0.000,6,0.000,0.041,2637,2169,2917,0,0,0,0,0,0
$GC,1025,-0.85,-42.6,146.4,-12.8,8,1029,0.00,2.30,0.00,0.000,4,0.000,0.048,2637,665,2917,0,0,0,0,0,0
$GC,1121,-0.85,-42.6,157.9,-11.7,8,1125,0.00,2.30,0.00,0.000,6,0.000,0.047,2627,2172,2917,0,0,0,0,0,0
$GC,1657,-0.85,-42.6,221.2,-11.7,10,1661,0.00,2.33,0.00,0.000,4,0.000,0.049,2626,667,2917,0,0,0,0,0,0
$GC,1771,-0.85,-42.6,235.2,-12.2,10,1775,0.12,2.33,0.00,0.000,6,0.170,0.047,2647,2169,2917,0,0,0,0,0,0
$STATE,1936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1936,begin apogee
$GC,1944,-0.22,0.0,253.4,9.9,10,1985,0.60,0.00,37.50,0.721,6,0.125,0.000,2844,2055,2734,0,0,0,0,0,0
$STATE,1986,end apogee,CONTROL_FINISHED_OK
$STATE,1986,begin climb
$GC,1988,0.89,42.6,255.7,0.0,11,2029,1.00,0.00,36.85,0.711,6,0.072,0.000,3208,2055,2561,0,0,0,0,0,0
$GC,2621,0.89,60.8,233.2,3.6,13,2642,0.00,2.40,15.90,0.681,4,0.000,0.053,3208,3578,2486,0,0,0,0,0,0
$GC,2897,0.86,60.8,214.4,6.6,13,2901,0.00,2.30,0.00,0.000,6,0.000,0.041,3219,2077,2482,0,0,0,0,0,0
$GC,3248,0.85,60.8,190.0,7.0,15,3252,0.00,2.40,0.00,0.000,4,0.000,0.054,3219,3581,2482,0,0,0,0,0,0
$GC,3444,0.82,60.8,173.5,8.8,15,3449,0.17,2.33,0.00,0.000,6,0.172,0.041,3185,2075,2481,0,0,0,0,0,0
$GC,3876,0.82,60.8,145.2,6.5,17,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2070,2481,0,0,0,0,0,0
$GC,4176,0.82,63.2,130.5,5.8,18,4180,0.00,2.38,0.00,0.000,4,0.000,0.050,3195,552,2480,0,0,0,0,0,0
$GC,4323,0.83,81.2,124.7,3.7,18,4347,0.00,2.35,18.02,0.644,6,0.000,0.044,3195,2084,2403,0,0,0,0,0,0
$GC,4812,0.83,81.2,94.0,6.7,20,4816,0.00,2.33,0.00,0.000,4,0.000,0.055,3195,3571,2400,0,0,0,0,0,0
$GC,5071,0.83,92.4,76.5,4.6,22,5087,0.00,2.28,10.80,0.590,6,0.000,0.041,3206,2093,2358,0,0,0,0,0,0
$GC,5339,0.85,113.8,67.9,3.2,25,5364,0.00,2.42,19.62,0.614,4,0.000,0.050,3218,553,2269,0,0,0,0,0,0
$GC,5414,0.85,113.8,62.9,8.1,25,5418,0.00,2.30,0.00,0.000,6,0.000,0.045,3218,2046,2268,0,0,0,0,0,0
$GC,5640,0.85,113.8,45.4,7.8,28,5644,0.00,2.35,0.00,0.000,4,0.000,0.050,3229,548,2266,0,0,0,0,0,0
$GC,5804,0.86,138.9,39.2,2.7,29,5834,0.12,2.22,22.10,0.599,6,0.170,0.044,3198,2007,2167,0,0,0,0,0,0
$GC,6069,0.88,141.2,25.3,5.8,32,6073,0.00,2.25,0.00,0.000,4,0.000,0.050,3206,553,2164,0,0,0,0,0,0
$GC,6091,0.90,141.2,23.3,7.0,32,6095,0.00,2.17,0.00,0.000,6,0.000,0.044,3207,1978,2164,0,0,0,0,0,0
$GC,6380,0.94,163.7,13.7,3.0,35,6408,0.00,2.22,21.67,0.584,4,0.000,0.049,3217,553,2066,0,0,0,0,0,0
$GC,6426,0.98,190.7,12.6,2.4,35,6455,0.00,2.20,23.60,0.572,6,0.000,0.044,3218,1982,1956,0,0,0,0,0,0
$GC,6689,1.04,221.7,7.7,1.9,38,6721,0.10,2.28,25.80,0.569,4,0.102,0.050,3282,543,1830,0,0,0,0,0,0
$STATE,6802,end climb,SURFACE_DEPTH_REACHED
$STATE,6802,begin surface coast
$FINISH,3.6,NaN
$STATE,6808,end surface coast,CONTROL_FINISHED_OK
$STATE,6808,begin surface
$SM_CCo,6829,69.50,0.525,4,0,1409,325.02
$SM_GC,1.51,0.00,0.00,69.50,0.000,0.000,0.525,110,2183,1409,-8.78,0.23,325.02
$IRIDIUM_FIX,4732.49,-12503.20,050911,222239
$TT8_MAMPS,0.026964
$HUMID,42.28
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.50
$XPDR_PINGS,1
$24V_AH,24.0,84.179
$10V_AH,9.9,84.345
$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,21.025,60.725,231.875,69.500,0.000,26.695,32.009,124.824,0.250,0.000,16.623,382.508,5173.376,348.663,1114.575,211.175,33.349,877.867,0.000,922.250,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,78.795,720.630,524.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,39
$CAP_FILE_SIZE,70366,0
$CFSIZE,260165632,156295168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,060911,015636,4751.388,-12511.412,57,1.7,57,18.7