version: 66.07
glider: 187
mission: 4
dive: 724
start: 9 4 111 0 13 9
data:
$ID,187
$MISSION,4
$DIVE,724
$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,-1585656
$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,41
$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
$GPS1,040911,000702,4751.796,-12511.625,17,2.0,17,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-76.2
$GPS2,040911,001215,4751.769,-12511.606,11,2.5,30,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.104,0.021
$KALMAN_X,382325.5,-8.6,-303.0,-387556.1,549.0
$KALMAN_Y,-797142.4,140.7,240.6,806495.4,-942.8
$MHEAD_RNG_PITCHd_Wd,263.0,883,-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,-30.0,0.0,0.0,0,77,0.00,0.00,-59.28,0.000,6,0.000,0.000,118,2195,2858,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,100,10.07,2.38,-3.58,0.000,4,0.225,0.063,2608,3678,3044,0,0,0,0,0,0
$GC,194,-0.89,-74.8,32.6,-16.9,1,198,0.00,2.33,0.00,0.000,6,0.000,0.041,2608,2174,3046,0,0,0,0,0,0
$GC,401,-0.87,-74.8,70.5,-18.6,3,406,0.12,2.42,0.00,0.000,4,0.178,0.057,2630,3682,3048,0,0,0,0,0,0
$GC,517,-0.87,-74.8,89.1,-16.2,4,521,0.00,2.28,0.00,0.000,6,0.000,0.041,2629,2195,3049,0,0,0,0,0,0
$GC,923,-0.87,-74.8,146.4,-13.9,6,928,0.00,2.35,0.00,0.000,4,0.000,0.048,2629,665,3049,0,0,0,0,0,0
$GC,1018,-0.87,-74.8,160.2,-14.7,6,1023,0.00,2.35,0.00,0.000,6,0.000,0.046,2619,2189,3050,0,0,0,0,0,0
$STATE,1553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1553,begin apogee
$GC,1560,-0.22,0.0,236.8,14.1,8,1626,0.73,0.00,63.40,0.705,6,0.131,0.000,2845,2043,2735,0,0,0,0,0,0
$STATE,1627,end apogee,CONTROL_FINISHED_OK
$STATE,1627,begin climb
$GC,1632,0.91,74.8,236.8,0.0,8,1702,1.00,2.53,63.70,0.691,4,0.070,0.054,3208,3584,2430,0,0,0,0,0,0
$GC,1772,0.89,74.8,232.3,10.3,8,1777,0.00,2.38,0.00,0.000,6,0.000,0.039,3219,2057,2424,0,0,0,0,0,0
$GC,2253,0.87,74.8,184.6,9.8,10,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2055,2421,0,0,0,0,0,0
$GC,2554,0.86,74.8,159.4,9.2,11,2558,0.00,2.35,0.00,0.000,4,0.000,0.050,3231,546,2420,0,0,0,0,0,0
$GC,2570,0.84,74.8,158.0,8.4,11,2575,0.15,2.35,0.00,0.000,6,0.177,0.044,3194,2071,2420,0,0,0,0,0,0
$GC,3179,0.84,74.8,113.2,7.2,13,3183,0.00,2.38,0.00,0.000,4,0.000,0.054,3194,3579,2419,0,0,0,0,0,0
$GC,3236,0.83,74.8,109.0,7.9,13,3240,0.00,2.35,0.00,0.000,6,0.000,0.041,3203,2055,2418,0,0,0,0,0,0
$GC,3613,0.84,95.9,90.3,3.2,15,3638,0.00,2.42,17.40,0.610,4,0.000,0.050,3215,550,2343,0,0,0,0,0,0
$GC,3784,0.84,98.3,82.9,5.8,16,3788,0.00,2.30,0.00,0.000,6,0.000,0.044,3215,2045,2341,0,0,0,0,0,0
$GC,4030,0.84,98.3,67.7,6.3,19,4034,0.00,2.40,0.00,0.000,4,0.000,0.054,3214,3570,2340,0,0,0,0,0,0
$GC,4162,0.85,128.9,63.1,1.9,20,4197,0.12,2.33,28.67,0.610,6,0.180,0.041,3195,2056,2207,0,0,0,0,0,0
$GC,4454,0.87,133.9,49.5,5.4,23,4464,0.00,2.42,5.03,0.467,4,0.000,0.056,3195,3570,2188,0,0,0,0,0,0
$GC,4660,0.87,133.9,35.3,7.6,24,4664,0.00,2.30,0.00,0.000,6,0.000,0.042,3205,2081,2187,0,0,0,0,0,0
$GC,4870,0.88,133.9,21.0,6.9,26,4874,0.00,2.38,0.00,0.000,4,0.000,0.056,3205,3577,2187,0,0,0,0,0,0
$GC,4919,0.88,136.7,17.4,5.7,26,4929,0.00,2.28,3.95,0.409,6,0.000,0.041,3216,2095,2176,0,0,0,0,0,0
$GC,5177,0.91,162.2,9.9,2.6,29,5207,0.00,2.47,23.05,0.571,4,0.000,0.050,3227,556,2072,0,0,0,0,0,0
$GC,5268,0.94,173.4,7.5,4.6,29,5283,0.00,2.38,10.35,0.529,6,0.000,0.045,3227,2096,2027,0,0,0,0,0,0
$GC,5485,0.98,210.5,5.0,1.1,31,5522,0.00,2.35,31.15,0.565,4,0.000,0.054,3227,3577,1875,0,0,0,0,0,0
$STATE,5547,end climb,SURFACE_DEPTH_REACHED
$STATE,5547,begin surface coast
$FINISH,3.4,NaN
$STATE,5562,end surface coast,CONTROL_FINISHED_OK
$STATE,5562,begin surface
$SM_CCo,5583,69.65,0.529,3,0,1409,325.02
$SM_GC,1.65,0.00,0.00,69.65,0.000,0.000,0.529,112,2175,1409,-8.78,0.00,325.02
$IRIDIUM_FIX,4735.69,-12509.51,030911,222254
$TT8_MAMPS,0.026964
$HUMID,42.08
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.9,82.371
$10V_AH,9.9,83.591
$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,20.700,56.875,246.700,69.650,0.000,26.363,32.083,124.511,0.000,0.000,32.019,329.046,4146.581,392.271,922.289,199.840,33.352,809.626,0.000,720.522,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,68.850,705.330,529.380,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,332,31
$CAP_FILE_SIZE,60771,0
$CFSIZE,260165632,157073408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040911,014852,4751.636,-12512.007,17,2.3,36,18.7