version: 66.07
glider: 187
mission: 4
dive: 727
start: 9 4 111 5 47 26
data:
$ID,187
$MISSION,4
$DIVE,727
$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,-1585659.8
$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,46
$R_STBD_OVSHOOT,40
$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
$GPS1,040911,054134,4751.727,-12511.823,13,2.1,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-77.3
$GPS2,040911,054632,4751.732,-12511.832,14,1.1,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.105,0.012
$KALMAN_X,382695.5,-322.0,57.5,-388251.7,282.9
$KALMAN_Y,-798117.1,-436.2,141.5,808082.4,-815.4
$MHEAD_RNG_PITCHd_Wd,64.7,912,-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,-30.0,0.0,0.0,0,76,0.00,0.00,-57.92,0.000,6,0.000,0.000,113,2173,2858,0,0,0,0,0,0
$GC,79,-0.92,-84.4,1.8,1.3,1,98,10.07,2.35,-4.10,0.000,4,0.225,0.057,2615,663,3082,0,0,0,0,0,0
$GC,274,-0.90,-84.4,52.7,-19.4,2,278,0.00,2.30,0.00,0.000,6,0.000,0.046,2606,2170,3086,0,0,0,0,0,0
$GC,498,-0.88,-84.4,94.7,-18.7,5,503,0.12,2.42,0.00,0.000,4,0.181,0.058,2628,3697,3087,0,0,0,0,0,0
$GC,607,-0.88,-84.4,111.6,-14.2,6,612,0.00,2.30,0.00,0.000,6,0.000,0.041,2627,2205,3087,0,0,0,0,0,0
$GC,1127,-0.88,-84.4,187.8,-14.2,8,1131,0.00,2.38,0.00,0.000,4,0.000,0.049,2627,664,3088,0,0,0,0,0,0
$GC,1217,-0.88,-84.4,200.0,-14.4,8,1221,0.00,2.35,0.00,0.000,6,0.000,0.047,2616,2197,3088,0,0,0,0,0,0
$STATE,1360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1360,begin apogee
$GC,1369,-0.22,0.0,220.5,15.8,8,1444,0.70,0.00,69.93,0.698,6,0.129,0.000,2841,2052,2734,0,0,0,0,0,0
$STATE,1444,end apogee,CONTROL_FINISHED_OK
$STATE,1444,begin climb
$GC,1451,0.92,84.4,223.8,0.0,8,1531,1.02,2.53,71.40,0.680,4,0.076,0.053,3208,3578,2390,0,0,0,0,0,0
$GC,1555,0.90,84.4,218.9,8.1,9,1560,0.00,2.40,0.00,0.000,6,0.000,0.039,3220,2061,2387,0,0,0,0,0,0
$GC,2086,0.88,84.4,165.4,9.7,11,2090,0.00,2.33,0.00,0.000,4,0.000,0.049,3231,549,2383,0,0,0,0,0,0
$GC,2143,0.87,84.4,160.1,9.7,11,2148,0.12,2.33,0.00,0.000,6,0.178,0.043,3202,2067,2383,0,0,0,0,0,0
$GC,2713,0.87,84.4,117.5,6.9,13,2717,0.00,2.35,0.00,0.000,4,0.000,0.054,3201,3580,2381,0,0,0,0,0,0
$GC,2884,0.86,87.8,105.6,5.6,13,2888,0.00,2.35,0.00,0.000,6,0.000,0.041,3211,2055,2379,0,0,0,0,0,0
$GC,3248,0.87,112.5,92.8,2.8,16,3274,0.00,0.00,23.35,0.618,6,0.000,0.000,3211,2054,2275,0,0,0,0,0,0
$GC,3554,0.87,112.5,72.9,6.8,19,3558,0.00,2.42,0.00,0.000,4,0.000,0.054,3211,3583,2272,0,0,0,0,0,0
$GC,3620,0.87,112.5,68.5,6.7,19,3624,0.00,2.33,0.00,0.000,6,0.000,0.041,3222,2078,2271,0,0,0,0,0,0
$GC,3856,0.88,122.6,57.2,4.7,22,3870,0.00,2.38,9.45,0.557,4,0.000,0.054,3223,3581,2235,0,0,0,0,0,0
$GC,4127,0.87,123.8,43.4,5.9,24,4131,0.12,2.22,0.00,0.000,6,0.181,0.041,3203,2124,2231,0,0,0,0,0,0
$GC,4390,0.89,141.4,33.7,3.7,27,4414,0.00,2.38,17.12,0.578,4,0.000,0.055,3203,3581,2156,0,0,0,0,0,0
$GC,4622,0.90,151.8,21.1,4.7,29,4637,0.00,2.22,9.82,0.538,6,0.000,0.041,3211,2135,2115,0,0,0,0,0,0
$GC,4925,0.94,181.3,12.8,2.1,32,4956,0.00,2.28,25.60,0.572,4,0.000,0.054,3212,3570,1994,0,0,0,0,0,0
$GC,5209,0.99,224.2,7.6,0.3,34,5249,0.00,2.12,35.67,0.565,6,0.000,0.041,3222,2180,1820,0,0,0,0,0,0
$STATE,5348,end climb,SURFACE_DEPTH_REACHED
$STATE,5348,begin surface coast
$FINISH,0.8,NaN
$STATE,5448,end surface coast,CONTROL_FINISHED_OK
$STATE,5449,begin surface
$SM_CCo,5468,62.92,0.477,3,0,1409,325.02
$SM_GC,1.70,0.00,0.00,62.92,0.000,0.000,0.477,112,2181,1409,-8.78,0.17,325.02
$IRIDIUM_FIX,4735.69,-12505.04,040911,030345
$TT8_MAMPS,0.026964
$HUMID,41.53
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.9,82.583
$10V_AH,9.9,83.678
$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,20.175,46.925,262.350,62.925,0.000,25.487,32.368,123.663,0.000,0.000,15.469,337.004,3955.965,365.845,1003.219,189.628,33.352,835.873,0.000,818.090,0.000,0.536,0.000
$DEVICE_MAMPS,224.910,68.085,697.680,476.595,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,37
$CAP_FILE_SIZE,60170,0
$CFSIZE,260165632,156983296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040911,072124,4751.617,-12510.928,36,1.0,53,18.7