version: 66.07
glider: 187
mission: 4
dive: 692
start: 8 29 111 18 16 27
data:
$ID,187
$MISSION,4
$DIVE,692
$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,2
$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,-1585616
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,290811,181024,4742.725,-12519.699,33,1.9,49,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-78.3
$GPS2,290811,181532,4742.683,-12519.712,14,1.6,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.064,0.189
$KALMAN_X,363415.2,254.6,609.1,-379927.1,-1751.8
$KALMAN_Y,-772896.4,199.2,-300.1,765939.2,-5389.9
$MHEAD_RNG_PITCHd_Wd,329.0,18956,-13.6,-6.111
$D_GRID,908
$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,-0.50,-117.3,0.0,0.0,0,67,0.00,0.00,-48.78,0.000,2,0.000,0.000,118,2183,2558,0,0,0,0,0,0
$GC,71,-0.50,-117.3,3.3,-4.0,1,101,10.57,2.40,-14.52,0.000,4,0.222,0.062,2747,663,3215,0,0,0,0,0,0
$GC,137,-0.44,-117.3,17.9,-18.5,1,142,0.15,2.38,0.00,0.000,6,0.149,0.048,2779,2179,3217,0,0,0,0,0,0
$GC,372,-0.42,-117.3,41.9,-10.0,4,376,0.00,2.40,0.00,0.000,4,0.000,0.060,2770,3693,3220,0,0,0,0,0,0
$GC,429,-0.42,-117.3,46.9,-8.2,4,434,0.00,2.35,0.00,0.000,6,0.000,0.044,2770,2169,3220,0,0,0,0,0,0
$GC,676,-0.41,-117.3,70.2,-9.7,7,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2166,3221,0,0,0,0,0,0
$GC,877,-0.41,-117.3,87.5,-9.2,9,881,0.00,2.35,0.00,0.000,4,0.000,0.050,2770,659,3222,0,0,0,0,0,0
$GC,945,-0.41,-117.3,92.4,-6.6,9,949,0.00,2.38,0.00,0.000,6,0.000,0.048,2761,2200,3222,0,0,0,0,0,0
$GC,1381,-0.41,-117.3,121.3,-6.7,12,1385,0.00,2.38,0.00,0.000,4,0.000,0.050,2761,670,3222,0,0,0,0,0,0
$GC,1407,-0.41,-117.3,123.5,-6.9,12,1412,0.12,2.33,0.00,0.000,6,0.130,0.048,2792,2185,3222,0,0,0,0,0,0
$GC,2014,-0.43,-117.3,154.7,-4.9,14,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2185,3221,0,0,0,0,0,0
$GC,2314,-0.45,-117.3,171.0,-5.1,15,2318,0.00,2.40,0.00,0.000,4,0.000,0.050,2792,668,3222,0,0,0,0,0,0
$GC,2354,-0.48,-117.3,173.8,-7.4,15,2358,0.00,2.35,0.00,0.000,6,0.000,0.048,2792,2190,3222,0,0,0,0,0,0
$GC,2941,-0.51,-117.3,209.2,-5.5,17,2946,0.12,2.40,0.00,0.000,4,0.087,0.061,2718,3691,3221,0,0,0,0,0,0
$GC,3004,-0.51,-117.3,213.3,-7.4,17,3009,0.12,2.40,0.00,0.000,6,0.125,0.044,2755,2150,3221,0,0,0,0,0,0
$GC,3570,-0.51,-117.3,250.1,-6.6,19,3574,0.00,2.30,0.00,0.000,4,0.000,0.052,2756,662,3219,0,0,0,0,0,0
$GC,3637,-0.51,-117.3,254.8,-6.9,19,3641,0.00,2.30,0.00,0.000,6,0.000,0.050,2750,2143,3220,0,0,0,0,0,0
$GC,4198,-0.51,-117.3,292.2,-6.7,21,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2143,3218,0,0,0,0,0,0
$GC,4497,-0.51,-117.3,313.6,-6.9,22,4501,0.00,2.33,0.00,0.000,4,0.000,0.053,2750,667,3218,0,0,0,0,0,0
$GC,4524,-0.51,-117.3,315.7,-7.7,22,4528,0.00,2.30,0.00,0.000,6,0.000,0.051,2746,2152,3218,0,0,0,0,0,0
$GC,5122,-0.51,-117.3,356.7,-6.7,24,5127,0.00,2.53,0.00,0.000,4,0.000,0.064,2734,3696,3216,0,0,0,0,0,0
$GC,5150,-0.51,-117.3,358.7,-7.1,24,5154,0.00,2.42,0.00,0.000,6,0.000,0.047,2733,2141,3217,0,0,0,0,0,0
$GC,5754,-0.51,-117.3,401.2,-6.9,26,5758,0.00,2.33,0.00,0.000,4,0.000,0.054,2733,663,3216,0,0,0,0,0,0
$GC,5822,-0.51,-117.3,406.0,-7.2,26,5826,0.00,2.33,0.00,0.000,6,0.000,0.050,2725,2145,3216,0,0,0,0,0,0
$GC,6381,-0.51,-117.3,445.3,-7.0,28,6385,0.00,2.35,0.00,0.000,4,0.000,0.054,2724,662,3215,0,0,0,0,0,0
$GC,6437,-0.51,-117.3,449.4,-7.5,28,6442,0.12,2.33,0.00,0.000,6,0.135,0.051,2754,2140,3215,0,0,0,0,0,0
$GC,7008,-0.51,-117.3,483.5,-6.1,30,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2140,3214,0,0,0,0,0,0
$GC,7309,-0.51,-117.3,502.0,-6.1,31,7313,0.00,2.33,0.00,0.000,4,0.000,0.054,2754,665,3213,0,0,0,0,0,0
$GC,7342,-0.53,-117.3,504.4,-6.8,31,7347,0.00,2.33,0.00,0.000,6,0.000,0.052,2750,2140,3213,0,0,0,0,0,0
$GC,7943,-0.53,-117.3,542.5,-6.2,33,7947,0.00,2.35,0.00,0.000,4,0.000,0.054,2750,663,3213,0,0,0,0,0,0
$GC,7970,-0.53,-117.3,544.5,-7.5,33,7974,0.00,2.33,0.00,0.000,6,0.000,0.053,2746,2145,3212,0,0,0,0,0,0
$GC,8575,-0.53,-117.3,582.3,-6.2,35,8579,0.00,2.35,0.00,0.000,4,0.000,0.054,2746,659,3212,0,0,0,0,0,0
$GC,8602,-0.53,-117.3,584.3,-6.7,35,8606,0.00,2.30,0.00,0.000,6,0.000,0.054,2745,2126,3212,0,0,0,0,0,0
$GC,9207,-0.53,-117.3,620.2,-6.0,37,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2126,3211,0,0,0,0,0,0
$GC,9507,-0.53,-117.3,638.3,-6.0,38,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2126,3211,0,0,0,0,0,0
$GC,9808,-0.53,-117.3,657.7,-6.1,39,9812,0.00,2.35,0.00,0.000,4,0.000,0.056,2745,663,3211,0,0,0,0,0,0
$GC,9849,-0.53,-117.3,660.4,-7.4,39,9853,0.00,2.30,0.00,0.000,6,0.000,0.053,2742,2132,3210,0,0,0,0,0,0
$GC,10436,-0.53,-117.3,700.6,-6.8,41,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2132,3210,0,0,0,0,0,0
$GC,10738,-0.53,-117.3,719.8,-6.6,42,10742,0.00,2.33,0.00,0.000,4,0.000,0.055,2742,663,3209,0,0,0,0,0,0
$GC,10776,-0.53,-117.3,722.5,-6.8,42,10780,0.00,2.33,0.00,0.000,6,0.000,0.054,2742,2130,3209,0,0,0,0,0,0
$GC,11365,-0.53,-117.3,752.7,-4.9,44,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2130,3209,0,0,0,0,0,0
$GC,11664,-0.53,-117.3,767.8,-5.0,45,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2129,3209,0,0,0,0,0,0
$GC,11964,-0.53,-117.3,782.3,-4.9,46,11968,0.00,2.33,0.00,0.000,4,0.000,0.057,2742,664,3208,0,0,0,0,0,0
$GC,11997,-0.53,-117.3,784.0,-5.0,46,12001,0.00,2.33,0.00,0.000,6,0.000,0.054,2742,2127,3208,0,0,0,0,0,0
$GC,12596,-0.53,-117.3,812.8,-5.1,48,12597,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2128,3207,0,0,0,0,0,0
$GC,12896,-0.53,-117.3,828.0,-5.1,49,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2127,3207,0,0,0,0,0,0
$GC,13199,-0.53,-117.3,843.6,-5.1,50,13203,0.00,2.35,0.00,0.000,4,0.000,0.057,2742,668,3207,0,0,0,0,0,0
$GC,13254,-0.53,-117.3,847.0,-6.2,50,13258,0.00,2.30,0.00,0.000,6,0.000,0.055,2742,2131,3207,0,0,0,0,0,0
$GC,13826,-0.53,-117.3,876.3,-5.1,52,13830,0.00,2.33,0.00,0.000,4,0.000,0.057,2742,668,3207,0,0,0,0,0,0
$GC,13860,-0.53,-117.3,878.3,-5.6,52,13864,0.00,2.28,0.00,0.000,6,0.000,0.054,2742,2117,3207,0,0,0,0,0,0
$STATE,14456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14456,begin apogee
$GC,14462,-0.22,0.0,909.2,5.2,54,14570,0.32,0.00,104.93,1.172,6,0.103,0.000,2850,2060,2735,0,0,0,0,0,0
$STATE,14570,end apogee,CONTROL_FINISHED_OK
$STATE,14570,begin climb
$GC,14573,0.50,117.3,909.2,0.0,54,14690,0.68,0.00,113.47,1.140,6,0.065,0.000,3086,2060,2256,0,0,0,0,0,0
$GC,14761,1.28,1466.2,900.6,-41.3,55,15174,0.65,2.72,401.25,1.079,4,0.044,0.059,3346,557,470,0,0,0,0,0,0
$GC,15226,1.19,1466.2,740.2,37.7,56,15231,0.17,2.53,0.00,0.000,6,0.184,0.048,3307,2060,466,0,0,0,0,0,0
$GC,15685,1.11,1466.2,572.5,36.2,58,15689,0.00,2.40,0.00,0.000,4,0.000,0.057,3307,3580,463,0,0,0,0,0,0
$GC,15759,1.07,1466.2,549.4,26.8,58,15764,0.17,2.33,0.00,0.000,6,0.154,0.050,3268,2108,462,0,0,0,0,0,0
$GC,16314,1.01,1466.2,380.4,30.6,60,16318,0.00,2.47,0.00,0.000,4,0.000,0.059,3278,539,462,0,0,0,0,0,0
$GC,16375,0.96,1466.2,362.0,27.2,60,16380,0.17,2.47,0.00,0.000,6,0.158,0.050,3231,2124,461,0,0,0,0,0,0
$GC,16940,0.91,1466.2,219.2,25.2,62,16944,0.00,2.30,0.00,0.000,4,0.000,0.059,3231,3586,461,0,0,0,0,0,0
$GC,16978,0.89,1466.2,209.6,21.6,62,16983,0.12,2.28,0.00,0.000,6,0.147,0.048,3204,2131,461,0,0,0,0,0,0
$GC,17565,0.86,1466.2,90.4,19.7,64,17569,0.00,2.50,0.00,0.000,4,0.000,0.058,3214,544,461,0,0,0,0,0,0
$GC,17633,0.86,1466.2,78.5,14.9,64,17638,0.00,2.47,0.00,0.000,6,0.000,0.048,3215,2152,461,0,0,0,0,0,0
$GC,17869,0.84,1466.2,38.0,17.5,67,17873,0.00,2.55,0.00,0.000,4,0.000,0.058,3225,545,461,0,0,0,0,0,0
$GC,17952,0.87,1466.2,26.0,9.8,67,17956,0.00,2.42,0.00,0.000,6,0.000,0.049,3225,2109,460,0,0,0,0,0,0
$STATE,18167,end climb,SURFACE_DEPTH_REACHED
$STATE,18167,begin surface coast
$FINISH,1.0,NaN
$STATE,18268,end surface coast,CONTROL_FINISHED_OK
$STATE,18268,begin surface
$SM_CCo,18348,0.00,0.000,0,0,457,558.79
$SM_GC,1.83,8.02,0.00,0.00,0.034,0.000,0.000,117,2191,457,-8.62,0.48,558.79
$IRIDIUM_FIX,4726.11,-12518.13,290811,101041
$TT8_MAMPS,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,22.0,79.334
$10V_AH,9.8,82.097
$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,21.550,118.800,619.650,0.000,0.000,25.158,30.805,115.674,0.000,0.000,15.076,740.708,14765.308,628.802,2185.241,320.804,33.370,1707.398,0.000,1958.221,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,121.635,1171.980,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297712
$DATA_FILE_SIZE,3691,71
$CAP_FILE_SIZE,137211,0
$CFSIZE,260165632,158445568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.208,343.9,1
$GPS,290811,232330,4744.673,-12520.565,39,1.3,39,18.7