version: 66.07
glider: 187
mission: 4
dive: 695
start: 8 30 111 13 4 38
data:
$ID,187
$MISSION,4
$DIVE,695
$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,-1585619.8
$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,32
$R_STBD_OVSHOOT,39
$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
$GPS1,300811,125836,4748.703,-12516.825,30,1.4,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-74.0
$GPS2,300811,130344,4748.641,-12516.847,16,1.4,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.100,0.173
$KALMAN_X,361616.5,481.3,-467.0,-373712.7,1422.6
$KALMAN_Y,-778373.8,1096.0,804.9,780408.8,-4137.1
$MHEAD_RNG_PITCHd_Wd,11.5,8290,-13.6,-6.111
$D_GRID,490
$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,-117.3,0.0,0.0,0,98,0.00,0.00,-80.78,0.000,6,0.000,0.000,125,2189,3215,0,0,0,0,0,0
$GC,101,-0.50,-117.3,0.0,-0.0,0,117,10.60,2.35,0.00,0.000,4,0.223,0.037,2751,645,3219,0,0,0,0,0,0
$GC,139,-0.38,-117.3,25.0,-29.9,0,144,0.17,2.35,0.00,0.000,6,0.137,0.049,2792,2165,3220,0,0,0,0,0,0
$GC,404,-0.38,-117.3,49.6,-8.8,3,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2165,3222,0,0,0,0,0,0
$GC,603,-0.38,-117.3,65.1,-8.2,5,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2165,3223,0,0,0,0,0,0
$GC,804,-0.38,-117.3,79.6,-7.4,7,808,0.00,2.33,0.00,0.000,4,0.000,0.049,2792,656,3224,0,0,0,0,0,0
$GC,839,-0.39,-117.3,82.2,-8.0,7,844,0.00,2.33,0.00,0.000,6,0.000,0.047,2791,2168,3224,0,0,0,0,0,0
$GC,1109,-0.40,-117.3,99.4,-6.2,10,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2168,3224,0,0,0,0,0,0
$GC,1510,-0.42,-117.3,125.3,-6.3,12,1514,0.00,2.33,0.00,0.000,4,0.000,0.050,2790,661,3223,0,0,0,0,0,0
$GC,1556,-0.44,-117.3,128.3,-7.1,12,1560,0.00,2.33,0.00,0.000,6,0.000,0.047,2791,2162,3223,0,0,0,0,0,0
$GC,2138,-0.47,-117.3,161.4,-5.1,14,2142,0.00,2.42,0.00,0.000,4,0.000,0.060,2791,3691,3223,0,0,0,0,0,0
$GC,2265,-0.52,-117.3,168.0,-5.6,14,2269,0.12,2.42,0.00,0.000,6,0.086,0.043,2722,2113,3222,0,0,0,0,0,0
$GC,2769,-0.51,-117.3,208.8,-8.7,16,2774,0.12,2.28,0.00,0.000,4,0.136,0.051,2760,660,3222,0,0,0,0,0,0
$GC,2836,-0.52,-117.3,214.0,-6.8,16,2840,0.00,2.25,0.00,0.000,6,0.000,0.048,2754,2126,3222,0,0,0,0,0,0
$GC,3394,-0.52,-117.3,252.9,-6.8,18,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2126,3221,0,0,0,0,0,0
$GC,3695,-0.52,-117.3,273.3,-6.8,19,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2126,3220,0,0,0,0,0,0
$GC,3995,-0.52,-117.3,293.3,-6.8,20,3999,0.00,2.30,0.00,0.000,4,0.000,0.053,2754,664,3220,0,0,0,0,0,0
$GC,4044,-0.52,-117.3,296.8,-7.3,20,4048,0.00,2.28,0.00,0.000,6,0.000,0.050,2747,2125,3220,0,0,0,0,0,0
$GC,4632,-0.52,-117.3,336.6,-6.6,22,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2125,3218,0,0,0,0,0,0
$GC,4932,-0.52,-117.3,355.9,-6.5,23,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2125,3218,0,0,0,0,0,0
$GC,5234,-0.52,-117.3,374.5,-6.4,24,5238,0.00,2.33,0.00,0.000,4,0.000,0.054,2747,664,3217,0,0,0,0,0,0
$GC,5273,-0.52,-117.3,377.3,-6.9,24,5277,0.00,2.28,0.00,0.000,6,0.000,0.051,2742,2126,3217,0,0,0,0,0,0
$GC,5862,-0.52,-117.3,418.8,-7.2,26,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2126,3217,0,0,0,0,0,0
$GC,6161,-0.52,-117.3,440.9,-7.3,27,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2126,3216,0,0,0,0,0,0
$GC,6462,-0.52,-117.3,462.9,-7.3,28,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2126,3216,0,0,0,0,0,0
$GC,6762,-0.52,-117.3,482.9,-7.2,29,6766,0.00,2.33,0.00,0.000,4,0.000,0.055,2742,664,3216,0,0,0,0,0,0
$GC,6813,-0.52,-117.3,486.5,-7.8,29,6817,0.00,2.28,0.00,0.000,6,0.000,0.052,2734,2121,3216,0,0,0,0,0,0
$STATE,6860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6860,begin apogee
$GC,6868,-0.22,0.0,490.0,7.3,29,6975,0.32,0.00,99.38,0.891,6,0.106,0.000,2846,2049,2734,0,0,0,0,0,0
$STATE,6975,end apogee,CONTROL_FINISHED_OK
$STATE,6975,begin climb
$GC,6979,0.50,117.3,493.1,0.0,29,7092,0.65,2.53,103.70,0.867,4,0.068,0.054,3093,555,2255,0,0,0,0,0,0
$GC,7115,0.47,117.3,487.4,7.1,30,7119,0.00,2.45,0.00,0.000,6,0.000,0.047,3093,2062,2252,0,0,0,0,0,0
$GC,7707,0.45,117.3,441.8,7.5,32,7712,0.00,2.40,0.00,0.000,4,0.000,0.060,3093,3577,2244,0,0,0,0,0,0
$GC,7770,0.42,117.3,436.5,9.0,32,7776,0.17,2.38,0.00,0.000,6,0.145,0.045,3053,2067,2243,0,0,0,0,0,0
$GC,8335,0.42,129.6,403.0,5.7,34,8350,0.00,2.45,9.57,0.749,4,0.000,0.061,3053,3582,2205,0,0,0,0,0,0
$GC,8374,0.42,129.6,400.7,6.7,34,8378,0.00,2.38,0.00,0.000,6,0.000,0.046,3060,2060,2204,0,0,0,0,0,0
$GC,8963,0.42,129.6,362.6,6.6,36,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2059,2203,0,0,0,0,0,0
$GC,9261,0.42,129.6,342.6,6.6,37,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2057,2203,0,0,0,0,0,0
$GC,9562,0.42,129.6,323.2,6.6,38,9566,0.00,2.45,0.00,0.000,4,0.000,0.060,3061,3579,2203,0,0,0,0,0,0
$GC,9595,0.41,129.6,320.9,7.9,38,9599,0.00,2.38,0.00,0.000,6,0.000,0.046,3072,2065,2201,0,0,0,0,0,0
$GC,10187,0.41,129.6,281.5,6.4,40,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2063,2201,0,0,0,0,0,0
$GC,10487,0.41,129.6,264.3,6.1,41,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2063,2201,0,0,0,0,0,0
$GC,10788,0.41,133.3,246.9,6.0,42,10797,0.00,2.42,4.12,0.516,4,0.000,0.054,3082,538,2191,0,0,0,0,0,0
$GC,10816,0.41,133.3,245.1,6.4,42,10820,0.00,2.38,0.00,0.000,6,0.000,0.050,3083,2076,2190,0,0,0,0,0,0
$GC,11421,0.40,133.3,200.2,7.6,44,11426,0.12,2.40,0.00,0.000,4,0.148,0.060,3046,3580,2190,0,0,0,0,0,0
$GC,11451,0.40,133.3,198.1,6.5,44,11456,0.00,2.35,0.00,0.000,6,0.000,0.046,3054,2066,2189,0,0,0,0,0,0
$GC,12052,0.40,140.2,164.1,5.9,46,12066,0.00,2.47,7.60,0.600,4,0.000,0.061,3054,3575,2163,0,0,0,0,0,0
$GC,12083,0.41,147.2,162.0,5.9,46,12097,0.00,2.33,7.95,0.602,6,0.000,0.046,3055,2074,2133,0,0,0,0,0,0
$GC,12685,0.42,167.4,128.6,5.4,48,12710,0.00,2.45,18.52,0.653,4,0.000,0.055,3054,552,2051,0,0,0,0,0,0
$GC,12735,0.45,198.3,126.2,5.0,48,12768,0.00,2.35,27.02,0.655,6,0.000,0.047,3054,2075,1925,0,0,0,0,0,0
$GC,13319,0.48,218.5,94.9,5.4,50,13342,0.00,2.45,16.92,0.623,4,0.000,0.059,3054,3574,1843,0,0,0,0,0,0
$GC,13362,0.50,218.5,92.2,6.5,50,13366,0.00,2.35,0.00,0.000,6,0.000,0.044,3054,2066,1842,0,0,0,0,0,0
$GC,13625,0.53,225.7,76.5,5.9,53,13640,0.10,2.45,7.50,0.553,4,0.099,0.055,3121,550,1813,0,0,0,0,0,0
$GC,13698,0.53,225.7,71.1,7.4,53,13702,0.00,2.35,0.00,0.000,6,0.000,0.047,3121,2067,1812,0,0,0,0,0,0
$GC,13938,0.53,225.7,52.7,7.6,56,13942,0.00,2.38,0.00,0.000,4,0.000,0.058,3121,3577,1810,0,0,0,0,0,0
$GC,13976,0.53,225.7,49.8,7.6,56,13981,0.12,2.35,0.00,0.000,6,0.142,0.044,3092,2057,1810,0,0,0,0,0,0
$GC,14241,0.57,258.1,36.2,5.0,59,14276,0.00,2.42,27.60,0.601,4,0.000,0.054,3093,550,1681,0,0,0,0,0,0
$GC,14318,0.62,290.9,32.6,5.0,59,14352,0.00,2.33,27.33,0.591,6,0.000,0.046,3093,2060,1548,0,0,0,0,0,0
$GC,14561,0.68,317.5,20.2,5.2,62,14591,0.12,2.47,21.92,0.578,4,0.088,0.054,3173,545,1439,0,0,0,0,0,0
$GC,14657,0.69,317.5,14.0,6.1,62,14661,0.00,2.22,0.00,0.000,6,0.000,0.047,3173,1987,1436,0,0,0,0,0,0
$STATE,14868,end climb,SURFACE_DEPTH_REACHED
$STATE,14868,begin surface coast
$FINISH,1.1,NaN
$STATE,14968,end surface coast,CONTROL_FINISHED_OK
$STATE,14968,begin surface
$SM_CCo,14986,7.40,0.088,1,0,1411,325.02
$SM_GC,3.34,0.00,0.00,7.40,0.000,0.000,0.088,122,2183,1411,-8.75,0.23,325.02
$IRIDIUM_FIX,4729.30,-12517.37,300811,070735
$TT8_MAMPS,0.027713
$HUMID,43.10
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,23.3,79.658
$10V_AH,9.8,82.283
$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,20.575,99.850,379.150,7.400,0.000,28.106,32.636,119.895,0.250,0.000,17.349,598.758,12300.963,448.446,1675.568,280.850,33.358,1276.960,0.000,1454.236,0.000,0.537,0.000
$DEVICE_MAMPS,222.615,101.745,891.225,87.975,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,3690,66
$CAP_FILE_SIZE,114454,0
$CFSIZE,260165632,158289920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300811,171655,4749.560,-12515.367,99,1.0,99,18.7