version: 66.07
glider: 187
mission: 4
dive: 696
start: 8 30 111 17 22 43
data:
$ID,187
$MISSION,4
$DIVE,696
$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,-1585621
$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,34
$R_STBD_OVSHOOT,37
$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
$GPS1,300811,171655,4749.560,-12515.367,99,1.0,99,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-75.5
$GPS2,300811,172149,4749.507,-12515.362,11,1.0,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.056,0.192
$KALMAN_X,360603.9,782.1,519.6,-372114.0,-1859.5
$KALMAN_Y,-778409.5,58.3,665.9,783214.9,-3550.9
$MHEAD_RNG_PITCHd_Wd,357.4,5856,-13.6,-6.111
$D_GRID,450
$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,-117.3,0.0,0.0,0,85,0.00,0.00,-67.72,0.000,6,0.000,0.000,122,2182,3215,0,0,0,0,0,0
$GC,88,-0.50,-117.3,0.0,-0.0,0,104,10.62,2.35,0.00,0.000,4,0.224,0.037,2751,638,3218,0,0,0,0,0,0
$GC,184,-0.47,-117.3,32.4,-11.8,0,188,0.00,2.38,0.00,0.000,6,0.000,0.048,2743,2177,3222,0,0,0,0,0,0
$GC,391,-0.45,-117.3,56.6,-11.7,2,396,0.10,2.35,0.00,0.000,4,0.162,0.050,2771,663,3222,0,0,0,0,0,0
$GC,431,-0.45,-117.3,60.5,-8.6,2,435,0.00,2.33,0.00,0.000,6,0.000,0.047,2764,2170,3223,0,0,0,0,0,0
$GC,696,-0.45,-117.3,84.0,-9.1,5,700,0.00,2.42,0.00,0.000,4,0.000,0.060,2753,3694,3224,0,0,0,0,0,0
$GC,734,-0.45,-117.3,87.2,-8.1,5,738,0.00,2.38,0.00,0.000,6,0.000,0.043,2752,2149,3224,0,0,0,0,0,0
$GC,1202,-0.45,-117.3,125.4,-8.2,8,1206,0.00,2.28,0.00,0.000,4,0.000,0.050,2752,669,3225,0,0,0,0,0,0
$GC,1247,-0.45,-117.3,129.2,-8.2,8,1251,0.00,2.30,0.00,0.000,6,0.000,0.047,2744,2169,3224,0,0,0,0,0,0
$GC,1828,-0.45,-117.3,175.3,-7.4,10,1832,0.00,2.38,0.00,0.000,4,0.000,0.050,2744,660,3223,0,0,0,0,0,0
$GC,1874,-0.45,-117.3,178.7,-7.4,10,1879,0.12,2.33,0.00,0.000,6,0.136,0.049,2774,2166,3223,0,0,0,0,0,0
$GC,2458,-0.47,-117.3,210.7,-5.5,12,2462,0.00,2.35,0.00,0.000,4,0.000,0.051,2774,661,3223,0,0,0,0,0,0
$GC,2492,-0.48,-117.3,212.7,-6.4,12,2496,0.00,2.33,0.00,0.000,6,0.000,0.048,2773,2167,3223,0,0,0,0,0,0
$GC,3093,-0.49,-117.3,248.6,-6.2,14,3097,0.00,2.35,0.00,0.000,4,0.000,0.050,2773,659,3222,0,0,0,0,0,0
$GC,3120,-0.51,-117.3,250.5,-6.2,14,3124,0.00,2.33,0.00,0.000,6,0.000,0.050,2769,2153,3222,0,0,0,0,0,0
$GC,3725,-0.52,-117.3,284.2,-5.5,16,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2153,3222,0,0,0,0,0,0
$GC,4026,-0.53,-117.3,299.6,-5.3,17,4030,0.00,2.35,0.00,0.000,4,0.000,0.053,2769,666,3221,0,0,0,0,0,0
$GC,4065,-0.54,-117.3,301.6,-5.5,17,4069,0.00,2.33,0.00,0.000,6,0.000,0.051,2769,2159,3221,0,0,0,0,0,0
$GC,4652,-0.56,-117.3,330.4,-5.0,19,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2159,3220,0,0,0,0,0,0
$GC,4954,-0.57,-117.3,345.9,-5.1,20,4958,0.00,2.35,0.00,0.000,4,0.000,0.053,2769,663,3219,0,0,0,0,0,0
$GC,4981,-0.58,-117.3,347.4,-5.8,20,4986,0.10,2.33,0.00,0.000,6,0.096,0.051,2711,2156,3219,0,0,0,0,0,0
$GC,5588,-0.57,-117.3,395.0,-7.9,22,5592,0.00,2.45,0.00,0.000,4,0.000,0.062,2699,3693,3218,0,0,0,0,0,0
$GC,5621,-0.55,-117.3,398.0,-8.6,22,5626,0.15,2.40,0.00,0.000,6,0.122,0.046,2746,2155,3218,0,0,0,0,0,0
$GC,6214,-0.55,-117.3,430.3,-5.2,24,6218,0.00,2.35,0.00,0.000,4,0.000,0.054,2745,663,3217,0,0,0,0,0,0
$GC,6286,-0.55,-117.3,434.4,-5.4,24,6290,0.00,2.33,0.00,0.000,6,0.000,0.051,2740,2155,3218,0,0,0,0,0,0
$STATE,6836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6836,begin apogee
$GC,6843,-0.22,0.0,469.6,6.7,26,6946,0.32,0.00,100.60,0.881,6,0.079,0.000,2860,2049,2735,0,0,0,0,0,0
$STATE,6947,end apogee,CONTROL_FINISHED_OK
$STATE,6947,begin climb
$GC,6951,0.50,117.3,469.6,0.0,26,7058,0.62,0.00,104.28,0.856,6,0.059,0.000,3089,2048,2256,0,0,0,0,0,0
$GC,7140,0.58,291.3,460.7,-0.0,27,7288,0.00,0.00,146.50,0.843,6,0.000,0.000,3089,2048,1546,0,0,0,0,0,0
$GC,7440,0.57,291.3,430.3,10.1,28,7444,0.00,2.47,0.00,0.000,4,0.000,0.058,3088,3583,1537,0,0,0,0,0,0
$GC,7461,0.57,291.3,427.6,12.2,28,7465,0.00,2.40,0.00,0.000,6,0.000,0.046,3094,2066,1536,0,0,0,0,0,0
$GC,8066,0.57,291.3,361.3,10.7,30,8070,0.00,2.38,0.00,0.000,4,0.000,0.056,3105,546,1532,0,0,0,0,0,0
$GC,8140,0.58,291.3,354.0,9.9,30,8144,0.00,2.33,0.00,0.000,6,0.000,0.049,3105,2054,1532,0,0,0,0,0,0
$GC,8693,0.58,291.3,297.0,10.1,32,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2054,1531,0,0,0,0,0,0
$GC,8995,0.58,291.3,266.5,10.1,33,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2055,1531,0,0,0,0,0,0
$GC,9294,0.58,291.3,236.3,10.1,34,9298,0.00,2.38,0.00,0.000,4,0.000,0.057,3115,546,1531,0,0,0,0,0,0
$GC,9321,0.58,291.3,233.4,9.8,34,9325,0.00,2.33,0.00,0.000,6,0.000,0.049,3115,2061,1530,0,0,0,0,0,0
$GC,9927,0.58,291.3,163.9,11.6,36,9931,0.00,2.38,0.00,0.000,4,0.000,0.057,3125,547,1530,0,0,0,0,0,0
$GC,9955,0.58,291.3,160.4,12.4,36,9959,0.00,2.33,0.00,0.000,6,0.000,0.049,3125,2052,1530,0,0,0,0,0,0
$GC,10559,0.57,291.3,92.0,10.8,38,10563,0.00,2.38,0.00,0.000,4,0.000,0.055,3134,546,1530,0,0,0,0,0,0
$GC,10586,0.57,291.3,89.1,10.5,38,10590,0.00,2.33,0.00,0.000,6,0.000,0.048,3134,2053,1529,0,0,0,0,0,0
$GC,10862,0.57,291.3,61.7,10.0,41,10866,0.00,2.40,0.00,0.000,4,0.000,0.059,3134,3574,1530,0,0,0,0,0,0
$GC,10888,0.57,291.3,58.9,9.3,41,10893,0.15,2.42,0.00,0.000,6,0.130,0.046,3099,2033,1530,0,0,0,0,0,0
$GC,11164,0.60,307.0,43.1,5.6,44,11182,0.00,2.42,12.10,0.581,4,0.000,0.055,3099,542,1482,0,0,0,0,0,0
$GC,11237,0.65,331.2,39.2,5.3,44,11265,0.00,2.30,22.02,0.602,6,0.000,0.047,3099,2033,1384,0,0,0,0,0,0
$GC,11474,0.70,331.2,24.7,6.1,47,11479,0.12,2.38,0.00,0.000,4,0.088,0.055,3159,544,1377,0,0,0,0,0,0
$GC,11526,0.72,331.2,21.3,6.6,47,11530,0.00,2.17,0.00,0.000,6,0.000,0.048,3160,1958,1377,0,0,0,0,0,0
$GC,11778,0.74,331.2,4.5,6.6,50,11782,0.00,2.60,0.00,0.000,4,0.000,0.059,3160,3581,1376,0,0,0,0,0,0
$STATE,11786,end climb,SURFACE_DEPTH_REACHED
$STATE,11786,begin surface coast
$FINISH,3.5,NaN
$STATE,11791,end surface coast,CONTROL_FINISHED_OK
$STATE,11792,begin surface
$SM_CCo,11874,0.00,0.000,0,0,1372,334.34
$SM_GC,2.65,7.97,0.00,0.00,0.041,0.000,0.000,120,2162,1372,-8.60,-0.34,334.34
$IRIDIUM_FIX,4732.49,-12519.22,300811,131330
$TT8_MAMPS,0.026964
$HUMID,43.69
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,23.3,79.758
$10V_AH,9.8,82.325
$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,20.300,94.475,385.500,0.000,0.000,26.325,31.176,110.137,0.000,0.000,17.027,531.268,9431.732,521.163,1436.537,245.439,33.369,1173.427,0.000,1242.121,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,82.620,880.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297664
$DATA_FILE_SIZE,335,50
$CAP_FILE_SIZE,95327,0
$CFSIZE,260165632,158257152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300811,204206,4750.991,-12514.441,53,1.8,53,18.7