version: 66.07
glider: 187
mission: 4
dive: 698
start: 8 31 111 0 27 37
data:
$ID,187
$MISSION,4
$DIVE,698
$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,-1585623.5
$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,43
$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
$GPS1,310811,002154,4749.820,-12514.689,116,1.3,116,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-76.9
$GPS2,310811,002643,4749.762,-12514.711,11,1.6,16,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,INSHORE
$TGT_LATLONG,4742.000,-12530.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.176,-0.095
$KALMAN_X,363318.9,27.2,54.7,-372833.1,742.6
$KALMAN_Y,-777513.4,-536.9,201.2,783867.4,-15.8
$MHEAD_RNG_PITCHd_Wd,223.0,23870,-13.6,-6.111
$D_GRID,462
$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,15,-0.50,-117.3,0.0,0.0,0,85,0.00,0.00,-67.82,0.000,6,0.000,0.000,112,2192,3215,0,0,0,0,0,0
$GC,88,-0.50,-117.3,0.0,-0.0,0,101,10.57,0.00,0.00,0.000,6,0.219,0.000,2750,2190,3218,0,0,0,0,0,0
$GC,218,-0.43,-117.3,37.4,-13.8,2,223,0.10,2.40,0.00,0.000,4,0.163,0.059,2771,3678,3221,0,0,0,0,0,0
$GC,336,-0.43,-117.3,47.5,-7.5,3,341,0.00,2.35,0.00,0.000,6,0.000,0.041,2770,2166,3222,0,0,0,0,0,0
$GC,533,-0.42,-117.3,66.0,-9.9,5,537,0.00,2.33,0.00,0.000,4,0.000,0.050,2770,665,3223,0,0,0,0,0,0
$GC,603,-0.42,-117.3,72.4,-8.9,5,607,0.00,2.28,0.00,0.000,6,0.000,0.047,2763,2134,3223,0,0,0,0,0,0
$GC,838,-0.42,-117.3,95.8,-10.1,8,842,0.00,2.47,0.00,0.000,4,0.000,0.059,2751,3689,3224,0,0,0,0,0,0
$GC,865,-0.42,-117.3,98.2,-8.7,8,870,0.12,2.40,0.00,0.000,6,0.123,0.044,2790,2142,3224,0,0,0,0,0,0
$GC,1241,-0.43,-117.3,119.1,-5.5,10,1245,0.00,2.28,0.00,0.000,4,0.000,0.050,2789,665,3224,0,0,0,0,0,0
$GC,1275,-0.45,-117.3,121.2,-6.3,10,1279,0.00,2.28,0.00,0.000,6,0.000,0.047,2790,2138,3224,0,0,0,0,0,0
$GC,1869,-0.49,-117.3,155.7,-5.5,12,1873,0.00,2.47,0.00,0.000,4,0.000,0.060,2790,3696,3223,0,0,0,0,0,0
$GC,1975,-0.52,-117.3,162.0,-5.8,12,1980,0.12,2.45,0.00,0.000,6,0.083,0.044,2719,2109,3224,0,0,0,0,0,0
$GC,2495,-0.51,-117.3,209.7,-9.6,14,2499,0.12,2.28,0.00,0.000,4,0.138,0.052,2757,661,3223,0,0,0,0,0,0
$GC,2557,-0.51,-117.3,214.6,-7.4,14,2561,0.00,2.28,0.00,0.000,6,0.000,0.048,2751,2126,3223,0,0,0,0,0,0
$GC,3122,-0.51,-117.3,258.2,-7.7,16,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2126,3222,0,0,0,0,0,0
$GC,3422,-0.51,-117.3,280.4,-7.6,17,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2126,3222,0,0,0,0,0,0
$GC,3724,-0.51,-117.3,300.6,-7.3,18,3728,0.00,2.53,0.00,0.000,4,0.000,0.063,2740,3693,3221,0,0,0,0,0,0
$GC,3745,-0.51,-117.3,301.9,-5.7,18,3750,0.00,2.47,0.00,0.000,6,0.000,0.046,2740,2113,3221,0,0,0,0,0,0
$GC,4351,-0.51,-117.3,340.5,-6.5,20,4355,0.00,2.28,0.00,0.000,4,0.000,0.054,2739,668,3219,0,0,0,0,0,0
$GC,4401,-0.51,-117.3,344.4,-7.6,20,4405,0.00,2.25,0.00,0.000,6,0.000,0.050,2732,2108,3219,0,0,0,0,0,0
$GC,4983,-0.51,-117.3,390.0,-8.2,22,4987,0.00,2.55,0.00,0.000,4,0.000,0.062,2721,3693,3219,0,0,0,0,0,0
$GC,5026,-0.51,-117.3,393.6,-8.0,22,5031,0.12,2.47,0.00,0.000,6,0.123,0.046,2758,2104,3219,0,0,0,0,0,0
$GC,5613,-0.51,-117.3,429.5,-5.9,24,5617,0.00,2.22,0.00,0.000,4,0.000,0.053,2759,667,3218,0,0,0,0,0,0
$GC,5664,-0.52,-117.3,432.8,-6.1,24,5668,0.00,2.25,0.00,0.000,6,0.000,0.051,2754,2104,3218,0,0,0,0,0,0
$STATE,6236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6237,begin apogee
$GC,6242,-0.22,0.0,468.8,6.2,26,6345,0.30,0.00,100.20,0.881,6,0.101,0.000,2854,2104,2735,0,0,0,0,0,0
$STATE,6346,end apogee,CONTROL_FINISHED_OK
$STATE,6346,begin climb
$GC,6350,0.50,117.3,468.8,0.0,26,6461,0.62,0.00,103.30,0.857,6,0.067,0.000,3083,2104,2255,0,0,0,0,0,0
$GC,6976,0.48,117.3,429.4,7.9,28,6980,0.00,2.35,0.00,0.000,4,0.000,0.060,3083,3582,2246,0,0,0,0,0,0
$GC,7020,0.45,117.3,425.4,9.0,28,7024,0.00,2.40,0.00,0.000,6,0.000,0.044,3094,2062,2244,0,0,0,0,0,0
$GC,7601,0.42,117.3,381.7,7.1,30,7606,0.12,2.42,0.00,0.000,4,0.151,0.059,3057,3579,2243,0,0,0,0,0,0
$GC,7685,0.41,117.3,375.8,7.5,30,7689,0.00,2.38,0.00,0.000,6,0.000,0.045,3066,2067,2242,0,0,0,0,0,0
$GC,8227,0.40,120.0,343.4,6.0,32,8231,0.00,2.45,0.00,0.000,4,0.000,0.060,3065,3570,2242,0,0,0,0,0,0
$GC,8255,0.38,120.0,341.5,7.1,32,8260,0.12,2.35,0.00,0.000,6,0.148,0.046,3040,2067,2241,0,0,0,0,0,0
$GC,8853,0.40,155.1,312.7,4.9,34,8889,0.00,2.47,31.15,0.778,4,0.000,0.060,3040,3581,2102,0,0,0,0,0,0
$GC,8924,0.40,155.1,308.5,7.1,34,8928,0.00,2.40,0.00,0.000,6,0.000,0.046,3042,2070,2099,0,0,0,0,0,0
$GC,9479,0.40,155.1,275.1,6.2,36,9483,0.00,2.40,0.00,0.000,4,0.000,0.056,3041,543,2095,0,0,0,0,0,0
$GC,9512,0.42,157.7,272.8,6.0,36,9516,0.00,2.40,0.00,0.000,6,0.000,0.048,3042,2086,2095,0,0,0,0,0,0
$GC,10112,0.42,157.7,235.0,6.3,38,10116,0.00,2.38,0.00,0.000,4,0.000,0.060,3042,3580,2094,0,0,0,0,0,0
$GC,10172,0.42,157.7,230.8,6.9,38,10177,0.00,2.35,0.00,0.000,6,0.000,0.045,3042,2073,2093,0,0,0,0,0,0
$GC,10737,0.44,186.6,200.7,5.1,40,10771,0.00,2.47,26.48,0.708,4,0.000,0.054,3042,548,1973,0,0,0,0,0,0
$GC,10800,0.47,201.9,197.5,5.6,40,10819,0.00,2.40,14.18,0.672,6,0.000,0.047,3042,2085,1912,0,0,0,0,0,0
$GC,11368,0.50,217.5,163.8,5.6,42,11388,0.12,2.38,14.02,0.659,4,0.086,0.060,3110,3576,1847,0,0,0,0,0,0
$GC,11412,0.48,217.5,160.3,9.0,42,11417,0.15,2.35,0.00,0.000,6,0.136,0.046,3076,2085,1845,0,0,0,0,0,0
$GC,12001,0.48,217.5,119.1,6.5,44,12005,0.00,2.42,0.00,0.000,4,0.000,0.055,3082,546,1842,0,0,0,0,0,0
$GC,12063,0.50,221.5,115.1,6.0,44,12072,0.00,2.38,4.15,0.470,6,0.000,0.047,3082,2080,1831,0,0,0,0,0,0
$GC,12433,0.50,221.5,91.3,6.7,46,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2080,1830,0,0,0,0,0,0
$GC,12634,0.50,221.5,75.1,7.5,48,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2080,1830,0,0,0,0,0,0
$GC,12836,0.52,221.5,62.0,7.4,50,12838,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2080,1830,0,0,0,0,0,0
$GC,13039,0.54,234.5,52.0,5.7,52,13058,0.00,2.45,12.57,0.588,4,0.000,0.058,3083,3580,1778,0,0,0,0,0,0
$GC,13071,0.59,289.3,50.4,4.2,52,13122,0.00,2.38,45.70,0.615,6,0.000,0.045,3082,2061,1554,0,0,0,0,0,0
$GC,13345,0.64,309.0,36.5,5.4,55,13369,0.12,2.47,16.55,0.581,4,0.084,0.055,3156,548,1473,0,0,0,0,0,0
$GC,13427,0.65,309.0,29.7,7.5,55,13431,0.00,2.35,0.00,0.000,6,0.000,0.047,3156,2063,1470,0,0,0,0,0,0
$GC,13656,0.65,309.0,14.0,6.8,58,13660,0.00,2.45,0.00,0.000,4,0.000,0.059,3156,3582,1468,0,0,0,0,0,0
$GC,13690,0.65,309.0,11.6,7.1,58,13695,0.12,2.38,0.00,0.000,6,0.133,0.044,3126,2056,1467,0,0,0,0,0,0
$STATE,13855,end climb,SURFACE_DEPTH_REACHED
$STATE,13855,begin surface coast
$FINISH,1.0,NaN
$STATE,13956,end surface coast,CONTROL_FINISHED_OK
$STATE,13958,begin surface
$SM_CCo,13976,9.93,0.128,1,0,1409,325.02
$SM_GC,2.80,0.00,0.00,9.93,0.000,0.000,0.128,122,2201,1409,-8.75,0.76,325.02
$IRIDIUM_FIX,4735.69,-12512.13,300811,202053
$TT8_MAMPS,0.027713
$HUMID,43.18
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.3,79.937
$10V_AH,9.9,82.423
$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,20.550,105.100,368.300,9.925,0.000,26.683,30.272,110.390,0.000,0.000,17.608,651.604,11015.685,457.304,1877.441,283.624,33.375,1346.453,0.000,1662.809,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,76.500,881.280,127.755,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,61
$CAP_FILE_SIZE,119108,0
$CFSIZE,260165632,158154752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310811,042207,4748.488,-12515.730,38,0.9,38,18.7