version: 66.07
glider: 187
mission: 4
dive: 699
start: 8 31 111 4 27 50
data:
$ID,187
$MISSION,4
$DIVE,699
$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,-1585624.8
$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,33
$R_STBD_OVSHOOT,44
$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
$GPS1,310811,042207,4748.488,-12515.730,38,0.9,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-75.9
$GPS2,310811,042656,4748.441,-12515.746,10,2.0,10,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,INSHORE
$TGT_LATLONG,4742.000,-12530.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.170,-0.105
$KALMAN_X,364716.6,-145.9,218.2,-375489.2,1344.6
$KALMAN_Y,-778319.2,-99.6,-418.3,782423.4,729.2
$MHEAD_RNG_PITCHd_Wd,219.5,21400,-13.6,-6.111
$D_GRID,604
$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,-67.72,0.000,6,0.000,0.000,122,2202,3215,0,0,0,0,0,0
$GC,88,-0.50,-117.3,0.0,-0.0,0,104,10.80,2.35,0.00,0.000,4,0.231,0.047,2737,3692,3218,0,0,0,0,0,0
$GC,203,-0.48,-117.3,34.8,-9.4,1,207,0.00,2.38,0.00,0.000,6,0.000,0.041,2736,2166,3221,0,0,0,0,0,0
$GC,404,-0.45,-117.3,58.3,-12.3,3,409,0.12,2.33,0.00,0.000,4,0.143,0.050,2772,666,3223,0,0,0,0,0,0
$GC,438,-0.45,-117.3,61.8,-9.3,3,442,0.00,2.33,0.00,0.000,6,0.000,0.048,2767,2161,3223,0,0,0,0,0,0
$GC,714,-0.45,-117.3,84.6,-8.4,6,718,0.00,2.45,0.00,0.000,4,0.000,0.060,2755,3694,3224,0,0,0,0,0,0
$GC,736,-0.45,-117.3,86.7,-8.7,6,740,0.00,2.38,0.00,0.000,6,0.000,0.043,2754,2159,3224,0,0,0,0,0,0
$GC,1215,-0.45,-117.3,126.6,-8.3,9,1220,0.00,2.33,0.00,0.000,4,0.000,0.050,2754,663,3224,0,0,0,0,0,0
$GC,1278,-0.45,-117.3,131.9,-8.7,9,1282,0.00,2.33,0.00,0.000,6,0.000,0.047,2747,2169,3224,0,0,0,0,0,0
$GC,1850,-0.45,-117.3,178.3,-8.0,11,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2169,3224,0,0,0,0,0,0
$GC,2148,-0.45,-117.3,202.0,-8.0,12,2152,0.00,2.35,0.00,0.000,4,0.000,0.050,2747,669,3223,0,0,0,0,0,0
$GC,2175,-0.45,-117.3,204.3,-8.2,12,2180,0.12,2.30,0.00,0.000,6,0.134,0.049,2778,2148,3223,0,0,0,0,0,0
$GC,2780,-0.46,-117.3,238.9,-5.5,14,2784,0.00,2.33,0.00,0.000,4,0.000,0.051,2778,664,3223,0,0,0,0,0,0
$GC,2824,-0.48,-117.3,241.5,-5.8,14,2828,0.00,2.28,0.00,0.000,6,0.000,0.050,2775,2138,3223,0,0,0,0,0,0
$GC,3406,-0.51,-117.3,272.5,-5.4,16,3411,0.00,2.47,0.00,0.000,4,0.000,0.063,2773,3687,3222,0,0,0,0,0,0
$GC,3425,-0.54,-117.3,273.4,-5.3,16,3429,0.00,2.47,0.00,0.000,6,0.000,0.045,2772,2093,3222,0,0,0,0,0,0
$GC,4035,-0.57,-117.3,314.1,-7.1,18,4040,0.10,2.25,0.00,0.000,4,0.100,0.051,2709,666,3221,0,0,0,0,0,0
$GC,4144,-0.56,-117.3,324.6,-9.9,18,4149,0.12,2.17,0.00,0.000,6,0.143,0.049,2739,2064,3221,0,0,0,0,0,0
$GC,4665,-0.56,-117.3,365.0,-7.3,20,4669,0.00,2.62,0.00,0.000,4,0.000,0.062,2730,3688,3219,0,0,0,0,0,0
$GC,4697,-0.56,-117.3,367.3,-6.6,20,4701,0.00,2.55,0.00,0.000,6,0.000,0.046,2730,2059,3219,0,0,0,0,0,0
$GC,5292,-0.56,-117.3,405.9,-6.4,22,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2054,3219,0,0,0,0,0,0
$GC,5591,-0.56,-117.3,425.7,-6.5,23,5595,0.00,2.17,0.00,0.000,4,0.000,0.054,2729,668,3219,0,0,0,0,0,0
$GC,5612,-0.56,-117.3,427.3,-7.4,23,5616,0.00,2.12,0.00,0.000,6,0.000,0.050,2722,2055,3219,0,0,0,0,0,0
$GC,6227,-0.56,-117.3,473.8,-7.5,25,6232,0.00,2.67,0.00,0.000,4,0.000,0.063,2712,3690,3218,0,0,0,0,0,0
$GC,6282,-0.56,-117.3,477.9,-6.9,25,6287,0.00,2.55,0.00,0.000,6,0.000,0.047,2711,2067,3218,0,0,0,0,0,0
$GC,6853,-0.54,-117.3,523.7,-8.1,27,6858,0.12,2.22,0.00,0.000,4,0.142,0.056,2749,661,3217,0,0,0,0,0,0
$GC,6880,-0.54,-117.3,525.8,-7.0,27,6884,0.00,2.20,0.00,0.000,6,0.000,0.052,2746,2050,3217,0,0,0,0,0,0
$GC,7485,-0.54,-117.3,562.0,-6.0,29,7489,0.00,2.65,0.00,0.000,4,0.000,0.064,2734,3687,3217,0,0,0,0,0,0
$GC,7541,-0.54,-117.3,565.8,-6.5,29,7545,0.00,2.55,0.00,0.000,6,0.000,0.047,2734,2059,3217,0,0,0,0,0,0
$STATE,8109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8109,begin apogee
$GC,8116,-0.22,0.0,604.5,6.8,31,8221,0.35,0.00,101.97,0.972,6,0.102,0.000,2851,2055,2735,0,0,0,0,0,0
$STATE,8222,end apogee,CONTROL_FINISHED_OK
$STATE,8222,begin climb
$GC,8225,0.50,117.3,604.5,0.0,31,8334,0.65,0.00,106.57,0.944,6,0.067,0.000,3080,2055,2256,0,0,0,0,0,0
$GC,8412,1.00,996.6,597.3,-24.8,32,8803,0.43,2.65,375.98,0.902,4,0.045,0.056,3265,560,469,0,0,0,0,0,0
$GC,8820,0.94,996.6,493.6,29.6,33,8825,0.17,2.53,0.00,0.000,6,0.159,0.045,3222,2065,467,0,0,0,0,0,0
$GC,9342,0.89,996.6,360.5,25.2,35,9346,0.00,2.40,0.00,0.000,4,0.000,0.057,3222,3583,462,0,0,0,0,0,0
$GC,9386,0.88,996.6,349.8,20.9,35,9390,0.00,2.45,0.00,0.000,6,0.000,0.048,3230,2029,463,0,0,0,0,0,0
$GC,9975,0.84,996.6,205.0,24.9,37,9980,0.15,2.38,0.00,0.000,4,0.163,0.059,3198,541,462,0,0,0,0,0,0
$GC,10019,0.82,996.6,195.0,18.9,37,10023,0.00,2.30,0.00,0.000,6,0.000,0.049,3198,2038,461,0,0,0,0,0,0
$GC,10601,0.80,996.6,84.1,18.9,39,10605,0.00,2.45,0.00,0.000,4,0.000,0.058,3198,3581,461,0,0,0,0,0,0
$GC,10675,0.81,996.6,72.3,14.2,39,10679,0.00,2.45,0.00,0.000,6,0.000,0.047,3208,2007,461,0,0,0,0,0,0
$GC,10904,0.80,996.6,34.0,16.9,42,10909,0.12,2.33,0.00,0.000,4,0.146,0.058,3180,544,461,0,0,0,0,0,0
$GC,10999,0.83,996.6,24.4,9.8,42,11003,0.00,2.20,0.00,0.000,6,0.000,0.047,3180,1974,460,0,0,0,0,0,0
$GC,11208,0.87,996.6,7.9,8.2,44,11212,0.00,2.55,0.00,0.000,4,0.000,0.058,3180,3582,460,0,0,0,0,0,0
$STATE,11232,end climb,SURFACE_DEPTH_REACHED
$STATE,11232,begin surface coast
$FINISH,3.1,NaN
$STATE,11238,end surface coast,CONTROL_FINISHED_OK
$STATE,11238,begin surface
$SM_CCo,11319,0.00,0.000,0,0,458,558.30
$SM_GC,1.88,8.05,0.00,0.00,0.045,0.000,0.000,125,2164,458,-8.60,-0.31,558.30
$IRIDIUM_FIX,4732.49,-12517.37,310811,000037
$TT8_MAMPS,0.027713
$HUMID,43.62
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,22.5,80.098
$10V_AH,9.9,82.467
$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,21.325,90.725,584.525,0.000,0.000,28.186,29.818,111.363,0.250,0.000,11.832,524.380,8646.635,607.219,1582.458,246.184,33.377,1380.449,0.000,1379.734,0.000,0.535,0.000
$DEVICE_MAMPS,231.030,64.260,971.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,334,44
$CAP_FILE_SIZE,97600,0
$CFSIZE,260165632,158130176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310811,073720,4747.915,-12516.325,13,1.7,14,18.7