version: 66.07
glider: 187
mission: 4
dive: 710
start: 9 2 111 18 9 31
data:
$ID,187
$MISSION,4
$DIVE,710
$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,-1585638.5
$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,32
$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
$GPS1,020911,180354,4750.644,-12516.478,43,1.4,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-76.5
$GPS2,020911,180837,4750.629,-12516.514,10,1.4,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.183,0.080
$KALMAN_X,376732.3,257.6,-92.0,-388553.2,133.0
$KALMAN_Y,-787201.1,271.2,-356.9,794914.0,-567.6
$MHEAD_RNG_PITCHd_Wd,47.8,6377,-13.6,-6.111
$D_GRID,420
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.50,-117.3,0.0,0.0,0,86,0.00,0.00,-69.18,0.000,6,0.000,0.000,110,2198,3215,0,0,0,0,0,0
$GC,89,-0.50,-117.3,0.0,-0.0,0,105,10.68,2.42,0.00,0.000,4,0.224,0.047,2747,655,3218,0,0,0,0,0,0
$GC,215,-0.48,-117.3,37.6,-11.3,1,219,0.00,2.33,0.00,0.000,6,0.000,0.049,2738,2160,3221,0,0,0,0,0,0
$GC,412,-0.44,-117.3,61.0,-12.1,3,414,0.12,0.00,0.00,0.000,6,0.148,0.000,2774,2159,3223,0,0,0,0,0,0
$GC,612,-0.42,-117.3,78.7,-10.0,5,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2160,3223,0,0,0,0,0,0
$GC,813,-0.42,-117.3,93.3,-8.0,7,817,0.00,2.33,0.00,0.000,4,0.000,0.050,2774,662,3224,0,0,0,0,0,0
$GC,841,-0.42,-117.3,95.4,-7.7,7,846,0.00,2.38,0.00,0.000,6,0.000,0.047,2772,2185,3223,0,0,0,0,0,0
$GC,1215,-0.42,-117.3,120.7,-6.6,9,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2185,3224,0,0,0,0,0,0
$GC,1515,-0.42,-117.3,138.7,-6.3,10,1519,0.00,2.38,0.00,0.000,4,0.000,0.050,2772,656,3224,0,0,0,0,0,0
$GC,1561,-0.43,-117.3,141.1,-5.1,10,1565,0.00,2.35,0.00,0.000,6,0.000,0.050,2769,2178,3224,0,0,0,0,0,0
$GC,2154,-0.43,-117.3,180.9,-7.2,12,2158,0.00,2.35,0.00,0.000,4,0.000,0.050,2769,662,3223,0,0,0,0,0,0
$GC,2188,-0.43,-117.3,183.2,-6.8,12,2192,0.00,2.33,0.00,0.000,6,0.000,0.049,2764,2169,3223,0,0,0,0,0,0
$GC,2788,-0.43,-117.3,220.1,-6.0,14,2792,0.00,2.38,0.00,0.000,4,0.000,0.051,2763,650,3222,0,0,0,0,0,0
$GC,2815,-0.43,-117.3,221.9,-6.9,14,2819,0.00,2.35,0.00,0.000,6,0.000,0.050,2760,2166,3222,0,0,0,0,0,0
$GC,3421,-0.43,-117.3,259.9,-6.2,16,3425,0.00,2.38,0.00,0.000,4,0.000,0.052,2759,661,3221,0,0,0,0,0,0
$GC,3464,-0.43,-117.3,262.9,-6.5,16,3469,0.00,2.35,0.00,0.000,6,0.000,0.050,2755,2162,3221,0,0,0,0,0,0
$GC,4048,-0.43,-117.3,299.3,-6.4,18,4052,0.00,2.38,0.00,0.000,4,0.000,0.052,2754,659,3221,0,0,0,0,0,0
$GC,4075,-0.43,-117.3,301.3,-6.9,18,4079,0.00,2.35,0.00,0.000,6,0.000,0.050,2751,2159,3221,0,0,0,0,0,0
$GC,4679,-0.43,-117.3,341.6,-6.7,20,4683,0.00,2.40,0.00,0.000,4,0.000,0.054,2750,652,3219,0,0,0,0,0,0
$GC,4719,-0.43,-117.3,344.2,-6.9,20,4723,0.12,2.33,0.00,0.000,6,0.132,0.051,2785,2146,3219,0,0,0,0,0,0
$GC,5306,-0.46,-117.3,373.4,-4.8,22,5310,0.00,2.35,0.00,0.000,4,0.000,0.053,2785,663,3218,0,0,0,0,0,0
$GC,5356,-0.49,-117.3,376.2,-5.3,22,5360,0.00,2.30,0.00,0.000,6,0.000,0.050,2785,2138,3218,0,0,0,0,0,0
$GC,5944,-0.52,-117.3,407.4,-5.4,24,5949,0.10,2.53,0.00,0.000,4,0.099,0.063,2722,3694,3217,0,0,0,0,0,0
$GC,6012,-0.52,-117.3,411.9,-6.7,24,6016,0.00,2.42,0.00,0.000,6,0.000,0.046,2722,2146,3217,0,0,0,0,0,0
$STATE,6126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6126,begin apogee
$GC,6132,-0.22,0.0,420.3,7.9,24,6241,0.35,0.00,99.47,0.850,6,0.106,0.000,2843,2047,2735,0,0,0,0,0,0
$STATE,6241,end apogee,CONTROL_FINISHED_OK
$STATE,6242,begin climb
$GC,6244,0.50,117.3,422.9,0.0,24,6358,0.65,2.58,102.80,0.826,4,0.073,0.058,3077,3580,2255,0,0,0,0,0,0
$GC,6380,0.47,117.3,416.7,7.8,25,6385,0.00,2.45,0.00,0.000,6,0.000,0.044,3088,2059,2251,0,0,0,0,0,0
$GC,6889,0.45,117.3,375.6,7.9,27,6893,0.00,2.42,0.00,0.000,4,0.000,0.059,3088,3578,2245,0,0,0,0,0,0
$GC,6945,0.42,117.3,370.4,9.7,27,6950,0.15,2.38,0.00,0.000,6,0.145,0.045,3055,2055,2244,0,0,0,0,0,0
$GC,7517,0.42,117.3,332.0,6.7,29,7522,0.00,2.42,0.00,0.000,4,0.000,0.058,3055,3581,2243,0,0,0,0,0,0
$GC,7552,0.41,117.3,329.4,7.3,29,7556,0.00,2.35,0.00,0.000,6,0.000,0.045,3063,2065,2242,0,0,0,0,0,0
$GC,8147,0.42,126.6,294.0,5.8,31,8161,0.00,2.45,6.82,0.649,4,0.000,0.054,3074,549,2218,0,0,0,0,0,0
$GC,8184,0.42,126.6,291.7,6.1,31,8188,0.00,2.35,0.00,0.000,6,0.000,0.048,3074,2074,2218,0,0,0,0,0,0
$GC,8776,0.40,126.6,252.1,6.8,33,8781,0.00,2.40,0.00,0.000,4,0.000,0.060,3074,3578,2216,0,0,0,0,0,0
$GC,8843,0.39,126.6,246.4,8.9,33,8848,0.12,2.38,0.00,0.000,6,0.149,0.045,3049,2067,2215,0,0,0,0,0,0
$GC,9402,0.39,140.4,213.8,5.6,35,9421,0.00,2.45,13.35,0.688,4,0.000,0.054,3057,555,2162,0,0,0,0,0,0
$GC,9451,0.40,155.4,211.2,5.6,35,9470,0.00,2.35,14.48,0.685,6,0.000,0.047,3057,2067,2101,0,0,0,0,0,0
$GC,10037,0.40,155.4,173.6,6.5,37,10041,0.00,2.42,0.00,0.000,4,0.000,0.059,3057,3575,2095,0,0,0,0,0,0
$GC,10071,0.40,155.4,171.2,7.7,37,10075,0.00,2.38,0.00,0.000,6,0.000,0.044,3067,2056,2094,0,0,0,0,0,0
$GC,10671,0.40,155.7,134.2,6.1,39,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2055,2094,0,0,0,0,0,0
$GC,10970,0.40,155.7,114.9,6.2,40,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2055,2094,0,0,0,0,0,0
$GC,11270,0.40,155.7,97.2,6.2,41,11275,0.00,2.35,0.00,0.000,4,0.000,0.054,3077,549,2094,0,0,0,0,0,0
$GC,11304,0.40,158.1,95.4,6.0,41,11308,0.00,2.35,0.00,0.000,6,0.000,0.047,3076,2073,2094,0,0,0,0,0,0
$GC,11580,0.42,189.2,81.2,5.0,44,11615,0.00,2.45,28.65,0.636,4,0.000,0.059,3076,3571,1962,0,0,0,0,0,0
$GC,11648,0.43,206.4,78.0,5.5,44,11669,0.00,2.38,15.45,0.608,6,0.000,0.044,3083,2063,1893,0,0,0,0,0,0
$GC,11882,0.44,217.7,64.7,5.7,47,11898,0.00,2.40,10.55,0.579,4,0.000,0.053,3083,546,1847,0,0,0,0,0,0
$GC,11928,0.46,217.7,61.8,7.0,47,11932,0.00,2.40,0.00,0.000,6,0.000,0.047,3082,2083,1844,0,0,0,0,0,0
$GC,12186,0.48,224.5,46.4,5.9,50,12200,0.00,2.45,6.95,0.533,4,0.000,0.059,3083,3581,1818,0,0,0,0,0,0
$GC,12242,0.50,232.1,42.9,5.8,50,12256,0.00,2.35,7.75,0.539,6,0.000,0.044,3083,2077,1788,0,0,0,0,0,0
$GC,12498,0.55,268.7,30.1,4.8,53,12535,0.00,2.45,31.27,0.602,4,0.000,0.052,3083,553,1638,0,0,0,0,0,0
$GC,12572,0.60,296.4,26.9,5.1,53,12603,0.00,2.38,23.52,0.585,6,0.000,0.047,3083,2086,1525,0,0,0,0,0,0
$GC,12805,0.65,296.4,12.6,6.1,56,12810,0.12,2.45,0.00,0.000,4,0.091,0.052,3151,545,1518,0,0,0,0,0,0
$GC,12886,0.70,336.6,8.5,4.7,56,12926,0.00,2.33,33.00,0.581,6,0.000,0.047,3151,2053,1362,0,0,0,0,0,0
$STATE,12980,end climb,SURFACE_DEPTH_REACHED
$STATE,12982,begin surface coast
$FINISH,3.4,NaN
$STATE,12986,end surface coast,CONTROL_FINISHED_OK
$STATE,12986,begin surface
$SM_CCo,13065,0.00,0.000,0,0,1352,339.25
$SM_GC,2.04,7.97,0.00,0.00,0.041,0.000,0.000,143,2187,1352,-8.59,0.34,339.25
$IRIDIUM_FIX,4732.49,-12514.75,020911,141453
$TT8_MAMPS,0.026964
$HUMID,42.12
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.4,81.349
$10V_AH,9.8,83.182
$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,20.400,110.150,394.075,0.000,0.000,26.331,32.627,105.481,0.000,0.000,16.305,612.613,10249.278,429.498,1780.609,277.304,33.375,1311.343,0.000,1574.113,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,92.565,849.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,333,57
$CAP_FILE_SIZE,114497,0
$CFSIZE,260165632,157470720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020911,214830,4750.977,-12514.185,38,1.7,38,18.7