version: 66.07
glider: 187
mission: 4
dive: 697
start: 8 30 111 20 47 49
data:
$ID,187
$MISSION,4
$DIVE,697
$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,-1585622.2
$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,39
$R_STBD_OVSHOOT,29
$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
$GPS1,300811,204206,4750.991,-12514.441,53,1.8,53,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-76.6
$GPS2,300811,204655,4750.941,-12514.415,12,1.9,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,INSHORE
$TGT_LATLONG,4742.000,-12530.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.117,-0.162
$KALMAN_X,361257.5,343.7,630.6,-371285.1,-1827.9
$KALMAN_Y,-777653.9,-517.5,298.7,786059.7,-718.4
$MHEAD_RNG_PITCHd_Wd,197.2,25526,-13.6,-6.111
$D_GRID,416
$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,-117.3,0.0,0.0,0,66,0.00,0.00,-48.35,0.000,2,0.000,0.000,114,2163,2492,0,0,0,0,0,0
$GC,70,-0.50,-117.3,3.5,-4.9,0,104,10.50,2.53,-17.08,0.000,4,0.218,0.073,2742,3693,3216,0,0,0,0,0,0
$GC,194,-0.48,-117.3,20.8,-10.8,1,198,0.00,2.38,0.00,0.000,6,0.000,0.044,2741,2170,3218,0,0,0,0,0,0
$GC,406,-0.46,-117.3,46.3,-12.1,4,411,0.10,2.35,0.00,0.000,4,0.166,0.051,2769,670,3220,0,0,0,0,0,0
$GC,563,-0.46,-117.3,61.7,-8.7,5,567,0.00,2.22,0.00,0.000,6,0.000,0.048,2763,2108,3220,0,0,0,0,0,0
$GC,827,-0.46,-117.3,86.2,-9.6,8,831,0.00,2.55,0.00,0.000,4,0.000,0.060,2751,3690,3221,0,0,0,0,0,0
$GC,842,-0.46,-117.3,87.6,-9.3,8,846,0.00,2.47,0.00,0.000,6,0.000,0.044,2751,2106,3221,0,0,0,0,0,0
$GC,1330,-0.46,-117.3,126.2,-7.8,11,1334,0.00,2.25,0.00,0.000,4,0.000,0.050,2750,663,3221,0,0,0,0,0,0
$GC,1357,-0.46,-117.3,128.6,-8.4,11,1361,0.00,2.25,0.00,0.000,6,0.000,0.048,2744,2103,3221,0,0,0,0,0,0
$GC,1962,-0.46,-117.3,175.9,-8.2,13,1967,0.00,2.55,0.00,0.000,4,0.000,0.061,2732,3692,3221,0,0,0,0,0,0
$GC,1995,-0.46,-117.3,178.8,-8.1,13,2000,0.12,2.47,0.00,0.000,6,0.129,0.044,2771,2108,3221,0,0,0,0,0,0
$GC,2589,-0.47,-117.3,208.7,-4.6,15,2593,0.00,2.28,0.00,0.000,4,0.000,0.052,2771,661,3221,0,0,0,0,0,0
$GC,2656,-0.48,-117.3,212.6,-5.2,15,2660,0.00,2.25,0.00,0.000,6,0.000,0.049,2771,2106,3221,0,0,0,0,0,0
$GC,3214,-0.49,-117.3,245.9,-6.3,17,3219,0.00,2.58,0.00,0.000,4,0.000,0.063,2770,3692,3221,0,0,0,0,0,0
$GC,3238,-0.51,-117.3,247.1,-5.6,17,3243,0.00,2.50,0.00,0.000,6,0.000,0.046,2770,2097,3221,0,0,0,0,0,0
$GC,3844,-0.52,-117.3,281.5,-5.4,19,3848,0.00,2.25,0.00,0.000,4,0.000,0.053,2770,669,3220,0,0,0,0,0,0
$GC,3913,-0.54,-117.3,285.7,-6.0,19,3917,0.00,2.22,0.00,0.000,6,0.000,0.050,2764,2092,3220,0,0,0,0,0,0
$GC,4474,-0.54,-117.3,318.2,-5.9,21,4478,0.00,2.60,0.00,0.000,4,0.000,0.063,2754,3689,3219,0,0,0,0,0,0
$GC,4512,-0.55,-117.3,321.1,-7.3,21,4516,0.00,2.50,0.00,0.000,6,0.000,0.046,2753,2092,3219,0,0,0,0,0,0
$GC,5099,-0.55,-117.3,362.1,-7.1,23,5103,0.00,2.25,0.00,0.000,4,0.000,0.054,2753,669,3218,0,0,0,0,0,0
$GC,5120,-0.55,-117.3,363.7,-7.1,23,5124,0.00,2.20,0.00,0.000,6,0.000,0.051,2747,2091,3218,0,0,0,0,0,0
$GC,5730,-0.55,-117.3,405.2,-7.0,25,5734,0.00,2.60,0.00,0.000,4,0.000,0.063,2735,3688,3217,0,0,0,0,0,0
$GC,5745,-0.55,-117.3,406.3,-7.0,25,5749,0.00,2.50,0.00,0.000,6,0.000,0.047,2735,2083,3217,0,0,0,0,0,0
$STATE,5871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5872,begin apogee
$GC,5879,-0.22,0.0,416.3,8.2,25,5985,0.32,0.00,98.53,0.849,6,0.106,0.000,2847,2080,2735,0,0,0,0,0,0
$STATE,5986,end apogee,CONTROL_FINISHED_OK
$STATE,5986,begin climb
$GC,5988,0.50,117.3,420.3,0.0,25,6095,0.65,0.00,103.18,0.823,6,0.073,0.000,3081,2080,2256,0,0,0,0,0,0
$GC,6349,0.48,126.6,401.9,5.8,27,6359,0.00,0.00,8.20,0.696,6,0.000,0.000,3081,2080,2218,0,0,0,0,0,0
$GC,6646,0.45,127.2,382.6,6.1,28,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2080,2214,0,0,0,0,0,0
$GC,6946,0.43,127.2,363.2,6.2,29,6950,0.00,2.40,0.00,0.000,4,0.000,0.060,3081,3578,2213,0,0,0,0,0,0
$GC,7031,0.41,127.2,356.8,8.0,29,7036,0.15,2.38,0.00,0.000,6,0.140,0.046,3047,2067,2211,0,0,0,0,0,0
$GC,7575,0.42,147.4,327.5,5.4,31,7600,0.00,2.47,18.15,0.765,4,0.000,0.060,3047,3575,2134,0,0,0,0,0,0
$GC,7639,0.42,147.4,323.0,7.2,31,7643,0.00,2.40,0.00,0.000,6,0.000,0.046,3053,2055,2132,0,0,0,0,0,0
$GC,8205,0.42,147.4,287.1,6.3,33,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2054,2129,0,0,0,0,0,0
$GC,8505,0.42,147.4,267.9,6.3,34,8509,0.00,2.42,0.00,0.000,4,0.000,0.058,3053,3582,2129,0,0,0,0,0,0
$GC,8526,0.42,147.4,266.5,6.6,34,8530,0.00,2.38,0.00,0.000,6,0.000,0.045,3063,2062,2128,0,0,0,0,0,0
$GC,9129,0.42,147.4,226.4,7.0,36,9133,0.00,2.40,0.00,0.000,4,0.000,0.056,3074,546,2128,0,0,0,0,0,0
$GC,9161,0.42,147.4,224.0,7.3,36,9165,0.00,2.35,0.00,0.000,6,0.000,0.048,3074,2069,2128,0,0,0,0,0,0
$GC,9760,0.42,147.4,182.0,7.0,38,9764,0.00,2.40,0.00,0.000,4,0.000,0.060,3074,3572,2128,0,0,0,0,0,0
$GC,9821,0.41,147.4,177.5,7.5,38,9826,0.12,2.35,0.00,0.000,6,0.145,0.045,3047,2073,2127,0,0,0,0,0,0
$GC,10385,0.41,150.9,145.0,6.0,40,10389,0.00,2.42,0.00,0.000,4,0.000,0.054,3054,541,2127,0,0,0,0,0,0
$GC,10427,0.44,184.0,143.2,4.9,40,10463,0.00,2.38,31.15,0.676,6,0.000,0.048,3054,2080,1985,0,0,0,0,0,0
$GC,11014,0.46,201.0,113.0,5.5,42,11034,0.00,2.40,14.85,0.633,4,0.000,0.060,3055,3573,1915,0,0,0,0,0,0
$GC,11079,0.48,201.0,108.3,7.4,42,11083,0.00,2.38,0.00,0.000,6,0.000,0.044,3055,2065,1912,0,0,0,0,0,0
$GC,11437,0.52,242.2,88.4,4.7,44,11478,0.00,2.40,35.08,0.640,4,0.000,0.053,3055,550,1747,0,0,0,0,0,0
$GC,11517,0.60,302.6,85.5,4.0,44,11572,0.15,2.35,49.70,0.630,6,0.072,0.046,3135,2068,1500,0,0,0,0,0,0
$GC,11847,0.60,302.6,56.4,9.3,48,11851,0.00,2.42,0.00,0.000,4,0.000,0.055,3141,539,1490,0,0,0,0,0,0
$GC,11875,0.60,302.6,54.0,8.2,48,11879,0.00,2.35,0.00,0.000,6,0.000,0.047,3141,2058,1489,0,0,0,0,0,0
$GC,12150,0.60,302.6,29.3,9.0,51,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2058,1488,0,0,0,0,0,0
$GC,12351,0.60,302.6,14.2,8.3,53,12352,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2058,1487,0,0,0,0,0,0
$STATE,12550,end climb,SURFACE_DEPTH_REACHED
$STATE,12550,begin surface coast
$FINISH,1.1,NaN
$STATE,12650,end surface coast,CONTROL_FINISHED_OK
$STATE,12650,begin surface
$SM_CCo,12670,14.27,0.286,1,0,1410,325.02
$SM_GC,2.11,0.00,0.00,14.27,0.000,0.000,0.286,112,2192,1410,-8.78,0.48,325.02
$IRIDIUM_FIX,4732.49,-12519.22,300811,171743
$TT8_MAMPS,0.027713
$HUMID,43.42
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.4,79.846
$10V_AH,9.9,82.371
$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,19.850,95.975,358.825,14.275,0.000,26.162,37.032,107.316,0.000,0.000,18.245,580.609,10009.081,411.789,1722.163,259.896,33.373,1242.765,0.000,1509.748,0.000,0.535,0.000
$DEVICE_MAMPS,218.025,81.855,849.150,286.110,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,297636
$DATA_FILE_SIZE,335,56
$CAP_FILE_SIZE,107832,0
$CFSIZE,260165632,158208000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,310811,002154,4749.820,-12514.689,116,1.3,116,18.7