version: 66.07
glider: 187
mission: 4
dive: 169
start: 5 4 111 23 20 37
data:
$ID,187
$MISSION,4
$DIVE,169
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,380
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,340
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1584032.9
$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,2948
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2250
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2600
$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,0
$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
$GPS1,040511,231356,4735.632,-12506.007,13,1.4,13,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.1
$GPS2,040511,232014,4735.535,-12505.922,18,2.0,18,18.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.176,-0.114
$KALMAN_X,14438.9,303.9,-305.7,-13432.8,797.0
$KALMAN_Y,-14155.7,856.3,103.6,-14859.7,-275.4
$MHEAD_RNG_PITCHd_Wd,271.9,158405,-18.6,-10.000
$D_GRID,328
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.71,-146.6,0.0,0.0,0,85,0.00,0.00,-65.25,0.000,2,0.000,0.000,131,2257,2822,0,0,0,0,0,0
$GC,89,-0.71,-146.6,3.9,-6.5,10,113,10.30,2.47,-6.80,0.000,4,0.236,0.070,2701,3765,3201,0,0,0,0,0,0
$GC,213,-0.68,-146.6,31.7,-14.5,31,220,0.00,2.40,0.00,0.000,6,0.000,0.043,2700,2250,3204,0,0,0,0,0,0
$GC,287,-0.66,-146.6,43.3,-16.2,44,295,0.12,0.00,0.00,0.000,6,0.175,0.000,2733,2244,3205,0,0,0,0,0,0
$GC,362,-0.64,-146.6,54.7,-15.7,57,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2244,3205,0,0,0,0,0,0
$GC,433,-0.63,-146.6,65.8,-15.4,70,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2244,3205,0,0,0,0,0,0
$GC,506,-0.63,-146.6,77.5,-15.2,83,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2244,3205,0,0,0,0,0,0
$GC,578,-0.63,-146.6,87.2,-13.2,96,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2244,3205,0,0,0,0,0,0
$GC,650,-0.63,-146.6,95.4,-10.7,109,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2244,3205,0,0,0,0,0,0
$GC,721,-0.63,-146.6,102.3,-9.2,120,725,0.00,2.35,0.00,0.000,4,0.000,0.050,2733,729,3205,0,0,0,0,0,0
$GC,767,-0.63,-146.6,106.7,-9.0,123,775,0.00,2.42,0.00,0.000,6,0.000,0.047,2725,2272,3205,0,0,0,0,0,0
$GC,902,-0.63,-146.6,119.4,-10.0,136,906,0.00,2.38,0.00,0.000,4,0.000,0.050,2724,728,3205,0,0,0,0,0,0
$GC,942,-0.63,-146.6,124.0,-11.5,139,947,0.00,2.38,0.00,0.000,6,0.000,0.048,2716,2261,3206,0,0,0,0,0,0
$GC,1078,-0.63,-146.6,138.2,-10.1,151,1082,0.00,2.38,0.00,0.000,4,0.000,0.050,2715,728,3205,0,0,0,0,0,0
$GC,1120,-0.63,-146.6,142.5,-9.8,154,1125,0.12,2.35,0.00,0.000,6,0.159,0.048,2741,2246,3206,0,0,0,0,0,0
$GC,1256,-0.63,-146.6,154.0,-8.5,166,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2246,3206,0,0,0,0,0,0
$GC,1392,-0.64,-146.6,166.7,-9.7,179,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2246,3205,0,0,0,0,0,0
$GC,1518,-0.64,-146.6,179.1,-9.4,191,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2246,3205,0,0,0,0,0,0
$GC,1646,-0.64,-146.6,190.2,-8.3,203,1650,0.00,2.30,0.00,0.000,4,0.000,0.050,2741,738,3206,0,0,0,0,0,0
$GC,1678,-0.64,-146.6,193.1,-8.4,205,1685,0.00,2.30,0.00,0.000,6,0.000,0.047,2734,2233,3205,0,0,0,0,0,0
$GC,1813,-0.64,-146.6,204.6,-8.9,218,1817,0.00,2.30,0.00,0.000,4,0.000,0.050,2733,738,3205,0,0,0,0,0,0
$GC,1835,-0.64,-146.6,206.9,-9.7,219,1842,0.00,2.33,0.00,0.000,6,0.000,0.047,2725,2232,3205,0,0,0,0,0,0
$GC,1970,-0.64,-146.6,219.4,-9.6,232,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2231,3206,0,0,0,0,0,0
$GC,2098,-0.64,-146.6,230.6,-8.5,244,2101,0.00,2.42,0.00,0.000,4,0.000,0.060,2714,3767,3205,0,0,0,0,0,0
$GC,2135,-0.64,-146.6,233.7,-9.1,247,2139,0.00,2.38,0.00,0.000,6,0.000,0.044,2712,2214,3205,0,0,0,0,0,0
$GC,2270,-0.64,-146.6,246.0,-9.2,259,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2210,3205,0,0,0,0,0,0
$GC,2397,-0.64,-146.6,257.2,-8.6,271,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2210,3205,0,0,0,0,0,0
$GC,2525,-0.64,-146.6,268.2,-8.9,283,2529,0.00,2.25,0.00,0.000,4,0.000,0.050,2712,741,3205,0,0,0,0,0,0
$GC,2556,-0.64,-146.6,271.1,-9.7,285,2561,0.12,2.28,0.00,0.000,6,0.157,0.049,2738,2236,3205,0,0,0,0,0,0
$GC,2692,-0.65,-146.6,281.6,-7.4,297,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2236,3205,0,0,0,0,0,0
$GC,2828,-0.66,-146.6,292.2,-8.2,310,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2236,3205,0,0,0,0,0,0
$GC,2955,-0.68,-146.6,302.8,-8.4,322,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2236,3205,0,0,0,0,0,0
$GC,3083,-0.69,-146.6,313.5,-8.4,334,3087,0.00,2.30,0.00,0.000,4,0.000,0.051,2738,738,3205,0,0,0,0,0,0
$GC,3112,-0.69,-146.6,316.4,-9.6,336,3116,0.00,2.25,0.00,0.000,6,0.000,0.049,2731,2217,3204,0,0,0,0,0,0
$STATE,3244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3244,begin apogee
$GC,3250,-0.23,0.0,328.2,8.7,348,3379,0.40,0.00,119.18,0.788,6,0.120,0.000,2867,2091,2599,0,0,0,0,0,0
$STATE,3380,end apogee,CONTROL_FINISHED_OK
$STATE,3380,begin climb
$GC,3383,0.71,146.6,330.9,0.0,361,3516,0.88,0.00,124.72,0.758,6,0.081,0.000,3170,2091,2002,0,0,0,0,0,0
$GC,3642,0.67,146.6,295.7,17.5,385,3646,0.00,2.50,0.00,0.000,4,0.000,0.057,3170,3618,1993,0,0,0,0,0,0
$GC,3671,0.64,146.6,289.9,19.4,387,3675,0.00,2.40,0.00,0.000,6,0.000,0.042,3181,2106,1992,0,0,0,0,0,0
$GC,3805,0.60,146.6,264.9,18.1,399,3807,0.15,0.00,0.00,0.000,6,0.174,0.000,3143,2100,1991,0,0,0,0,0,0
$GC,3934,0.58,146.6,245.4,14.8,411,3938,0.00,2.40,0.00,0.000,4,0.000,0.053,3152,581,1990,0,0,0,0,0,0
$GC,3964,0.56,146.6,241.0,14.4,413,3968,0.00,2.38,0.00,0.000,6,0.000,0.047,3152,2097,1989,0,0,0,0,0,0
$GC,4104,0.53,146.6,220.6,14.9,426,4109,0.12,2.42,0.00,0.000,4,0.171,0.057,3121,3619,1989,0,0,0,0,0,0
$GC,4158,0.51,146.6,213.5,13.4,430,4162,0.00,2.35,0.00,0.000,6,0.000,0.043,3130,2104,1987,0,0,0,0,0,0
$GC,4293,0.50,146.6,196.3,12.5,442,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2104,1987,0,0,0,0,0,0
$GC,4421,0.49,146.6,180.3,12.7,454,4425,0.00,2.35,0.00,0.000,4,0.000,0.053,3141,585,1987,0,0,0,0,0,0
$GC,4471,0.49,146.6,173.6,12.7,458,4476,0.12,2.38,0.00,0.000,6,0.161,0.047,3108,2111,1987,0,0,0,0,0,0
$GC,4605,0.49,146.6,158.7,10.9,470,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2112,1987,0,0,0,0,0,0
$GC,4733,0.49,146.6,144.3,11.9,482,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2111,1987,0,0,0,0,0,0
$GC,4860,0.49,146.6,129.6,10.9,494,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2112,1986,0,0,0,0,0,0
$GC,4988,0.49,153.8,116.9,9.7,506,5000,0.00,2.38,4.45,0.493,4,0.000,0.054,3117,589,1973,0,0,0,0,0,0
$GC,5036,0.50,168.6,112.4,9.3,510,5059,0.00,2.33,14.38,0.631,6,0.000,0.048,3117,2100,1911,0,0,0,0,0,0
$GC,5190,0.50,168.6,94.3,13.3,528,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2099,1908,0,0,0,0,0,0
$GC,5264,0.50,168.6,84.7,11.5,541,5271,0.00,2.45,0.00,0.000,4,0.000,0.060,3117,3613,1908,0,0,0,0,0,0
$GC,5311,0.50,168.6,78.7,12.5,549,5318,0.00,2.35,0.00,0.000,6,0.000,0.044,3126,2120,1907,0,0,0,0,0,0
$GC,5383,0.50,168.6,70.8,11.0,562,5390,0.00,2.42,0.00,0.000,4,0.000,0.056,3137,582,1906,0,0,0,0,0,0
$GC,5405,0.50,168.6,68.2,11.8,565,5412,0.00,2.40,0.00,0.000,6,0.000,0.049,3137,2112,1906,0,0,0,0,0,0
$GC,5478,0.51,179.1,61.3,9.5,578,5494,0.00,2.42,9.57,0.580,4,0.000,0.060,3137,3608,1869,0,0,0,0,0,0
$GC,5533,0.51,179.1,55.7,10.5,587,5541,0.10,2.30,0.00,0.000,6,0.141,0.044,3114,2151,1866,0,0,0,0,0,0
$GC,5608,0.55,218.3,49.3,8.2,600,5645,0.00,0.00,32.47,0.613,6,0.000,0.000,3114,2146,1710,0,0,0,0,0,0
$GC,5711,0.59,248.1,40.5,8.6,617,5746,0.00,2.55,24.77,0.594,4,0.000,0.054,3122,584,1586,0,0,0,0,0,0
$GC,5767,0.64,289.6,35.9,8.1,625,5809,0.00,2.47,34.05,0.587,6,0.000,0.047,3122,2159,1417,0,0,0,0,0,0
$GC,5876,0.67,289.6,25.6,10.8,643,5883,0.12,0.00,0.00,0.000,6,0.093,0.000,3177,2160,1412,0,0,0,0,0,0
$GC,5950,0.68,295.6,17.5,9.7,656,5960,0.00,2.42,5.32,0.463,4,0.000,0.057,3178,3620,1394,0,0,0,0,0,0
$GC,6010,0.72,305.6,11.5,9.5,666,6025,0.00,2.38,9.70,0.531,6,0.000,0.045,3179,2141,1354,0,0,0,0,0,0
$GC,6091,0.78,371.2,5.2,7.0,680,6107,0.00,0.00,14.15,0.550,2,0.000,0.000,3179,2139,1288,0,0,0,0,0,0
$STATE,6107,end climb,SURFACE_DEPTH_REACHED
$STATE,6108,begin surface coast
$FINISH,0.3,1.011094
$STATE,6167,end surface coast,CONTROL_FINISHED_OK
$STATE,6167,begin surface
$SM_CCo,6186,11.93,0.213,1,0,1212,340.23
$SM_GC,1.26,0.00,0.00,11.93,0.000,0.000,0.213,133,2261,1212,-8.80,0.31,340.23
$IRIDIUM_FIX,4716.56,-12513.36,040511,212144
$TT8_MAMPS,0.027713
$HUMID,35.98
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.8,15.498
$10V_AH,10.3,9.524
$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,20.750,90.625,392.775,11.925,0.000,28.387,46.198,182.196,0.000,0.000,19.666,1732.338,2366.710,517.081,1696.727,271.211,0.000,1240.426,0.000,1469.390,0.000,0.536,0.000
$DEVICE_MAMPS,236.385,84.915,787.950,213.435,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.620,526.903,894.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297748
$DATA_FILE_SIZE,36944,693
$CAP_FILE_SIZE,109839,0
$CFSIZE,260165632,205881344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.265,168.1,1
$GPS,050511,010524,4734.976,-12506.871,35,1.4,45,18.6