version: 66.07
glider: 187
mission: 4
dive: 256
start: 5 22 111 21 58 33
data:
$ID,187
$MISSION,4
$DIVE,256
$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,0
$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,115
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,375
$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,-1584144.5
$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,2905
$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,31
$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,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
$GPS1,220511,215208,4752.330,-12509.826,16,1.5,16,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-77.0
$GPS2,220511,215737,4752.317,-12509.836,17,1.5,17,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,0.096
$KALMAN_X,11985.2,-834.4,214.5,125798.1,-593.3
$KALMAN_Y,27203.9,229.5,-1196.7,67214.4,1113.2
$MHEAD_RNG_PITCHd_Wd,10.8,19082,-13.9,-6.111
$D_GRID,156
$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,14,begin dive
$GC,17,-0.50,-112.4,0.0,0.0,0,78,0.00,0.00,-58.55,0.000,2,0.000,0.000,131,2192,2597,0,0,0,0,0,0
$GC,81,-0.50,-112.4,3.3,-2.4,9,111,10.32,2.40,-12.77,0.000,4,0.236,0.059,2736,659,3195,0,0,0,0,0,0
$GC,195,-0.47,-112.4,27.1,-13.0,28,202,0.00,2.38,0.00,0.000,6,0.000,0.047,2727,2161,3197,0,0,0,0,0,0
$GC,268,-0.42,-112.4,38.2,-15.7,41,276,0.15,2.45,0.00,0.000,4,0.154,0.059,2759,3691,3197,0,0,0,0,0,0
$GC,318,-0.39,-112.4,45.2,-14.4,49,326,0.00,2.40,0.00,0.000,6,0.000,0.041,2758,2165,3198,0,0,0,0,0,0
$GC,391,-0.37,-112.4,54.6,-13.1,62,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2160,3199,0,0,0,0,0,0
$GC,463,-0.34,-112.4,63.2,-11.9,75,472,0.12,2.38,0.00,0.000,4,0.151,0.048,2794,636,3199,0,0,0,0,0,0
$GC,539,-0.34,-112.4,70.6,-8.9,88,547,0.00,2.45,0.00,0.000,6,0.000,0.048,2789,2194,3199,0,0,0,0,0,0
$GC,611,-0.34,-112.4,76.2,-7.8,101,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2195,3199,0,0,0,0,0,0
$GC,682,-0.34,-112.4,81.8,-7.7,114,690,0.00,2.40,0.00,0.000,4,0.000,0.049,2788,666,3199,0,0,0,0,0,0
$GC,752,-0.34,-112.4,86.6,-6.7,126,760,0.00,2.35,0.00,0.000,6,0.000,0.047,2787,2170,3199,0,0,0,0,0,0
$GC,825,-0.34,-112.4,91.1,-6.0,139,833,0.00,2.42,0.00,0.000,4,0.000,0.060,2777,3683,3199,0,0,0,0,0,0
$GC,862,-0.34,-112.4,93.5,-6.4,145,870,0.00,2.33,0.00,0.000,6,0.000,0.041,2776,2181,3199,0,0,0,0,0,0
$GC,936,-0.34,-112.4,98.9,-7.8,158,943,0.00,2.35,0.00,0.000,4,0.000,0.048,2776,670,3200,0,0,0,0,0,0
$GC,995,-0.34,-112.4,104.2,-8.5,164,999,0.00,2.28,0.00,0.000,6,0.000,0.047,2772,2161,3199,0,0,0,0,0,0
$GC,1130,-0.34,-112.4,114.8,-7.2,176,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2161,3200,0,0,0,0,0,0
$GC,1258,-0.34,-112.4,123.0,-6.4,188,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2161,3199,0,0,0,0,0,0
$GC,1384,-0.34,-112.4,131.5,-6.6,200,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2161,3199,0,0,0,0,0,0
$GC,1511,-0.34,-112.4,139.3,-5.8,212,1516,0.00,2.42,0.00,0.000,4,0.000,0.060,2761,3694,3199,0,0,0,0,0,0
$GC,1542,-0.34,-112.4,141.3,-7.2,214,1547,0.10,2.33,0.00,0.000,6,0.138,0.042,2791,2162,3199,0,0,0,0,0,0
$GC,1678,-0.35,-112.4,149.1,-5.5,226,1682,0.00,2.28,0.00,0.000,4,0.000,0.049,2791,666,3199,0,0,0,0,0,0
$GC,1728,-0.37,-112.4,152.3,-6.2,230,1735,0.00,2.28,0.00,0.000,6,0.000,0.047,2791,2163,3200,0,0,0,0,0,0
$STATE,1807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1807,begin apogee
$GC,1814,-0.22,0.0,156.3,5.2,238,1912,0.15,0.00,89.03,0.685,6,0.125,0.000,2841,2050,2734,0,0,0,0,0,0
$STATE,1913,end apogee,CONTROL_FINISHED_OK
$STATE,1913,begin climb
$GC,1915,0.50,112.4,159.5,0.0,248,2021,0.62,2.45,93.20,0.662,4,0.084,0.050,3069,559,2275,0,0,0,0,0,0
$GC,2046,0.50,112.4,154.3,6.5,259,2050,0.00,2.38,0.00,0.000,6,0.000,0.044,3069,2061,2272,0,0,0,0,0,0
$GC,2181,0.49,112.4,144.6,7.2,271,2185,0.00,2.45,0.00,0.000,4,0.000,0.057,3070,3578,2269,0,0,0,0,0,0
$GC,2221,0.47,112.4,141.5,8.5,274,2228,0.00,2.35,0.00,0.000,6,0.000,0.039,3080,2067,2267,0,0,0,0,0,0
$GC,2355,0.45,112.4,132.7,6.3,287,2357,0.12,0.00,0.00,0.000,6,0.156,0.000,3045,2062,2267,0,0,0,0,0,0
$GC,2483,0.46,133.1,125.5,5.4,299,2503,0.00,0.00,16.73,0.630,6,0.000,0.000,3045,2062,2191,0,0,0,0,0,0
$GC,2630,0.47,146.9,117.2,5.6,313,2649,0.00,0.00,12.27,0.610,6,0.000,0.000,3045,2062,2136,0,0,0,0,0,0
$GC,2777,0.47,153.1,108.8,5.9,327,2788,0.00,0.00,6.72,0.549,6,0.000,0.000,3045,2063,2110,0,0,0,0,0,0
$GC,2917,0.48,168.8,101.4,5.5,340,2935,0.00,0.00,14.25,0.617,6,0.000,0.000,3045,2063,2045,0,0,0,0,0,0
$GC,3062,0.49,168.8,91.9,7.0,365,3069,0.00,2.45,0.00,0.000,4,0.000,0.057,3045,3597,2039,0,0,0,0,0,0
$GC,3089,0.50,168.8,89.8,7.2,369,3096,0.00,2.42,0.00,0.000,6,0.000,0.041,3051,2060,2039,0,0,0,0,0,0
$GC,3162,0.50,168.8,84.1,7.7,382,3169,0.00,2.38,0.00,0.000,4,0.000,0.051,3052,552,2039,0,0,0,0,0,0
$GC,3220,0.52,168.8,79.6,7.9,392,3227,0.00,2.33,0.00,0.000,6,0.000,0.045,3052,2038,2039,0,0,0,0,0,0
$GC,3295,0.53,168.8,74.2,6.5,405,3302,0.00,2.45,0.00,0.000,4,0.000,0.057,3052,3586,2037,0,0,0,0,0,0
$GC,3348,0.53,168.8,70.7,6.6,414,3355,0.00,2.38,0.00,0.000,6,0.000,0.041,3060,2061,2036,0,0,0,0,0,0
$GC,3422,0.58,223.0,67.5,4.1,427,3473,0.00,2.40,43.97,0.627,4,0.000,0.048,3060,546,1823,0,0,0,0,0,0
$GC,3573,0.65,250.3,59.6,5.1,452,3604,0.10,2.33,22.73,0.604,6,0.050,0.044,3127,2022,1713,0,0,0,0,0,0
$GC,3673,0.65,250.3,53.0,7.6,468,3680,0.00,2.50,0.00,0.000,4,0.000,0.057,3127,3578,1708,0,0,0,0,0,0
$GC,3772,0.63,250.3,43.3,10.2,486,3780,0.00,2.40,0.00,0.000,6,0.000,0.041,3129,2062,1705,0,0,0,0,0,0
$GC,3845,0.63,250.3,35.7,10.6,499,3853,0.00,2.40,0.00,0.000,4,0.000,0.051,3140,549,1704,0,0,0,0,0,0
$GC,3874,0.63,250.3,32.8,10.5,503,3882,0.00,2.35,0.00,0.000,6,0.000,0.046,3140,2046,1705,0,0,0,0,0,0
$GC,3949,0.62,250.3,24.8,10.7,516,3957,0.12,2.42,0.00,0.000,4,0.149,0.057,3104,3577,1704,0,0,0,0,0,0
$GC,3985,0.62,250.3,21.0,10.0,522,3993,0.00,2.40,0.00,0.000,6,0.000,0.043,3110,2054,1704,0,0,0,0,0,0
$GC,4061,0.62,250.3,14.7,8.2,535,4069,0.00,2.45,0.00,0.000,4,0.000,0.059,3110,3593,1704,0,0,0,0,0,0
$GC,4104,0.63,250.3,11.5,7.4,542,4111,0.00,2.38,0.00,0.000,6,0.000,0.041,3110,2082,1702,0,0,0,0,0,0
$GC,4178,0.68,278.5,7.5,5.1,555,4207,0.00,2.40,22.25,0.582,4,0.000,0.055,3110,3575,1597,0,0,0,0,0,0
$STATE,4248,end climb,SURFACE_DEPTH_REACHED
$STATE,4249,begin surface coast
$FINISH,0.7,1.015206
$STATE,4336,end surface coast,CONTROL_FINISHED_OK
$STATE,4336,begin surface
$SM_CCo,4355,51.83,0.508,1,0,1206,375.06
$SM_GC,1.88,0.00,0.00,51.83,0.000,0.000,0.508,138,2158,1206,-8.64,-0.48,375.06
$IRIDIUM_FIX,4732.49,-12507.66,220511,202054
$TT8_MAMPS,0.027713
$HUMID,35.74
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.3,26.118
$10V_AH,10.3,21.282
$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,19.600,90.700,321.150,51.825,0.000,27.877,36.510,143.139,0.000,0.000,18.022,1422.181,1100.143,513.461,1479.393,229.334,33.335,1109.422,0.000,1290.164,0.000,0.536,0.000
$DEVICE_MAMPS,236.385,78.795,684.675,507.960,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.157,430.478,969.799,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297488
$DATA_FILE_SIZE,30307,583
$CAP_FILE_SIZE,85989,0
$CFSIZE,260165632,197672960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068,143.5,1
$GPS,220511,231301,4752.638,-12509.340,13,1.6,18,18.7