version: 66.07
glider: 187
mission: 4
dive: 257
start: 5 22 111 23 19 28
data:
$ID,187
$MISSION,4
$DIVE,257
$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,-1584145.8
$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,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,32
$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,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
$GPS1,220511,231301,4752.638,-12509.340,13,1.6,18,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-78.1
$GPS2,220511,231832,4752.624,-12509.381,15,1.4,15,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.195,-0.023
$KALMAN_X,12266.3,-1099.7,-104.3,126677.3,-128.7
$KALMAN_Y,26194.0,743.2,-603.6,67689.7,646.3
$MHEAD_RNG_PITCHd_Wd,18.3,18299,-13.9,-6.111
$D_GRID,152
$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,15,-0.50,-112.4,0.0,0.0,0,82,0.00,0.00,-64.50,0.000,2,0.000,0.000,132,2158,2728,0,0,0,0,0,0
$GC,86,-0.50,-112.4,3.2,-2.5,10,116,10.35,2.38,-9.48,0.000,4,0.237,0.059,2734,656,3197,0,0,0,0,0,0
$GC,201,-0.46,-112.4,28.2,-15.0,29,209,0.00,2.40,0.00,0.000,6,0.000,0.046,2725,2178,3198,0,0,0,0,0,0
$GC,274,-0.42,-112.4,39.6,-15.5,42,282,0.15,2.42,0.00,0.000,4,0.154,0.060,2757,3691,3199,0,0,0,0,0,0
$GC,308,-0.38,-112.4,44.1,-14.4,47,315,0.00,2.40,0.00,0.000,6,0.000,0.042,2756,2165,3199,0,0,0,0,0,0
$GC,381,-0.35,-112.4,52.1,-10.8,60,390,0.12,2.38,0.00,0.000,4,0.151,0.050,2792,668,3199,0,0,0,0,0,0
$GC,424,-0.34,-112.4,56.3,-10.0,67,432,0.00,2.35,0.00,0.000,6,0.000,0.048,2786,2161,3200,0,0,0,0,0,0
$GC,498,-0.34,-112.4,62.7,-8.6,80,506,0.00,2.35,0.00,0.000,4,0.000,0.050,2785,668,3200,0,0,0,0,0,0
$GC,545,-0.34,-112.4,66.7,-8.2,88,554,0.00,2.30,0.00,0.000,6,0.000,0.048,2779,2135,3200,0,0,0,0,0,0
$GC,620,-0.33,-112.4,72.8,-8.8,101,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2135,3200,0,0,0,0,0,0
$GC,692,-0.33,-112.4,78.5,-7.3,114,699,0.00,2.50,0.00,0.000,4,0.000,0.060,2768,3696,3201,0,0,0,0,0,0
$GC,743,-0.33,-112.4,82.3,-7.1,123,751,0.00,2.45,0.00,0.000,6,0.000,0.043,2767,2125,3200,0,0,0,0,0,0
$GC,817,-0.33,-112.4,87.8,-7.9,136,825,0.00,2.28,0.00,0.000,4,0.000,0.050,2767,668,3200,0,0,0,0,0,0
$GC,865,-0.33,-112.4,91.8,-8.6,144,874,0.10,2.25,0.00,0.000,6,0.114,0.047,2795,2111,3200,0,0,0,0,0,0
$GC,940,-0.33,-112.4,96.9,-6.0,157,947,0.00,2.53,0.00,0.000,4,0.000,0.061,2789,3693,3201,0,0,0,0,0,0
$GC,971,-0.34,-112.4,98.8,-6.2,162,978,0.00,2.45,0.00,0.000,6,0.000,0.043,2788,2117,3200,0,0,0,0,0,0
$GC,1046,-0.34,-112.4,103.5,-6.5,170,1050,0.00,2.22,0.00,0.000,4,0.000,0.050,2788,663,3200,0,0,0,0,0,0
$GC,1109,-0.35,-112.4,108.3,-7.6,175,1113,0.00,2.20,0.00,0.000,6,0.000,0.047,2788,2104,3200,0,0,0,0,0,0
$GC,1244,-0.35,-112.4,117.5,-6.8,187,1249,0.00,2.53,0.00,0.000,4,0.000,0.060,2780,3696,3200,0,0,0,0,0,0
$GC,1289,-0.37,-112.4,120.9,-7.1,190,1296,0.00,2.45,0.00,0.000,6,0.000,0.042,2780,2100,3200,0,0,0,0,0,0
$GC,1423,-0.37,-112.4,130.6,-7.5,203,1427,0.00,2.20,0.00,0.000,4,0.000,0.049,2780,664,3200,0,0,0,0,0,0
$GC,1455,-0.37,-112.4,133.3,-7.6,205,1462,0.00,2.22,0.00,0.000,6,0.000,0.047,2779,2116,3201,0,0,0,0,0,0
$GC,1591,-0.37,-112.4,142.4,-6.7,218,1595,0.00,2.50,0.00,0.000,4,0.000,0.060,2769,3696,3200,0,0,0,0,0,0
$GC,1623,-0.37,-112.4,144.6,-6.4,220,1631,0.00,2.42,0.00,0.000,6,0.000,0.043,2769,2101,3200,0,0,0,0,0,0
$STATE,1733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1733,begin apogee
$GC,1739,-0.22,0.0,152.3,7.1,231,1838,0.20,0.00,88.97,0.681,6,0.121,0.000,2833,2101,2734,0,0,0,0,0,0
$STATE,1839,end apogee,CONTROL_FINISHED_OK
$STATE,1839,begin climb
$GC,1843,0.50,112.4,156.8,0.0,241,1947,0.68,2.47,93.12,0.660,4,0.088,0.055,3065,3584,2274,0,0,0,0,0,0
$GC,1976,0.48,112.4,151.6,7.8,252,1985,0.00,2.47,0.00,0.000,6,0.000,0.041,3076,2060,2270,0,0,0,0,0,0
$GC,2113,0.46,112.4,142.2,6.9,265,2117,0.00,2.38,0.00,0.000,4,0.000,0.050,3087,549,2268,0,0,0,0,0,0
$GC,2134,0.44,112.4,140.3,7.5,266,2142,0.12,2.38,0.00,0.000,6,0.143,0.044,3052,2069,2268,0,0,0,0,0,0
$GC,2270,0.44,112.4,132.0,6.2,279,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2069,2267,0,0,0,0,0,0
$GC,2396,0.44,112.4,124.1,6.2,291,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2069,2266,0,0,0,0,0,0
$GC,2524,0.46,137.0,116.8,5.2,303,2549,0.00,2.47,19.65,0.633,4,0.000,0.057,3052,3571,2175,0,0,0,0,0,0
$GC,2586,0.45,137.0,113.0,7.2,308,2590,0.00,2.35,0.00,0.000,6,0.000,0.041,3059,2061,2173,0,0,0,0,0,0
$GC,2726,0.45,137.0,102.5,7.5,321,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2060,2171,0,0,0,0,0,0
$GC,2853,0.45,137.0,94.5,6.5,341,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2056,2171,0,0,0,0,0,0
$GC,2924,0.45,137.0,89.5,7.1,354,2931,0.00,2.45,0.00,0.000,4,0.000,0.058,3059,3596,2169,0,0,0,0,0,0
$GC,2959,0.45,137.0,87.1,6.7,360,2968,0.00,2.40,0.00,0.000,6,0.000,0.041,3068,2061,2170,0,0,0,0,0,0
$GC,3034,0.45,137.0,82.5,6.2,373,3042,0.00,2.40,0.00,0.000,4,0.000,0.051,3076,548,2169,0,0,0,0,0,0
$GC,3082,0.45,137.0,79.3,6.4,381,3090,0.00,2.35,0.00,0.000,6,0.000,0.046,3077,2053,2169,0,0,0,0,0,0
$GC,3154,0.46,162.6,75.4,5.2,394,3183,0.00,2.45,21.60,0.624,4,0.000,0.056,3077,3581,2069,0,0,0,0,0,0
$GC,3246,0.45,162.6,69.4,7.2,409,3254,0.08,2.33,0.00,0.000,6,0.130,0.041,3055,2101,2067,0,0,0,0,0,0
$GC,3321,0.46,175.2,64.9,5.6,422,3343,0.00,2.47,11.07,0.588,4,0.000,0.050,3055,546,2019,0,0,0,0,0,0
$GC,3369,0.50,207.3,62.7,4.9,429,3404,0.00,2.45,27.27,0.615,6,0.000,0.045,3055,2102,1888,0,0,0,0,0,0
$GC,3476,0.56,244.2,57.6,4.8,446,3512,0.00,2.45,30.48,0.608,4,0.000,0.057,3055,3572,1738,0,0,0,0,0,0
$GC,3570,0.59,244.2,51.9,6.3,461,3578,0.08,2.30,0.00,0.000,6,0.055,0.040,3106,2125,1733,0,0,0,0,0,0
$GC,3645,0.59,244.2,46.0,7.9,474,3652,0.00,2.47,0.00,0.000,4,0.000,0.050,3111,550,1731,0,0,0,0,0,0
$GC,3723,0.61,244.2,40.1,7.3,488,3731,0.00,2.42,0.00,0.000,6,0.000,0.046,3110,2086,1730,0,0,0,0,0,0
$GC,3799,0.61,244.2,34.1,8.3,501,3807,0.00,2.40,0.00,0.000,4,0.000,0.058,3111,3567,1729,0,0,0,0,0,0
$GC,3840,0.61,244.2,30.2,9.0,508,3849,0.00,2.30,0.00,0.000,6,0.000,0.043,3118,2115,1729,0,0,0,0,0,0
$GC,3914,0.61,244.2,23.7,8.7,521,3922,0.00,2.47,0.00,0.000,4,0.000,0.053,3129,553,1729,0,0,0,0,0,0
$GC,3942,0.61,244.2,21.3,8.8,525,3949,0.00,2.45,0.00,0.000,6,0.000,0.047,3129,2111,1728,0,0,0,0,0,0
$GC,4016,0.61,244.2,14.6,8.8,538,4023,0.00,2.35,0.00,0.000,4,0.000,0.058,3129,3572,1728,0,0,0,0,0,0
$STATE,4165,end climb,SURFACE_DEPTH_REACHED
$STATE,4165,begin surface coast
$FINISH,3.2,1.023656
$STATE,4177,end surface coast,CONTROL_FINISHED_OK
$STATE,4177,begin surface
$SM_CCo,4198,72.30,0.575,1,0,1204,375.06
$SM_GC,1.61,0.00,0.00,72.30,0.000,0.000,0.575,116,2165,1204,-8.71,-0.28,375.06
$IRIDIUM_FIX,4738.89,-12517.69,220511,212156
$TT8_MAMPS,0.027713
$HUMID,35.39
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,24.3,26.196
$10V_AH,10.2,21.357
$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,19.900,109.825,292.175,72.300,0.000,27.035,54.195,130.967,0.000,0.000,16.727,1390.948,972.650,537.383,1479.180,229.991,33.341,1146.764,0.000,1286.876,0.000,0.535,0.000
$DEVICE_MAMPS,237.150,61.200,680.850,575.280,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.544,416.307,971.594,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297492
$DATA_FILE_SIZE,30175,568
$CAP_FILE_SIZE,88308,0
$CFSIZE,260165632,197623808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$CURRENT,0.097,120.5,1
$GPS,230511,003206,4752.911,-12508.691,39,1.0,44,18.7