version: 66.07
glider: 187
mission: 4
dive: 258
start: 5 23 111 0 38 26
data:
$ID,187
$MISSION,4
$DIVE,258
$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,1
$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,-1584147
$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,41
$R_STBD_OVSHOOT,26
$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
$GPS1,230511,003206,4752.911,-12508.691,39,1.0,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-77.3
$GPS2,230511,003732,4752.926,-12508.701,12,1.6,12,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,0.086
$KALMAN_X,12406.8,-1181.9,-269.5,127646.1,172.1
$KALMAN_Y,25759.5,1091.7,138.6,67577.6,232.2
$MHEAD_RNG_PITCHd_Wd,45.3,17287,-14.0,-6.111
$D_GRID,143
$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,-112.1,0.0,0.0,0,83,0.00,0.00,-63.72,0.000,2,0.000,0.000,116,2166,2713,0,0,0,0,0,0
$GC,86,-0.50,-112.4,3.2,-2.6,10,115,10.40,2.35,-9.82,0.000,4,0.235,0.062,2738,668,3195,0,0,0,0,0,0
$GC,351,-0.47,-112.4,52.2,-12.7,59,359,0.00,2.38,0.00,0.000,6,0.000,0.045,2729,2182,3198,0,0,0,0,0,0
$GC,424,-0.43,-112.4,60.5,-11.1,72,432,0.12,2.38,0.00,0.000,4,0.156,0.050,2762,667,3198,0,0,0,0,0,0
$GC,529,-0.42,-112.4,71.9,-9.9,91,536,0.00,2.28,0.00,0.000,6,0.000,0.047,2755,2119,3198,0,0,0,0,0,0
$GC,601,-0.41,-112.4,77.8,-8.2,104,609,0.00,2.53,0.00,0.000,4,0.000,0.060,2744,3694,3198,0,0,0,0,0,0
$GC,637,-0.39,-112.4,80.9,-8.2,110,645,0.12,2.47,0.00,0.000,6,0.140,0.043,2778,2094,3198,0,0,0,0,0,0
$GC,711,-0.39,-112.4,85.7,-6.1,123,718,0.00,2.22,0.00,0.000,4,0.000,0.050,2778,668,3199,0,0,0,0,0,0
$GC,748,-0.39,-112.4,88.2,-6.4,129,756,0.00,2.22,0.00,0.000,6,0.000,0.047,2773,2093,3198,0,0,0,0,0,0
$GC,820,-0.39,-112.4,92.3,-5.6,142,827,0.00,2.55,0.00,0.000,4,0.000,0.060,2761,3689,3199,0,0,0,0,0,0
$GC,846,-0.39,-112.4,93.9,-5.8,146,853,0.00,2.47,0.00,0.000,6,0.000,0.042,2761,2099,3199,0,0,0,0,0,0
$GC,920,-0.38,-112.4,99.0,-7.0,159,927,0.00,2.25,0.00,0.000,4,0.000,0.050,2761,669,3199,0,0,0,0,0,0
$GC,959,-0.38,-112.4,102.3,-7.9,163,966,0.00,2.20,0.00,0.000,6,0.000,0.047,2753,2103,3198,0,0,0,0,0,0
$GC,1094,-0.37,-112.4,112.0,-7.5,176,1099,0.12,2.53,0.00,0.000,4,0.142,0.060,2779,3695,3199,0,0,0,0,0,0
$GC,1159,-0.39,-112.4,115.2,-4.0,181,1163,0.00,2.42,0.00,0.000,6,0.000,0.042,2779,2117,3199,0,0,0,0,0,0
$GC,1294,-0.39,-112.4,120.7,-4.1,193,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2114,3199,0,0,0,0,0,0
$GC,1422,-0.39,-112.4,126.8,-5.2,205,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2115,3198,0,0,0,0,0,0
$GC,1550,-0.39,-112.4,134.0,-6.1,217,1554,0.00,2.20,0.00,0.000,4,0.000,0.049,2779,666,3199,0,0,0,0,0,0
$GC,1591,-0.39,-112.4,136.6,-6.8,220,1595,0.00,2.20,0.00,0.000,6,0.000,0.047,2773,2106,3199,0,0,0,0,0,0
$STATE,1697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1697,begin apogee
$GC,1702,-0.22,0.0,143.2,5.8,230,1794,0.20,0.00,88.55,0.675,6,0.120,0.000,2836,2105,2735,0,0,0,0,0,0
$STATE,1795,end apogee,CONTROL_FINISHED_OK
$STATE,1795,begin climb
$GC,1798,0.50,112.4,146.4,0.0,239,1902,0.65,2.53,92.80,0.654,4,0.086,0.048,3072,556,2275,0,0,0,0,0,0
$GC,1942,0.50,112.4,140.8,6.5,251,1949,0.00,2.42,0.00,0.000,6,0.000,0.044,3072,2070,2272,0,0,0,0,0,0
$GC,2077,0.49,112.4,131.4,7.5,264,2081,0.00,2.47,0.00,0.000,4,0.000,0.057,3072,3584,2269,0,0,0,0,0,0
$GC,2117,0.47,112.4,127.8,9.3,267,2121,0.00,2.38,0.00,0.000,6,0.000,0.041,3082,2067,2267,0,0,0,0,0,0
$GC,2252,0.45,112.4,117.2,7.6,279,2257,0.12,2.38,0.00,0.000,4,0.153,0.050,3056,548,2267,0,0,0,0,0,0
$GC,2292,0.45,112.4,114.6,6.1,282,2296,0.00,2.35,0.00,0.000,6,0.000,0.045,3056,2068,2266,0,0,0,0,0,0
$GC,2426,0.48,160.2,108.3,4.4,294,2473,0.00,2.47,38.12,0.638,4,0.000,0.057,3056,3567,2081,0,0,0,0,0,0
$GC,2510,0.48,160.2,103.9,6.6,301,2514,0.00,2.38,0.00,0.000,6,0.000,0.041,3066,2055,2078,0,0,0,0,0,0
$GC,2643,0.48,160.2,94.8,7.2,320,2650,0.00,2.40,0.00,0.000,4,0.000,0.053,3075,550,2076,0,0,0,0,0,0
$GC,2669,0.48,160.2,92.9,8.1,324,2677,0.00,2.38,0.00,0.000,6,0.000,0.046,3075,2053,2076,0,0,0,0,0,0
$GC,2741,0.48,160.2,86.3,9.1,337,2748,0.00,2.45,0.00,0.000,4,0.000,0.057,3075,3588,2075,0,0,0,0,0,0
$GC,2761,0.48,160.2,84.1,10.1,340,2769,0.00,2.42,0.00,0.000,6,0.000,0.043,3082,2058,2074,0,0,0,0,0,0
$GC,2835,0.48,160.2,76.0,11.3,353,2842,0.00,2.40,0.00,0.000,4,0.000,0.052,3083,540,2073,0,0,0,0,0,0
$GC,2871,0.48,160.2,72.0,10.4,359,2879,0.00,2.38,0.00,0.000,6,0.000,0.046,3083,2051,2073,0,0,0,0,0,0
$GC,2944,0.48,160.2,64.8,9.6,372,2951,0.00,2.45,0.00,0.000,4,0.000,0.059,3083,3591,2073,0,0,0,0,0,0
$GC,3013,0.46,160.2,58.1,9.4,384,3021,0.10,2.35,0.00,0.000,6,0.129,0.041,3046,2092,2072,0,0,0,0,0,0
$GC,3085,0.48,160.2,53.3,6.2,397,3093,0.00,2.42,0.00,0.000,4,0.000,0.051,3046,548,2072,0,0,0,0,0,0
$GC,3147,0.51,160.2,49.3,6.6,408,3155,0.00,2.38,0.00,0.000,6,0.000,0.045,3045,2070,2072,0,0,0,0,0,0
$GC,3220,0.54,160.2,44.5,6.7,421,3228,0.10,2.38,0.00,0.000,4,0.102,0.058,3100,3579,2072,0,0,0,0,0,0
$GC,3423,0.52,160.2,29.2,6.5,459,3431,0.10,2.30,0.00,0.000,6,0.121,0.041,3074,2101,2071,0,0,0,0,0,0
$GC,3495,0.56,208.0,25.7,4.4,472,3538,0.00,2.45,37.67,0.604,4,0.000,0.057,3074,3582,1886,0,0,0,0,0,0
$GC,3562,0.61,264.4,23.0,4.0,482,3616,0.00,2.30,45.42,0.589,6,0.000,0.042,3078,2125,1656,0,0,0,0,0,0
$GC,3684,0.69,347.8,18.8,3.0,502,3759,0.15,2.55,65.57,0.580,4,0.076,0.050,3152,552,1316,0,0,0,0,0,0
$GC,3769,0.69,347.8,12.7,8.0,514,3776,0.00,2.50,0.00,0.000,6,0.000,0.045,3152,2125,1314,0,0,0,0,0,0
$GC,3841,0.71,347.8,8.0,6.2,527,3848,0.00,2.40,0.00,0.000,4,0.000,0.058,3152,3567,1310,0,0,0,0,0,0
$GC,3888,0.73,347.8,4.6,7.2,535,3895,0.00,2.28,0.00,0.000,6,0.000,0.042,3152,2144,1308,0,0,0,0,0,0
$STATE,3901,end climb,SURFACE_DEPTH_REACHED
$STATE,3901,begin surface coast
$FINISH,0.6,1.021680
$STATE,3960,end surface coast,CONTROL_FINISHED_OK
$STATE,3960,begin surface
$SM_CCo,3978,17.10,0.334,1,0,1205,375.06
$SM_GC,1.87,0.00,0.00,17.10,0.000,0.000,0.334,132,2140,1205,-8.67,-0.99,375.06
$IRIDIUM_FIX,4751.72,-12450.28,220511,232301
$TT8_MAMPS,0.027713
$HUMID,35.94
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,24.3,26.275
$10V_AH,10.3,21.429
$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,20.200,100.200,368.150,17.100,0.000,26.022,39.477,143.502,0.000,0.000,13.376,1257.715,919.521,484.711,1450.815,215.450,33.355,1087.344,0.000,1257.657,0.000,0.536,0.000
$DEVICE_MAMPS,234.855,61.965,674.730,333.540,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.955,404.184,948.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297484
$DATA_FILE_SIZE,30287,548
$CAP_FILE_SIZE,84232,0
$CFSIZE,260165632,197578752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230511,014556,4752.941,-12507.961,12,1.4,12,18.7