version: 66.07
glider: 187
mission: 4
dive: 263
start: 5 23 111 6 6 50
data:
$ID,187
$MISSION,4
$DIVE,263
$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,-1584153.2
$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,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,35
$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
$GPS1,230511,060037,4753.085,-12505.915,10,1.1,15,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-78.3
$GPS2,230511,060556,4753.036,-12505.842,17,1.5,17,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.145,0.133
$KALMAN_X,11295.7,-25.5,159.6,130782.5,2.3
$KALMAN_Y,23689.7,635.8,145.7,70295.7,-1007.8
$MHEAD_RNG_PITCHd_Wd,28.9,14309,-13.9,-6.111
$D_GRID,120
$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,-64.78,0.000,2,0.000,0.000,134,2179,2764,0,0,0,0,0,0
$GC,86,-0.50,-112.4,3.6,-3.3,10,114,10.45,2.42,-8.55,0.000,4,0.240,0.061,2735,660,3196,0,0,0,0,0,0
$GC,293,-0.47,-112.4,44.4,-15.1,48,300,0.00,2.38,0.00,0.000,6,0.000,0.047,2727,2168,3199,0,0,0,0,0,0
$GC,366,-0.42,-112.4,54.6,-14.3,61,373,0.15,0.00,0.00,0.000,6,0.152,0.000,2768,2168,3199,0,0,0,0,0,0
$GC,439,-0.40,-112.4,64.2,-11.9,74,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2169,3200,0,0,0,0,0,0
$GC,510,-0.38,-112.4,72.3,-11.9,87,517,0.00,2.38,0.00,0.000,4,0.000,0.050,2768,661,3199,0,0,0,0,0,0
$GC,553,-0.37,-112.4,77.6,-12.6,94,561,0.00,2.38,0.00,0.000,6,0.000,0.047,2761,2176,3199,0,0,0,0,0,0
$GC,625,-0.36,-112.4,85.6,-11.4,107,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2176,3200,0,0,0,0,0,0
$GC,697,-0.35,-112.4,92.9,-9.8,120,706,0.12,0.00,0.00,0.000,6,0.139,0.000,2796,2176,3200,0,0,0,0,0,0
$GC,771,-0.35,-112.4,98.6,-7.3,133,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2176,3200,0,0,0,0,0,0
$GC,843,-0.35,-112.4,103.7,-6.7,141,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2176,3201,0,0,0,0,0,0
$GC,971,-0.36,-112.4,112.9,-7.3,153,975,0.00,2.33,0.00,0.000,4,0.000,0.049,2797,658,3200,0,0,0,0,0,0
$GC,1000,-0.37,-112.4,115.2,-8.2,155,1004,0.00,2.35,0.00,0.000,6,0.000,0.047,2796,2179,3200,0,0,0,0,0,0
$STATE,1068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1068,begin apogee
$GC,1075,-0.22,0.0,120.6,7.4,161,1172,0.12,0.00,88.95,0.651,6,0.130,0.000,2837,2050,2734,0,0,0,0,0,0
$STATE,1173,end apogee,CONTROL_FINISHED_OK
$STATE,1173,begin climb
$GC,1175,0.50,112.4,125.3,0.0,171,1272,0.65,0.00,93.05,0.633,6,0.086,0.000,3061,2050,2276,0,0,0,0,0,0
$GC,1398,0.52,138.6,116.4,5.2,192,1427,0.00,0.00,22.15,0.610,6,0.000,0.000,3061,2050,2167,0,0,0,0,0,0
$GC,1554,0.52,138.6,107.2,6.2,207,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2050,2163,0,0,0,0,0,0
$GC,1683,0.52,147.3,99.6,5.8,219,1698,0.00,2.47,7.55,0.540,4,0.000,0.054,3061,3585,2133,0,0,0,0,0,0
$GC,1721,0.52,147.4,97.2,6.1,225,1728,0.00,2.42,0.00,0.000,6,0.000,0.041,3070,2054,2132,0,0,0,0,0,0
$GC,1793,0.52,147.4,92.3,6.4,238,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2053,2132,0,0,0,0,0,0
$GC,1866,0.52,147.4,87.6,6.9,251,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2053,2132,0,0,0,0,0,0
$GC,1936,0.52,147.4,82.1,8.2,264,1944,0.00,2.38,0.00,0.000,4,0.000,0.050,3081,545,2132,0,0,0,0,0,0
$GC,1987,0.52,147.4,77.2,9.8,273,1995,0.00,2.35,0.00,0.000,6,0.000,0.045,3082,2049,2131,0,0,0,0,0,0
$GC,2061,0.52,147.4,71.5,7.2,286,2068,0.00,2.38,0.00,0.000,4,0.000,0.050,3082,545,2131,0,0,0,0,0,0
$GC,2101,0.52,147.4,68.4,7.2,293,2109,0.00,2.28,0.00,0.000,6,0.000,0.045,3082,2004,2130,0,0,0,0,0,0
$GC,2174,0.52,147.4,63.1,6.5,306,2181,0.00,2.53,0.00,0.000,4,0.000,0.057,3082,3583,2130,0,0,0,0,0,0
$GC,2215,0.52,147.4,59.9,7.6,313,2223,0.00,2.45,0.00,0.000,6,0.000,0.042,3082,2019,2129,0,0,0,0,0,0
$GC,2288,0.53,165.2,55.8,5.5,326,2309,0.00,2.38,15.80,0.590,4,0.000,0.052,3083,537,2060,0,0,0,0,0,0
$GC,2338,0.56,202.3,53.4,4.8,334,2378,0.00,2.30,31.05,0.598,6,0.000,0.046,3083,2004,1908,0,0,0,0,0,0
$GC,2446,0.58,214.8,47.9,5.7,352,2468,0.00,2.58,11.18,0.558,4,0.000,0.057,3082,3567,1858,0,0,0,0,0,0
$GC,2502,0.58,214.8,43.9,6.9,361,2509,0.00,2.47,0.00,0.000,6,0.000,0.042,3083,1990,1855,0,0,0,0,0,0
$GC,2575,0.59,214.8,38.6,6.9,374,2583,0.00,2.30,0.00,0.000,4,0.000,0.052,3083,544,1854,0,0,0,0,0,0
$GC,2606,0.61,214.8,36.4,7.0,379,2614,0.00,2.28,0.00,0.000,6,0.000,0.045,3083,1990,1854,0,0,0,0,0,0
$GC,2678,0.64,235.1,32.1,5.4,392,2706,0.00,2.58,17.23,0.578,4,0.000,0.057,3083,3566,1774,0,0,0,0,0,0
$GC,2747,0.66,250.3,28.4,5.6,403,2769,0.10,2.47,13.40,0.562,6,0.100,0.041,3136,1976,1715,0,0,0,0,0,0
$GC,2834,0.66,250.3,22.5,7.1,418,2842,0.00,2.28,0.00,0.000,4,0.000,0.053,3144,551,1710,0,0,0,0,0,0
$GC,2856,0.66,250.3,21.2,6.7,421,2864,0.00,2.30,0.00,0.000,6,0.000,0.046,3144,2008,1710,0,0,0,0,0,0
$GC,2928,0.66,250.3,16.4,6.2,434,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2008,1709,0,0,0,0,0,0
$GC,3001,0.67,259.0,12.3,5.8,447,3016,0.00,2.30,7.90,0.519,4,0.000,0.050,3152,545,1677,0,0,0,0,0,0
$GC,3082,0.69,301.9,8.5,4.5,461,3123,0.00,2.28,35.12,0.575,6,0.000,0.045,3152,1996,1504,0,0,0,0,0,0
$STATE,3160,end climb,SURFACE_DEPTH_REACHED
$STATE,3160,begin surface coast
$FINISH,0.7,1.011672
$STATE,3230,end surface coast,CONTROL_FINISHED_OK
$STATE,3231,begin surface
$SM_CCo,3249,39.85,0.475,1,0,1204,375.06
$SM_GC,1.38,0.00,0.00,39.85,0.000,0.000,0.475,134,2187,1204,-8.66,0.34,375.06
$IRIDIUM_FIX,4738.89,-12504.26,230511,040444
$TT8_MAMPS,0.026964
$HUMID,36.37
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.3,26.662
$10V_AH,10.3,21.763
$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,19.575,62.425,343.375,39.850,0.000,26.901,38.449,130.059,0.000,0.000,18.631,1092.235,545.999,496.244,1283.405,199.303,33.343,1017.796,0.000,1105.605,0.000,0.536,0.000
$DEVICE_MAMPS,240.210,71.145,651.015,475.065,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.232,353.222,907.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297540
$DATA_FILE_SIZE,26988,487
$CAP_FILE_SIZE,71093,0
$CFSIZE,260165632,197386240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,230511,070238,4752.966,-12505.468,14,1.9,14,18.7