version: 66.07
glider: 187
mission: 4
dive: 264
start: 5 23 111 7 8 32
data:
$ID,187
$MISSION,4
$DIVE,264
$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,-1584154.5
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,230511,070238,4752.966,-12505.468,14,1.9,14,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.2
$GPS2,230511,070738,4752.910,-12505.410,12,1.9,12,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.020,0.195
$KALMAN_X,10944.0,274.5,185.8,131352.1,-130.7
$KALMAN_Y,23690.0,340.5,-308.9,70812.4,-796.1
$MHEAD_RNG_PITCHd_Wd,347.1,14059,-13.9,-6.111
$D_GRID,117
$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,16,-0.50,-112.4,0.0,0.0,0,83,0.00,0.00,-65.50,0.000,2,0.000,0.000,133,2187,2777,0,0,0,0,0,0
$GC,87,-0.50,-112.4,3.6,-3.3,10,115,10.40,2.40,-8.25,0.000,4,0.239,0.063,2727,3680,3197,0,0,0,0,0,0
$GC,124,-0.26,-112.4,16.0,-25.3,15,132,0.22,2.38,0.00,0.000,6,0.121,0.041,2817,2179,3198,0,0,0,0,0,0
$GC,197,-0.25,-112.4,25.3,-11.6,28,205,0.00,2.38,0.00,0.000,4,0.000,0.048,2817,666,3199,0,0,0,0,0,0
$GC,280,-0.25,-112.4,35.7,-12.2,43,288,0.00,2.30,0.00,0.000,6,0.000,0.047,2816,2126,3199,0,0,0,0,0,0
$GC,353,-0.25,-112.4,44.2,-11.8,56,360,0.00,2.50,0.00,0.000,4,0.000,0.060,2806,3695,3199,0,0,0,0,0,0
$GC,394,-0.25,-112.4,48.1,-9.4,63,401,0.00,2.42,0.00,0.000,6,0.000,0.043,2805,2152,3199,0,0,0,0,0,0
$GC,467,-0.25,-112.4,52.3,-5.6,76,474,0.00,2.33,0.00,0.000,4,0.000,0.050,2805,667,3200,0,0,0,0,0,0
$GC,508,-0.25,-112.4,54.6,-5.4,83,515,0.00,2.35,0.00,0.000,6,0.000,0.047,2801,2164,3200,0,0,0,0,0,0
$GC,580,-0.25,-112.4,58.6,-5.9,96,587,0.00,2.45,0.00,0.000,4,0.000,0.060,2791,3705,3200,0,0,0,0,0,0
$GC,616,-0.25,-112.4,60.7,-5.8,102,624,0.05,2.40,0.00,0.000,6,0.116,0.042,2824,2166,3200,0,0,0,0,0,0
$GC,691,-0.26,-112.4,64.8,-5.4,115,698,0.00,2.35,0.00,0.000,4,0.000,0.050,2824,665,3200,0,0,0,0,0,0
$GC,738,-0.28,-112.4,67.8,-6.3,123,745,0.00,2.33,0.00,0.000,6,0.000,0.047,2824,2155,3200,0,0,0,0,0,0
$GC,813,-0.29,-112.4,71.6,-4.9,136,820,0.00,2.45,0.00,0.000,4,0.000,0.060,2821,3700,3200,0,0,0,0,0,0
$GC,849,-0.32,-112.4,73.1,-4.0,142,857,0.00,2.40,0.00,0.000,6,0.000,0.041,2820,2153,3200,0,0,0,0,0,0
$GC,921,-0.33,-112.4,75.9,-3.6,155,929,0.00,2.30,0.00,0.000,4,0.000,0.049,2820,674,3200,0,0,0,0,0,0
$GC,964,-0.35,-112.4,77.8,-4.6,162,972,0.00,2.30,0.00,0.000,6,0.000,0.047,2820,2152,3200,0,0,0,0,0,0
$GC,1036,-0.37,-112.4,81.7,-5.5,175,1045,0.10,2.45,0.00,0.000,4,0.100,0.062,2760,3688,3200,0,0,0,0,0,0
$GC,1063,-0.39,-112.4,83.6,-6.4,179,1072,0.00,2.42,0.00,0.000,6,0.000,0.042,2759,2125,3200,0,0,0,0,0,0
$GC,1138,-0.37,-112.4,90.4,-9.5,192,1146,0.00,2.25,0.00,0.000,4,0.000,0.050,2759,676,3200,0,0,0,0,0,0
$GC,1220,-0.37,-112.4,99.0,-9.9,207,1228,0.08,2.22,0.00,0.000,6,0.120,0.047,2779,2107,3200,0,0,0,0,0,0
$GC,1300,-0.37,-112.4,105.6,-8.0,215,1304,0.00,2.50,0.00,0.000,4,0.000,0.060,2770,3689,3200,0,0,0,0,0,0
$GC,1344,-0.37,-112.4,109.4,-8.3,218,1351,0.00,2.38,0.00,0.000,6,0.000,0.041,2770,2113,3200,0,0,0,0,0,0
$STATE,1444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1444,begin apogee
$GC,1450,-0.22,0.0,117.1,7.8,228,1548,0.20,0.00,88.80,0.648,6,0.123,0.000,2833,2058,2734,0,0,0,0,0,0
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1552,0.50,112.4,121.6,0.0,238,1653,0.65,0.00,92.95,0.631,6,0.090,0.000,3058,2058,2275,0,0,0,0,0,0
$GC,1781,0.51,121.2,112.3,5.8,259,1794,0.00,2.53,7.65,0.539,4,0.000,0.055,3058,3571,2240,0,0,0,0,0,0
$GC,1844,0.49,121.2,108.0,6.8,264,1851,0.00,2.38,0.00,0.000,6,0.000,0.040,3068,2081,2239,0,0,0,0,0,0
$GC,1979,0.49,121.2,99.5,6.4,277,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2081,2238,0,0,0,0,0,0
$GC,2052,0.50,128.1,95.3,5.9,290,2066,0.00,0.00,6.80,0.532,6,0.000,0.000,3067,2080,2212,0,0,0,0,0,0
$GC,2130,0.52,156.5,91.1,5.1,304,2164,0.00,2.47,24.88,0.612,4,0.000,0.050,3072,546,2095,0,0,0,0,0,0
$GC,2235,0.52,156.5,84.1,7.3,322,2242,0.00,2.42,0.00,0.000,6,0.000,0.044,3072,2083,2092,0,0,0,0,0,0
$GC,2307,0.52,156.5,79.0,6.9,335,2314,0.00,2.40,0.00,0.000,4,0.000,0.057,3072,3567,2090,0,0,0,0,0,0
$GC,2373,0.52,156.5,74.4,7.3,347,2380,0.00,2.30,0.00,0.000,6,0.000,0.041,3081,2109,2089,0,0,0,0,0,0
$GC,2446,0.52,156.5,69.2,6.8,360,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2107,2089,0,0,0,0,0,0
$GC,2516,0.52,156.5,63.6,8.5,373,2524,0.00,2.45,0.00,0.000,4,0.000,0.050,3083,533,2089,0,0,0,0,0,0
$GC,2578,0.52,156.5,58.8,7.8,384,2585,0.00,2.42,0.00,0.000,6,0.000,0.045,3083,2084,2088,0,0,0,0,0,0
$GC,2651,0.52,156.5,53.4,7.2,397,2658,0.00,2.40,0.00,0.000,4,0.000,0.057,3083,3579,2088,0,0,0,0,0,0
$GC,2754,0.52,171.0,46.9,5.6,416,2776,0.00,2.30,12.30,0.575,6,0.000,0.041,3083,2100,2034,0,0,0,0,0,0
$GC,2841,0.57,254.0,44.1,3.1,431,2914,0.00,0.00,66.47,0.602,6,0.000,0.000,3083,2099,1699,0,0,0,0,0,0
$GC,2980,0.60,261.5,37.2,5.8,454,2995,0.00,2.47,6.93,0.504,4,0.000,0.050,3083,549,1667,0,0,0,0,0,0
$GC,3016,0.62,263.6,35.0,6.0,459,3024,0.00,2.47,0.00,0.000,6,0.000,0.045,3083,2127,1665,0,0,0,0,0,0
$GC,3088,0.65,265.5,30.5,6.0,472,3097,0.00,0.00,4.20,0.422,6,0.000,0.000,3083,2126,1652,0,0,0,0,0,0
$GC,3163,0.71,281.9,26.4,5.5,485,3186,0.15,2.50,14.60,0.567,4,0.081,0.050,3166,555,1585,0,0,0,0,0,0
$GC,3211,0.73,298.7,23.8,5.5,492,3233,0.00,2.42,14.95,0.560,6,0.000,0.046,3165,2082,1516,0,0,0,0,0,0
$GC,3297,0.72,298.7,17.0,9.2,507,3305,0.00,2.45,0.00,0.000,4,0.000,0.051,3175,530,1512,0,0,0,0,0,0
$GC,3410,0.72,298.7,8.4,7.9,528,3419,0.10,2.33,0.00,0.000,6,0.106,0.044,3138,2010,1509,0,0,0,0,0,0
$GC,3484,0.75,316.1,4.1,5.5,541,3492,0.00,0.00,6.43,0.494,2,0.000,0.000,3138,2010,1483,0,0,0,0,0,0
$STATE,3493,end climb,SURFACE_DEPTH_REACHED
$STATE,3493,begin surface coast
$FINISH,0.7,1.011777
$STATE,3571,end surface coast,CONTROL_FINISHED_OK
$STATE,3571,begin surface
$SM_CCo,3590,37.35,0.472,1,0,1205,375.06
$SM_GC,1.52,0.00,0.00,37.35,0.000,0.000,0.472,122,2186,1205,-8.70,0.28,375.06
$IRIDIUM_FIX,4738.89,-12506.88,230511,060621
$TT8_MAMPS,0.027713
$HUMID,36.25
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.3,26.738
$10V_AH,10.3,21.839
$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,19.850,91.275,346.950,37.350,0.000,26.697,34.783,123.411,0.000,0.000,13.152,1262.956,486.349,520.532,1455.075,212.453,33.346,1119.564,0.000,1289.773,0.000,0.536,0.000
$DEVICE_MAMPS,238.680,146.115,647.955,472.005,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.870,402.789,1077.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30320,557
$CAP_FILE_SIZE,84219,0
$CFSIZE,260165632,197328896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230511,081024,4752.997,-12505.385,42,1.0,42,18.7