version: 66.07
glider: 187
mission: 4
dive: 265
start: 5 23 111 8 16 38
data:
$ID,187
$MISSION,4
$DIVE,265
$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,-1584155.8
$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,40
$R_STBD_OVSHOOT,36
$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
$GPS1,230511,081024,4752.997,-12505.385,42,1.0,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-77.4
$GPS2,230511,081544,4752.924,-12505.325,17,1.8,17,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.074,0.182
$KALMAN_X,10774.3,518.4,142.5,131425.9,-101.0
$KALMAN_Y,23585.1,48.0,-629.2,71559.1,-534.5
$MHEAD_RNG_PITCHd_Wd,3.4,13963,-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,12,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,-64.78,0.000,2,0.000,0.000,122,2186,2742,0,0,0,0,0,0
$GC,86,-0.50,-112.4,3.3,-2.8,10,114,10.40,2.42,-9.15,0.000,4,0.237,0.068,2728,3682,3196,0,0,0,0,0,0
$GC,123,-0.25,-112.4,15.6,-24.3,15,132,0.25,2.38,0.00,0.000,6,0.127,0.041,2823,2181,3198,0,0,0,0,0,0
$GC,196,-0.25,-112.4,23.3,-8.2,28,203,0.00,2.40,0.00,0.000,4,0.000,0.050,2823,657,3199,0,0,0,0,0,0
$GC,274,-0.26,-112.4,29.8,-8.3,42,282,0.00,2.33,0.00,0.000,6,0.000,0.047,2818,2135,3199,0,0,0,0,0,0
$GC,346,-0.26,-112.4,36.5,-10.1,55,353,0.00,2.47,0.00,0.000,4,0.000,0.060,2808,3691,3199,0,0,0,0,0,0
$GC,391,-0.26,-112.4,40.6,-8.6,63,399,0.00,2.38,0.00,0.000,6,0.000,0.041,2807,2169,3199,0,0,0,0,0,0
$GC,465,-0.26,-112.4,46.6,-8.4,76,472,0.00,2.35,0.00,0.000,4,0.000,0.048,2807,665,3200,0,0,0,0,0,0
$GC,496,-0.26,-112.4,49.3,-8.5,81,503,0.00,2.38,0.00,0.000,6,0.000,0.047,2804,2180,3200,0,0,0,0,0,0
$GC,568,-0.26,-112.4,55.0,-7.7,94,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2180,3200,0,0,0,0,0,0
$GC,639,-0.26,-112.4,60.8,-8.5,107,647,0.00,2.45,0.00,0.000,4,0.000,0.060,2794,3689,3200,0,0,0,0,0,0
$GC,660,-0.26,-112.4,62.6,-8.8,110,668,0.00,2.35,0.00,0.000,6,0.000,0.042,2794,2181,3200,0,0,0,0,0,0
$GC,734,-0.26,-112.4,69.3,-8.8,123,741,0.00,2.35,0.00,0.000,4,0.000,0.050,2793,676,3200,0,0,0,0,0,0
$GC,785,-0.26,-112.4,73.6,-8.3,132,792,0.00,2.33,0.00,0.000,6,0.000,0.048,2791,2162,3200,0,0,0,0,0,0
$GC,858,-0.26,-112.4,78.5,-6.8,145,865,0.00,2.47,0.00,0.000,4,0.000,0.062,2780,3687,3200,0,0,0,0,0,0
$GC,893,-0.26,-112.4,80.9,-6.6,151,901,0.08,2.38,0.00,0.000,6,0.106,0.042,2820,2160,3200,0,0,0,0,0,0
$GC,966,-0.28,-112.4,84.4,-4.5,164,973,0.00,2.33,0.00,0.000,4,0.000,0.050,2820,667,3200,0,0,0,0,0,0
$GC,1028,-0.30,-112.4,87.2,-4.8,175,1036,0.00,2.33,0.00,0.000,6,0.000,0.046,2820,2163,3200,0,0,0,0,0,0
$GC,1102,-0.32,-112.4,90.5,-4.2,188,1109,0.00,2.47,0.00,0.000,4,0.000,0.060,2815,3695,3201,0,0,0,0,0,0
$GC,1140,-0.35,-112.4,92.2,-4.6,194,1147,0.00,2.38,0.00,0.000,6,0.000,0.042,2814,2161,3200,0,0,0,0,0,0
$GC,1213,-0.37,-112.4,95.7,-4.7,207,1220,0.00,2.33,0.00,0.000,4,0.000,0.050,2813,669,3201,0,0,0,0,0,0
$GC,1249,-0.39,-112.4,97.8,-5.5,213,1257,0.08,2.33,0.00,0.000,6,0.055,0.047,2757,2164,3201,0,0,0,0,0,0
$GC,1330,-0.38,-112.4,104.0,-8.6,223,1334,0.00,2.42,0.00,0.000,4,0.000,0.060,2747,3695,3201,0,0,0,0,0,0
$GC,1370,-0.38,-112.4,107.9,-9.6,226,1375,0.12,2.33,0.00,0.000,6,0.135,0.043,2783,2171,3201,0,0,0,0,0,0
$STATE,1491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1491,begin apogee
$GC,1499,-0.22,0.0,117.5,7.4,237,1596,0.15,0.00,88.70,0.651,6,0.129,0.000,2833,2049,2734,0,0,0,0,0,0
$STATE,1597,end apogee,CONTROL_FINISHED_OK
$STATE,1597,begin climb
$GC,1600,0.50,112.4,122.5,0.0,247,1703,0.68,2.55,92.47,0.633,4,0.090,0.053,3065,3582,2275,0,0,0,0,0,0
$GC,1740,0.48,112.4,116.6,7.9,259,1744,0.00,2.42,0.00,0.000,6,0.000,0.041,3074,2062,2271,0,0,0,0,0,0
$GC,1875,0.47,112.4,107.3,7.0,271,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2061,2269,0,0,0,0,0,0
$GC,2004,0.46,112.4,98.4,6.9,284,2011,0.00,2.40,0.00,0.000,4,0.000,0.051,3085,552,2268,0,0,0,0,0,0
$GC,2041,0.44,112.4,95.8,6.8,290,2049,0.08,2.38,0.00,0.000,6,0.119,0.044,3048,2060,2268,0,0,0,0,0,0
$GC,2115,0.47,154.8,92.1,4.6,303,2156,0.00,2.47,34.22,0.616,4,0.000,0.055,3048,3581,2102,0,0,0,0,0,0
$GC,2176,0.49,190.9,89.3,4.8,312,2211,0.00,2.40,29.95,0.605,6,0.000,0.041,3053,2074,1956,0,0,0,0,0,0
$GC,2279,0.51,209.4,83.8,5.4,329,2301,0.00,2.45,15.48,0.583,4,0.000,0.050,3054,553,1882,0,0,0,0,0,0
$GC,2331,0.55,229.4,80.9,5.4,337,2359,0.00,2.40,17.95,0.587,6,0.000,0.044,3054,2057,1798,0,0,0,0,0,0
$GC,2426,0.57,229.4,75.1,6.6,353,2433,0.10,0.00,0.00,0.000,6,0.098,0.000,3109,2057,1794,0,0,0,0,0,0
$GC,2499,0.57,229.4,67.9,10.6,366,2506,0.00,2.45,0.00,0.000,4,0.000,0.057,3109,3581,1793,0,0,0,0,0,0
$GC,2524,0.57,229.4,64.8,10.9,370,2532,0.00,2.42,0.00,0.000,6,0.000,0.041,3117,2058,1791,0,0,0,0,0,0
$GC,2596,0.57,229.4,57.6,9.7,383,2603,0.00,2.40,0.00,0.000,4,0.000,0.051,3127,546,1791,0,0,0,0,0,0
$GC,2643,0.57,229.4,53.5,8.8,391,2651,0.10,2.33,0.00,0.000,6,0.109,0.046,3091,2022,1791,0,0,0,0,0,0
$GC,2716,0.58,229.4,48.2,7.0,404,2724,0.00,2.47,0.00,0.000,4,0.000,0.057,3091,3576,1790,0,0,0,0,0,0
$GC,2763,0.58,229.4,44.7,7.5,412,2770,0.00,2.45,0.00,0.000,6,0.000,0.042,3094,2023,1789,0,0,0,0,0,0
$GC,2836,0.58,229.4,39.5,6.8,425,2844,0.00,2.33,0.00,0.000,4,0.000,0.051,3096,549,1789,0,0,0,0,0,0
$GC,2868,0.59,229.4,37.3,6.8,430,2876,0.00,2.30,0.00,0.000,6,0.000,0.044,3096,2024,1789,0,0,0,0,0,0
$GC,2941,0.60,229.4,32.4,6.8,443,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2024,1789,0,0,0,0,0,0
$GC,3013,0.62,229.4,26.7,7.6,456,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2024,1788,0,0,0,0,0,0
$GC,3085,0.64,234.9,22.3,5.9,469,3093,0.00,0.00,4.18,0.428,6,0.000,0.000,3096,2024,1776,0,0,0,0,0,0
$GC,3159,0.67,263.8,18.2,5.1,482,3193,0.00,2.38,24.80,0.582,4,0.000,0.050,3096,548,1656,0,0,0,0,0,0
$GC,3233,0.73,308.9,15.0,4.5,494,3281,0.10,2.30,36.80,0.578,6,0.052,0.044,3159,2017,1473,0,0,0,0,0,0
$GC,3347,0.73,308.9,7.0,6.7,513,3354,0.00,2.50,0.00,0.000,4,0.000,0.057,3160,3578,1467,0,0,0,0,0,0
$STATE,3386,end climb,SURFACE_DEPTH_REACHED
$STATE,3386,begin surface coast
$FINISH,2.2,1.023562
$STATE,3408,end surface coast,CONTROL_FINISHED_OK
$STATE,3408,begin surface
$SM_CCo,3430,40.67,0.463,2,0,1206,375.06
$SM_GC,1.53,0.00,0.00,40.67,0.000,0.000,0.463,133,2158,1206,-8.66,-0.48,375.06
$IRIDIUM_FIX,4738.89,-12506.88,230511,070720
$TT8_MAMPS,0.027713
$HUMID,35.43
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.3,26.815
$10V_AH,10.3,21.912
$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,20.275,100.525,344.550,40.675,0.000,25.604,36.932,135.987,0.000,0.000,18.645,1191.085,466.942,532.505,1401.884,211.881,33.344,1117.003,0.000,1212.327,0.000,0.536,0.000
$DEVICE_MAMPS,237.150,78.030,651.015,462.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.661,376.866,1014.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26870,524
$CAP_FILE_SIZE,84968,0
$CFSIZE,260165632,197287936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,230511,091549,4753.043,-12505.096,15,1.8,32,18.7