version: 66.07
glider: 187
mission: 4
dive: 266
start: 5 23 111 9 22 2
data:
$ID,187
$MISSION,4
$DIVE,266
$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,-1584157
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,230511,091549,4753.043,-12505.096,15,1.8,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-78.3
$GPS2,230511,092108,4752.975,-12505.090,15,1.8,15,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.114,0.160
$KALMAN_X,10637.2,737.8,74.6,131709.2,-122.2
$KALMAN_Y,23357.0,-219.0,-734.2,72256.3,-325.3
$MHEAD_RNG_PITCHd_Wd,16.7,13684,-14.0,-6.111
$D_GRID,116
$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,-112.2,0.0,0.0,0,83,0.00,0.00,-65.35,0.000,2,0.000,0.000,132,2159,2759,0,0,0,0,0,0
$GC,86,-0.50,-112.4,3.3,-2.6,10,115,10.30,2.47,-8.80,0.000,4,0.235,0.068,2727,3682,3197,0,0,0,0,0,0
$GC,135,-0.31,-112.4,18.1,-28.8,17,143,0.17,2.38,0.00,0.000,6,0.120,0.041,2800,2178,3199,0,0,0,0,0,0
$GC,207,-0.29,-112.4,25.4,-9.0,30,215,0.00,2.38,0.00,0.000,4,0.000,0.048,2800,664,3199,0,0,0,0,0,0
$GC,337,-0.29,-112.4,38.9,-9.7,54,345,0.00,2.33,0.00,0.000,6,0.000,0.047,2797,2141,3200,0,0,0,0,0,0
$GC,409,-0.29,-112.4,45.2,-8.5,67,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2141,3200,0,0,0,0,0,0
$GC,481,-0.29,-112.4,50.9,-7.7,80,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2141,3200,0,0,0,0,0,0
$GC,552,-0.29,-112.4,56.7,-8.5,93,559,0.00,2.50,0.00,0.000,4,0.000,0.060,2787,3704,3200,0,0,0,0,0,0
$GC,572,-0.29,-112.4,58.5,-8.3,96,580,0.00,2.45,0.00,0.000,6,0.000,0.042,2786,2131,3200,0,0,0,0,0,0
$GC,645,-0.29,-112.4,64.3,-8.2,109,652,0.00,2.28,0.00,0.000,4,0.000,0.049,2786,673,3200,0,0,0,0,0,0
$GC,729,-0.29,-112.4,71.9,-8.9,124,736,0.00,2.28,0.00,0.000,6,0.000,0.047,2781,2130,3200,0,0,0,0,0,0
$GC,801,-0.29,-112.4,77.8,-8.0,137,809,0.00,2.50,0.00,0.000,4,0.000,0.060,2770,3691,3200,0,0,0,0,0,0
$GC,833,-0.29,-112.4,80.5,-8.4,142,841,0.08,2.42,0.00,0.000,6,0.092,0.042,2811,2130,3201,0,0,0,0,0,0
$GC,906,-0.31,-112.4,85.6,-6.6,155,913,0.00,2.28,0.00,0.000,4,0.000,0.050,2811,670,3201,0,0,0,0,0,0
$GC,932,-0.32,-112.4,87.4,-6.8,159,939,0.00,2.25,0.00,0.000,6,0.000,0.047,2811,2117,3200,0,0,0,0,0,0
$GC,1005,-0.34,-112.4,92.3,-6.4,172,1013,0.00,2.53,0.00,0.000,4,0.000,0.060,2811,3697,3201,0,0,0,0,0,0
$GC,1037,-0.36,-112.4,94.2,-6.1,177,1045,0.00,2.45,0.00,0.000,6,0.000,0.042,2811,2117,3201,0,0,0,0,0,0
$GC,1111,-0.38,-112.4,98.0,-5.2,190,1118,0.00,2.25,0.00,0.000,4,0.000,0.050,2811,671,3201,0,0,0,0,0,0
$GC,1147,-0.40,-112.4,100.2,-5.6,196,1152,0.10,2.22,0.00,0.000,6,0.098,0.047,2754,2128,3201,0,0,0,0,0,0
$GC,1288,-0.39,-112.4,111.6,-8.5,209,1292,0.00,2.47,0.00,0.000,4,0.000,0.060,2742,3693,3201,0,0,0,0,0,0
$STATE,1336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1336,begin apogee
$GC,1345,-0.22,0.0,116.2,9.3,213,1442,0.25,0.00,88.90,0.652,6,0.126,0.000,2825,2052,2734,0,0,0,0,0,0
$STATE,1443,end apogee,CONTROL_FINISHED_OK
$STATE,1443,begin climb
$GC,1447,0.50,112.4,121.7,0.0,223,1545,0.70,0.00,93.18,0.633,6,0.093,0.000,3064,2052,2276,0,0,0,0,0,0
$GC,1672,0.50,112.4,112.2,6.4,245,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2051,2269,0,0,0,0,0,0
$GC,1800,0.50,112.4,103.8,6.4,257,1804,0.00,2.42,0.00,0.000,4,0.000,0.056,3064,3573,2268,0,0,0,0,0,0
$GC,1851,0.49,112.4,100.0,7.7,261,1858,0.00,2.38,0.00,0.000,6,0.000,0.041,3074,2060,2266,0,0,0,0,0,0
$GC,1923,0.47,112.4,95.4,6.6,274,1930,0.00,2.38,0.00,0.000,4,0.000,0.050,3085,552,2266,0,0,0,0,0,0
$GC,1970,0.46,112.4,92.2,6.7,282,1978,0.08,2.35,0.00,0.000,6,0.121,0.044,3058,2050,2266,0,0,0,0,0,0
$GC,2042,0.47,132.2,87.9,5.4,295,2064,0.00,0.00,16.00,0.598,6,0.000,0.000,3058,2050,2195,0,0,0,0,0,0
$GC,2130,0.49,157.1,83.3,5.2,310,2157,0.00,0.00,21.65,0.604,6,0.000,0.000,3058,2050,2093,0,0,0,0,0,0
$GC,2222,0.49,157.1,78.0,6.5,326,2229,0.00,2.45,0.00,0.000,4,0.000,0.056,3058,3583,2089,0,0,0,0,0,0
$GC,2304,0.49,157.1,71.3,8.3,341,2312,0.00,2.42,0.00,0.000,6,0.000,0.041,3065,2047,2087,0,0,0,0,0,0
$GC,2377,0.49,157.6,66.6,6.1,354,2385,0.00,2.38,0.00,0.000,4,0.000,0.051,3074,543,2087,0,0,0,0,0,0
$GC,2439,0.51,183.3,63.3,5.2,365,2467,0.00,2.30,21.65,0.600,6,0.000,0.045,3074,2014,1986,0,0,0,0,0,0
$GC,2532,0.51,183.3,58.0,6.3,381,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2014,1983,0,0,0,0,0,0
$GC,2603,0.52,183.3,53.4,6.4,394,2610,0.00,2.33,0.00,0.000,4,0.000,0.050,3081,548,1982,0,0,0,0,0,0
$GC,2635,0.53,183.5,51.6,6.1,399,2643,0.00,2.25,0.00,0.000,6,0.000,0.044,3081,1986,1981,0,0,0,0,0,0
$GC,2708,0.54,202.7,47.5,5.4,412,2730,0.00,2.60,16.50,0.583,4,0.000,0.056,3081,3568,1907,0,0,0,0,0,0
$GC,2780,0.54,202.7,42.6,6.9,424,2788,0.00,2.47,0.00,0.000,6,0.000,0.041,3082,1981,1905,0,0,0,0,0,0
$GC,2853,0.56,208.3,38.4,5.9,437,2861,0.00,0.00,5.62,0.487,6,0.000,0.000,3082,1980,1885,0,0,0,0,0,0
$GC,2926,0.57,208.3,33.5,6.8,450,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1981,1884,0,0,0,0,0,0
$GC,2997,0.58,208.3,28.8,6.3,463,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1981,1883,0,0,0,0,0,0
$GC,3068,0.63,252.1,25.4,4.5,476,3110,0.00,0.00,36.15,0.591,6,0.000,0.000,3082,1979,1706,0,0,0,0,0,0
$GC,3176,0.67,253.2,19.9,6.1,494,3184,0.10,2.30,0.00,0.000,4,0.101,0.051,3135,546,1701,0,0,0,0,0,0
$GC,3208,0.70,253.2,17.7,6.5,499,3215,0.00,2.35,0.00,0.000,6,0.000,0.046,3134,2033,1700,0,0,0,0,0,0
$GC,3281,0.70,253.2,12.5,8.1,512,3288,0.00,2.38,0.00,0.000,4,0.000,0.053,3138,546,1699,0,0,0,0,0,0
$GC,3312,0.72,253.2,10.5,6.5,517,3320,0.00,2.22,0.00,0.000,6,0.000,0.046,3138,1959,1699,0,0,0,0,0,0
$GC,3384,0.75,281.5,6.6,5.1,530,3419,0.00,2.65,23.55,0.574,4,0.000,0.056,3138,3576,1585,0,0,0,0,0,0
$STATE,3429,end climb,SURFACE_DEPTH_REACHED
$STATE,3429,begin surface coast
$FINISH,0.6,1.000556
$STATE,3511,end surface coast,CONTROL_FINISHED_OK
$STATE,3511,begin surface
$SM_CCo,3530,48.80,0.494,1,0,1206,375.06
$SM_GC,1.74,0.00,0.00,48.80,0.000,0.000,0.494,133,2164,1206,-8.66,-0.31,375.06
$IRIDIUM_FIX,4738.89,-12513.21,230511,080807
$TT8_MAMPS,0.027713
$HUMID,35.31
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,24.3,26.890
$10V_AH,10.3,21.987
$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,19.650,85.825,323.200,48.800,0.000,24.410,39.293,138.194,0.000,0.000,16.738,1252.908,472.319,518.598,1452.472,210.309,33.346,1093.927,0.000,1268.316,0.000,0.535,0.000
$DEVICE_MAMPS,234.855,68.085,651.780,494.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.277,399.981,1069.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30263,552
$CAP_FILE_SIZE,81482,0
$CFSIZE,260165632,197242880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230511,102256,4753.067,-12504.769,31,1.9,31,18.7