version: 66.07
glider: 187
mission: 4
dive: 267
start: 5 23 111 10 28 56
data:
$ID,187
$MISSION,4
$DIVE,267
$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,-1584158.2
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,230511,102256,4753.067,-12504.769,31,1.9,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-77.7
$GPS2,230511,102802,4753.003,-12504.815,13,1.9,13,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.138,0.140
$KALMAN_X,10462.1,907.9,-4.3,132140.8,-143.3
$KALMAN_Y,22921.8,-445.2,-624.5,72862.7,-172.8
$MHEAD_RNG_PITCHd_Wd,26.0,13400,-13.9,-6.111
$D_GRID,114
$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,-64.70,0.000,2,0.000,0.000,132,2164,2746,0,0,0,0,0,0
$GC,86,-0.50,-112.4,3.4,-3.0,10,108,10.30,0.00,-9.15,0.000,6,0.236,0.000,2733,2166,3195,0,0,0,0,0,0
$GC,173,-0.45,-112.4,22.9,-16.8,25,180,0.00,2.38,0.00,0.000,4,0.000,0.048,2733,658,3199,0,0,0,0,0,0
$GC,260,-0.41,-112.4,35.8,-13.9,41,268,0.10,2.40,0.00,0.000,6,0.124,0.047,2773,2179,3199,0,0,0,0,0,0
$GC,335,-0.38,-112.4,44.0,-10.1,54,343,0.00,2.47,0.00,0.000,4,0.000,0.060,2763,3695,3199,0,0,0,0,0,0
$GC,366,-0.36,-112.4,46.9,-9.2,59,374,0.00,2.40,0.00,0.000,6,0.000,0.043,2762,2169,3200,0,0,0,0,0,0
$GC,438,-0.34,-112.4,53.7,-10.0,72,445,0.12,0.00,0.00,0.000,6,0.150,0.000,2798,2166,3199,0,0,0,0,0,0
$GC,510,-0.34,-112.4,59.5,-8.0,85,518,0.00,2.35,0.00,0.000,4,0.000,0.049,2798,665,3200,0,0,0,0,0,0
$GC,577,-0.34,-112.4,65.0,-8.0,97,585,0.00,2.38,0.00,0.000,6,0.000,0.047,2793,2181,3200,0,0,0,0,0,0
$GC,649,-0.34,-112.4,70.2,-7.5,110,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2181,3200,0,0,0,0,0,0
$GC,722,-0.34,-112.4,76.0,-8.3,123,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2181,3200,0,0,0,0,0,0
$GC,794,-0.34,-112.4,81.5,-7.6,136,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2181,3200,0,0,0,0,0,0
$GC,866,-0.34,-112.4,87.2,-7.8,149,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2181,3200,0,0,0,0,0,0
$GC,937,-0.34,-112.4,92.2,-6.8,162,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2181,3200,0,0,0,0,0,0
$GC,1009,-0.34,-112.4,96.9,-6.0,175,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2181,3200,0,0,0,0,0,0
$GC,1086,-0.34,-112.4,101.5,-5.9,187,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2181,3200,0,0,0,0,0,0
$GC,1213,-0.34,-112.4,108.9,-5.6,199,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2181,3200,0,0,0,0,0,0
$STATE,1307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1307,begin apogee
$GC,1314,-0.22,0.0,114.3,5.8,208,1411,0.15,0.00,88.95,0.651,6,0.128,0.000,2840,2052,2735,0,0,0,0,0,0
$STATE,1412,end apogee,CONTROL_FINISHED_OK
$STATE,1412,begin climb
$GC,1414,0.50,112.4,117.9,0.0,218,1512,0.65,0.00,92.80,0.631,6,0.088,0.000,3064,2052,2276,0,0,0,0,0,0
$GC,1639,0.50,115.0,107.4,6.0,240,1643,0.00,2.47,0.00,0.000,4,0.000,0.055,3065,3581,2270,0,0,0,0,0,0
$GC,1691,0.48,115.0,104.3,6.4,244,1695,0.00,2.38,0.00,0.000,6,0.000,0.041,3074,2061,2268,0,0,0,0,0,0
$GC,1825,0.47,115.0,94.9,7.4,262,1832,0.00,2.40,0.00,0.000,4,0.000,0.051,3085,551,2268,0,0,0,0,0,0
$GC,1882,0.46,115.0,90.4,7.8,272,1890,0.08,2.38,0.00,0.000,6,0.119,0.044,3049,2060,2267,0,0,0,0,0,0
$GC,1956,0.46,115.0,85.7,6.2,285,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2060,2267,0,0,0,0,0,0
$GC,2026,0.47,123.5,81.6,5.8,298,2041,0.00,2.47,9.18,0.561,4,0.000,0.056,3049,3575,2230,0,0,0,0,0,0
$GC,2070,0.47,123.5,78.4,7.2,305,2078,0.00,2.38,0.00,0.000,6,0.000,0.041,3054,2064,2228,0,0,0,0,0,0
$GC,2143,0.48,142.9,74.2,5.4,318,2164,0.00,0.00,17.12,0.597,6,0.000,0.000,3055,2060,2151,0,0,0,0,0,0
$GC,2228,0.48,144.8,69.3,6.0,333,2236,0.00,2.47,0.00,0.000,4,0.000,0.057,3054,3570,2147,0,0,0,0,0,0
$GC,2274,0.48,144.8,66.6,6.1,341,2282,0.00,2.33,0.00,0.000,6,0.000,0.041,3056,2095,2147,0,0,0,0,0,0
$GC,2347,0.52,216.8,63.6,3.5,354,2414,0.00,2.47,59.70,0.610,4,0.000,0.049,3056,549,1849,0,0,0,0,0,0
$GC,2455,0.57,257.6,59.2,4.6,371,2496,0.00,2.45,33.33,0.591,6,0.000,0.044,3057,2086,1683,0,0,0,0,0,0
$GC,2563,0.60,257.6,53.0,6.7,389,2570,0.12,0.00,0.00,0.000,6,0.083,0.000,3122,2086,1677,0,0,0,0,0,0
$GC,2634,0.60,257.6,45.8,10.5,402,2641,0.00,2.45,0.00,0.000,4,0.000,0.052,3125,545,1676,0,0,0,0,0,0
$GC,2675,0.60,257.6,41.8,9.7,409,2683,0.00,2.42,0.00,0.000,6,0.000,0.046,3125,2071,1676,0,0,0,0,0,0
$GC,2748,0.60,257.6,35.1,9.2,422,2756,0.00,2.45,0.00,0.000,4,0.000,0.057,3125,3603,1674,0,0,0,0,0,0
$GC,2789,0.60,257.6,30.8,10.0,429,2797,0.05,2.42,0.00,0.000,6,0.096,0.043,3102,2079,1673,0,0,0,0,0,0
$GC,2862,0.60,257.6,25.3,7.1,442,2869,0.00,2.42,0.00,0.000,4,0.000,0.052,3107,550,1673,0,0,0,0,0,0
$GC,2930,0.62,261.0,21.3,6.0,454,2938,0.00,2.35,0.00,0.000,6,0.000,0.045,3107,2049,1672,0,0,0,0,0,0
$GC,3003,0.66,293.0,17.5,4.9,467,3037,0.00,0.00,27.45,0.580,6,0.000,0.000,3107,2049,1540,0,0,0,0,0,0
$GC,3103,0.73,320.8,12.4,5.1,484,3132,0.10,2.47,23.27,0.568,4,0.101,0.052,3160,537,1426,0,0,0,0,0,0
$GC,3166,0.76,325.5,8.7,5.9,494,3181,0.00,2.35,5.10,0.448,6,0.000,0.046,3160,2015,1406,0,0,0,0,0,0
$STATE,3233,end climb,SURFACE_DEPTH_REACHED
$STATE,3233,begin surface coast
$FINISH,0.6,1.002252
$STATE,3299,end surface coast,CONTROL_FINISHED_OK
$STATE,3299,begin surface
$SM_CCo,3317,28.83,0.438,1,0,1205,375.06
$SM_GC,2.16,0.00,0.00,28.83,0.000,0.000,0.438,134,2188,1205,-8.66,0.37,375.06
$IRIDIUM_FIX,4732.49,-12507.66,230511,090934
$TT8_MAMPS,0.027713
$HUMID,35.78
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,24.3,26.966
$10V_AH,10.3,22.058
$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,19.650,58.350,356.900,28.825,0.000,27.923,34.525,128.298,0.000,0.000,14.165,1156.150,460.487,492.064,1349.169,201.657,33.346,1031.808,0.000,1182.927,0.000,0.535,0.000
$DEVICE_MAMPS,235.620,71.910,651.015,438.345,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.923,378.023,999.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297468
$DATA_FILE_SIZE,26924,518
$CAP_FILE_SIZE,72851,0
$CFSIZE,260165632,197210112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230511,112607,4753.085,-12504.396,41,1.7,41,18.7