version: 66.07
glider: 187
mission: 4
dive: 268
start: 5 23 111 11 32 14
data:
$ID,187
$MISSION,4
$DIVE,268
$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,-1584159.5
$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,31
$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
$GPS1,230511,112607,4753.085,-12504.396,41,1.7,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-76.3
$GPS2,230511,113120,4753.022,-12504.461,14,2.0,14,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.136,0.143
$KALMAN_X,10356.8,998.2,-59.4,132657.8,-166.9
$KALMAN_Y,22311.9,-607.2,-337.2,73383.2,-203.2
$MHEAD_RNG_PITCHd_Wd,24.7,13061,-13.8,-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,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,-64.85,0.000,2,0.000,0.000,133,2189,2745,0,0,0,0,0,0
$GC,86,-0.50,-112.4,3.3,-2.6,10,114,10.30,2.42,-9.27,0.000,4,0.236,0.065,2725,3690,3197,0,0,0,0,0,0
$GC,129,-0.29,-112.4,15.3,-24.2,16,137,0.20,2.40,0.00,0.000,6,0.115,0.042,2807,2167,3198,0,0,0,0,0,0
$GC,201,-0.29,-112.4,23.0,-9.6,29,208,0.00,2.38,0.00,0.000,4,0.000,0.050,2807,662,3199,0,0,0,0,0,0
$GC,253,-0.29,-112.4,28.0,-9.2,38,261,0.00,2.38,0.00,0.000,6,0.000,0.049,2801,2165,3199,0,0,0,0,0,0
$GC,327,-0.29,-112.4,35.0,-9.9,51,334,0.00,2.50,0.00,0.000,4,0.000,0.061,2791,3715,3199,0,0,0,0,0,0
$GC,373,-0.29,-112.4,39.8,-10.0,59,381,0.00,2.38,0.00,0.000,6,0.000,0.043,2790,2195,3200,0,0,0,0,0,0
$GC,446,-0.29,-112.4,47.0,-10.5,72,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2196,3199,0,0,0,0,0,0
$GC,517,-0.29,-112.4,53.7,-8.9,85,524,0.00,2.38,0.00,0.000,4,0.000,0.049,2790,676,3200,0,0,0,0,0,0
$GC,563,-0.29,-112.4,57.8,-8.4,93,571,0.00,2.42,0.00,0.000,6,0.000,0.048,2787,2222,3200,0,0,0,0,0,0
$GC,636,-0.29,-112.4,63.1,-7.4,106,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2222,3200,0,0,0,0,0,0
$GC,708,-0.29,-112.4,69.0,-8.3,119,716,0.00,2.42,0.00,0.000,4,0.000,0.048,2787,671,3200,0,0,0,0,0,0
$GC,750,-0.29,-112.4,73.1,-9.2,126,757,0.00,2.40,0.00,0.000,6,0.000,0.048,2782,2204,3200,0,0,0,0,0,0
$GC,822,-0.29,-112.4,79.8,-9.1,139,830,0.10,2.40,0.00,0.000,4,0.157,0.060,2801,3709,3200,0,0,0,0,0,0
$GC,855,-0.29,-112.4,82.1,-7.9,144,862,0.00,2.33,0.00,0.000,6,0.000,0.042,2800,2211,3200,0,0,0,0,0,0
$GC,927,-0.29,-112.4,87.3,-7.0,157,934,0.00,2.40,0.00,0.000,4,0.000,0.050,2800,674,3200,0,0,0,0,0,0
$GC,1010,-0.30,-112.4,93.6,-7.6,172,1017,0.00,2.40,0.00,0.000,6,0.000,0.048,2800,2208,3200,0,0,0,0,0,0
$GC,1083,-0.31,-112.4,98.7,-6.7,185,1091,0.00,2.40,0.00,0.000,4,0.000,0.062,2796,3688,3200,0,0,0,0,0,0
$GC,1120,-0.33,-112.4,101.4,-7.7,190,1124,0.00,2.25,0.00,0.000,6,0.000,0.042,2796,2203,3200,0,0,0,0,0,0
$GC,1257,-0.34,-112.4,110.1,-6.1,202,1261,0.00,2.33,0.00,0.000,4,0.000,0.047,2796,671,3200,0,0,0,0,0,0
$GC,1308,-0.35,-112.4,113.5,-6.6,206,1312,0.00,2.38,0.00,0.000,6,0.000,0.047,2795,2211,3200,0,0,0,0,0,0
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1323,begin apogee
$GC,1329,-0.22,0.0,114.5,6.1,207,1426,0.12,0.00,88.78,0.653,6,0.134,0.000,2834,2066,2734,0,0,0,0,0,0
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1431,0.50,112.4,118.4,0.0,217,1533,0.65,2.47,92.32,0.634,4,0.090,0.047,3069,546,2276,0,0,0,0,0,0
$GC,1558,0.52,145.5,114.7,4.9,228,1593,0.00,2.40,27.85,0.611,6,0.000,0.044,3068,2063,2141,0,0,0,0,0,0
$GC,1723,0.52,145.5,105.1,6.4,243,1727,0.00,2.42,0.00,0.000,4,0.000,0.056,3069,3576,2134,0,0,0,0,0,0
$GC,1756,0.51,145.5,102.4,7.3,245,1763,0.00,2.38,0.00,0.000,6,0.000,0.041,3079,2058,2132,0,0,0,0,0,0
$GC,1890,0.51,145.5,93.9,6.4,266,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2056,2133,0,0,0,0,0,0
$GC,1960,0.51,148.0,89.7,6.0,279,1967,0.00,2.40,0.00,0.000,4,0.000,0.050,3083,542,2132,0,0,0,0,0,0
$GC,1980,0.51,150.2,88.4,6.0,282,1995,0.00,2.38,4.05,0.428,6,0.000,0.045,3083,2050,2121,0,0,0,0,0,0
$GC,2061,0.52,164.1,83.9,5.6,296,2084,0.00,2.47,13.00,0.590,4,0.000,0.057,3083,3567,2065,0,0,0,0,0,0
$GC,2113,0.51,164.1,80.5,6.4,304,2120,0.00,2.38,0.00,0.000,6,0.000,0.041,3093,2068,2063,0,0,0,0,0,0
$GC,2186,0.49,164.1,75.0,7.4,317,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2067,2063,0,0,0,0,0,0
$GC,2257,0.49,164.1,69.1,7.9,330,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2067,2063,0,0,0,0,0,0
$GC,2329,0.48,164.1,64.0,7.0,343,2337,0.12,2.38,0.00,0.000,4,0.154,0.051,3066,548,2062,0,0,0,0,0,0
$GC,2365,0.48,164.1,61.8,6.3,349,2373,0.00,2.42,0.00,0.000,6,0.000,0.045,3066,2096,2061,0,0,0,0,0,0
$GC,2438,0.50,192.1,58.1,5.1,362,2466,0.00,2.53,23.33,0.604,4,0.000,0.050,3070,539,1951,0,0,0,0,0,0
$GC,2496,0.53,212.2,54.9,5.4,371,2524,0.00,2.42,17.77,0.588,6,0.000,0.045,3070,2075,1868,0,0,0,0,0,0
$GC,2590,0.54,212.2,49.4,6.2,387,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2075,1864,0,0,0,0,0,0
$GC,2662,0.56,212.2,44.8,6.5,400,2669,0.00,2.45,0.00,0.000,4,0.000,0.057,3070,3571,1862,0,0,0,0,0,0
$GC,2699,0.57,212.2,41.8,7.6,406,2706,0.00,2.33,0.00,0.000,6,0.000,0.041,3070,2097,1862,0,0,0,0,0,0
$GC,2773,0.59,212.2,36.3,7.2,419,2780,0.00,2.45,0.00,0.000,4,0.000,0.052,3071,527,1861,0,0,0,0,0,0
$GC,2799,0.61,212.2,34.5,7.1,423,2806,0.00,2.45,0.00,0.000,6,0.000,0.045,3071,2088,1861,0,0,0,0,0,0
$GC,2872,0.65,235.9,30.4,5.3,436,2900,0.12,0.00,19.35,0.586,6,0.090,0.000,3136,2088,1772,0,0,0,0,0,0
$GC,2967,0.63,235.9,22.6,9.2,452,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2088,1769,0,0,0,0,0,0
$GC,3038,0.63,235.9,16.6,7.6,465,3046,0.00,2.45,0.00,0.000,4,0.000,0.052,3146,519,1768,0,0,0,0,0,0
$GC,3122,0.63,235.9,11.2,6.2,480,3131,0.12,2.45,0.00,0.000,6,0.132,0.047,3108,2077,1766,0,0,0,0,0,0
$GC,3195,0.72,340.6,8.7,2.3,493,3288,0.00,2.50,82.57,0.584,4,0.000,0.057,3108,3574,1343,0,0,0,0,0,0
$STATE,3319,end climb,SURFACE_DEPTH_REACHED
$STATE,3319,begin surface coast
$FINISH,1.5,1.023575
$STATE,3355,end surface coast,CONTROL_FINISHED_OK
$STATE,3355,begin surface
$SM_CCo,3375,19.88,0.366,1,0,1205,375.06
$SM_GC,2.10,0.00,0.00,19.88,0.000,0.000,0.366,133,2161,1205,-8.66,-0.40,375.06
$IRIDIUM_FIX,4732.49,-12453.48,230511,101041
$TT8_MAMPS,0.027713
$HUMID,35.50
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,24.3,27.044
$10V_AH,10.3,22.131
$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,19.650,91.525,369.025,19.875,0.000,26.801,40.912,129.501,0.000,0.000,15.667,1167.925,422.581,523.405,1392.475,211.212,33.336,1108.645,0.000,1213.636,0.000,0.535,0.000
$DEVICE_MAMPS,235.620,67.320,652.545,366.435,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.936,375.693,1005.442,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297512
$DATA_FILE_SIZE,26910,519
$CAP_FILE_SIZE,81007,0
$CFSIZE,260165632,197160960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230511,122944,4753.097,-12504.012,11,2.0,11,18.7