version: 66.07
glider: 187
mission: 4
dive: 269
start: 5 23 111 12 35 38
data:
$ID,187
$MISSION,4
$DIVE,269
$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,-1584160.8
$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,43
$R_STBD_OVSHOOT,27
$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
$GPS1,230511,122944,4753.097,-12504.012,11,2.0,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-77.7
$GPS2,230511,123444,4753.058,-12504.063,11,2.0,11,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.117,0.158
$KALMAN_X,10386.1,1008.7,-105.4,133164.2,-135.6
$KALMAN_Y,21658.8,-756.2,-4.0,73918.0,-276.2
$MHEAD_RNG_PITCHd_Wd,17.9,12669,-14.0,-6.111
$D_GRID,111
$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,-112.2,0.0,0.0,0,82,0.00,0.00,-64.75,0.000,2,0.000,0.000,132,2161,2748,0,0,0,0,0,0
$GC,86,-0.50,-112.4,3.4,-2.6,10,114,10.40,2.40,-8.85,0.000,4,0.237,0.066,2738,667,3197,0,0,0,0,0,0
$GC,309,-0.47,-112.4,44.4,-14.0,51,316,0.00,2.38,0.00,0.000,6,0.000,0.047,2728,2173,3199,0,0,0,0,0,0
$GC,381,-0.42,-112.4,54.3,-13.6,64,389,0.15,2.45,0.00,0.000,4,0.149,0.060,2761,3698,3199,0,0,0,0,0,0
$GC,415,-0.39,-112.4,57.7,-11.3,69,423,0.00,2.38,0.00,0.000,6,0.000,0.042,2760,2182,3200,0,0,0,0,0,0
$GC,487,-0.37,-112.4,64.7,-9.7,82,495,0.00,2.38,0.00,0.000,4,0.000,0.049,2760,666,3200,0,0,0,0,0,0
$GC,550,-0.35,-112.4,71.2,-10.6,93,558,0.10,2.35,0.00,0.000,6,0.119,0.047,2795,2162,3200,0,0,0,0,0,0
$GC,623,-0.35,-112.4,77.3,-7.6,106,631,0.00,2.45,0.00,0.000,4,0.000,0.060,2789,3703,3200,0,0,0,0,0,0
$GC,658,-0.35,-112.4,79.9,-7.3,112,666,0.00,2.38,0.00,0.000,6,0.000,0.042,2788,2179,3200,0,0,0,0,0,0
$GC,732,-0.35,-112.4,85.5,-7.5,125,740,0.00,2.35,0.00,0.000,4,0.000,0.049,2788,673,3200,0,0,0,0,0,0
$GC,794,-0.35,-112.4,90.5,-7.9,136,802,0.00,2.38,0.00,0.000,6,0.000,0.048,2782,2189,3200,0,0,0,0,0,0
$GC,866,-0.35,-112.4,95.4,-6.8,149,873,0.00,2.42,0.00,0.000,4,0.000,0.062,2771,3683,3200,0,0,0,0,0,0
$GC,913,-0.35,-112.4,98.8,-7.5,157,920,0.00,2.33,0.00,0.000,6,0.000,0.042,2770,2186,3200,0,0,0,0,0,0
$GC,985,-0.35,-112.4,103.8,-6.9,165,989,0.00,2.33,0.00,0.000,4,0.000,0.050,2770,664,3200,0,0,0,0,0,0
$GC,1051,-0.35,-112.4,108.3,-6.9,170,1058,0.00,2.38,0.00,0.000,6,0.000,0.048,2763,2202,3200,0,0,0,0,0,0
$STATE,1098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1099,begin apogee
$GC,1106,-0.22,0.0,111.2,6.4,175,1202,0.22,0.00,88.72,0.648,6,0.120,0.000,2834,2061,2734,0,0,0,0,0,0
$STATE,1203,end apogee,CONTROL_FINISHED_OK
$STATE,1203,begin climb
$GC,1206,0.50,112.4,114.8,0.0,185,1310,0.68,2.53,92.88,0.628,4,0.090,0.049,3076,549,2275,0,0,0,0,0,0
$GC,1334,0.51,120.9,109.7,5.8,196,1347,0.00,2.42,7.80,0.532,6,0.000,0.044,3076,2065,2242,0,0,0,0,0,0
$GC,1474,0.50,126.7,101.4,5.9,209,1487,0.00,2.45,5.97,0.504,4,0.000,0.054,3076,3584,2217,0,0,0,0,0,0
$GC,1507,0.49,126.7,99.1,7.4,212,1514,0.00,2.45,0.00,0.000,6,0.000,0.041,3084,2055,2215,0,0,0,0,0,0
$GC,1578,0.47,126.7,93.5,7.8,225,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2054,2215,0,0,0,0,0,0
$GC,1651,0.45,126.7,87.4,9.1,238,1659,0.12,2.47,0.00,0.000,4,0.154,0.057,3049,3577,2214,0,0,0,0,0,0
$GC,1695,0.45,126.7,83.6,8.8,245,1702,0.00,2.38,0.00,0.000,6,0.000,0.041,3056,2076,2213,0,0,0,0,0,0
$GC,1767,0.46,134.7,78.7,5.8,258,1782,0.00,2.42,7.75,0.543,4,0.000,0.050,3068,538,2184,0,0,0,0,0,0
$GC,1816,0.46,134.7,75.6,6.5,266,1823,0.00,2.40,0.00,0.000,6,0.000,0.047,3067,2058,2183,0,0,0,0,0,0
$GC,1889,0.46,134.7,70.6,7.0,279,1896,0.00,2.45,0.00,0.000,4,0.000,0.059,3068,3593,2182,0,0,0,0,0,0
$GC,1951,0.45,134.7,66.1,7.2,290,1959,0.00,2.35,0.00,0.000,6,0.000,0.041,3077,2098,2182,0,0,0,0,0,0
$GC,2023,0.46,158.0,62.1,5.3,303,2050,0.00,0.00,20.38,0.599,6,0.000,0.000,3077,2096,2089,0,0,0,0,0,0
$GC,2116,0.48,183.7,57.5,5.2,319,2143,0.00,0.00,21.62,0.594,6,0.000,0.000,3077,2095,1985,0,0,0,0,0,0
$GC,2209,0.48,193.0,52.6,5.8,335,2223,0.00,0.00,8.55,0.540,6,0.000,0.000,3077,2094,1948,0,0,0,0,0,0
$GC,2289,0.48,193.0,47.8,6.2,349,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2094,1946,0,0,0,0,0,0
$GC,2360,0.50,219.0,44.0,5.2,362,2387,0.00,0.00,22.25,0.589,6,0.000,0.000,3077,2094,1841,0,0,0,0,0,0
$GC,2451,0.54,270.9,39.9,4.2,378,2500,0.00,2.55,42.35,0.591,4,0.000,0.050,3081,545,1628,0,0,0,0,0,0
$GC,2519,0.59,320.6,37.1,4.3,388,2567,0.00,2.50,40.40,0.581,6,0.000,0.044,3081,2130,1426,0,0,0,0,0,0
$GC,2634,0.63,320.6,30.2,7.0,407,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2130,1419,0,0,0,0,0,0
$GC,2706,0.66,320.6,25.4,6.3,420,2714,0.10,2.50,0.00,0.000,4,0.099,0.051,3137,549,1418,0,0,0,0,0,0
$GC,2733,0.69,320.6,23.4,6.6,424,2741,0.00,2.47,0.00,0.000,6,0.000,0.045,3137,2106,1418,0,0,0,0,0,0
$GC,2806,0.69,320.6,17.1,9.4,437,2813,0.00,2.45,0.00,0.000,4,0.000,0.052,3141,552,1417,0,0,0,0,0,0
$GC,2842,0.71,320.6,13.4,10.2,443,2849,0.00,2.40,0.00,0.000,6,0.000,0.046,3141,2068,1417,0,0,0,0,0,0
$GC,2914,0.73,320.6,8.2,7.0,456,2921,0.00,2.45,0.00,0.000,4,0.000,0.059,3141,3607,1416,0,0,0,0,0,0
$STATE,2978,end climb,SURFACE_DEPTH_REACHED
$STATE,2978,begin surface coast
$FINISH,3.0,1.023566
$STATE,2989,end surface coast,CONTROL_FINISHED_OK
$STATE,2990,begin surface
$SM_CCo,3011,29.58,0.442,1,0,1206,375.06
$SM_GC,1.57,0.00,0.00,29.58,0.000,0.000,0.442,114,2167,1206,-8.72,-0.20,375.06
$IRIDIUM_FIX,4735.69,-12502.41,230511,111154
$TT8_MAMPS,0.027713
$HUMID,35.50
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,24.3,27.120
$10V_AH,10.3,22.196
$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,19.850,77.450,358.675,29.575,0.000,28.811,35.247,122.369,0.000,0.000,12.901,1053.276,344.771,492.330,1269.037,189.410,33.337,1018.182,0.000,1100.812,0.000,0.536,0.000
$DEVICE_MAMPS,237.150,68.085,647.955,442.170,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.136,339.398,917.011,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23642,470
$CAP_FILE_SIZE,72022,0
$CFSIZE,260165632,197132288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230511,132734,4753.121,-12503.686,11,6.6,30,18.7