version: 66.07
glider: 187
mission: 4
dive: 417
start: 6 16 111 2 42 56
data:
$ID,187
$MISSION,4
$DIVE,417
$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,10
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,-1585246.5
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,160611,023430,4750.606,-12513.184,39,1.0,46,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-71.9
$GPS2,160611,024201,4750.534,-12513.168,15,1.0,32,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.017,0.199
$KALMAN_X,64607.4,-666.4,-78.4,-71334.8,951.9
$KALMAN_Y,-166627.5,627.9,-340.7,173783.3,-1325.7
$MHEAD_RNG_PITCHd_Wd,2.3,24355,-13.6,-6.111
$D_GRID,287
$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,-117.3,0.0,0.0,0,88,0.00,0.00,-69.55,0.000,2,0.000,0.000,124,2189,2811,0,0,0,0,0,0
$GC,92,-0.50,-117.3,3.7,-2.8,10,116,10.40,2.45,-8.05,0.000,4,0.230,0.062,2740,667,3217,0,0,0,0,0,0
$GC,162,-0.43,-117.3,21.8,-20.7,21,170,0.08,2.38,0.00,0.000,6,0.129,0.049,2757,2160,3220,0,0,0,0,0,0
$GC,300,-0.41,-117.3,36.6,-11.4,46,308,0.00,2.50,0.00,0.000,4,0.000,0.059,2748,3686,3221,0,0,0,0,0,0
$GC,343,-0.38,-117.3,42.1,-11.7,53,351,0.08,2.38,0.00,0.000,6,0.115,0.043,2789,2182,3221,0,0,0,0,0,0
$GC,483,-0.38,-117.3,54.6,-8.4,78,490,0.00,2.40,0.00,0.000,4,0.000,0.050,2789,664,3222,0,0,0,0,0,0
$GC,530,-0.38,-117.3,58.8,-8.5,86,537,0.00,2.35,0.00,0.000,6,0.000,0.047,2788,2159,3222,0,0,0,0,0,0
$GC,666,-0.38,-117.3,69.9,-8.7,111,675,0.00,2.45,0.00,0.000,4,0.000,0.059,2778,3699,3222,0,0,0,0,0,0
$GC,726,-0.40,-117.3,75.0,-8.0,121,734,0.00,2.40,0.00,0.000,6,0.000,0.043,2777,2166,3222,0,0,0,0,0,0
$GC,862,-0.40,-117.3,85.9,-8.5,146,870,0.00,2.35,0.00,0.000,4,0.000,0.050,2777,671,3222,0,0,0,0,0,0
$GC,922,-0.40,-117.3,91.0,-9.1,156,930,0.00,2.35,0.00,0.000,6,0.000,0.048,2774,2166,3223,0,0,0,0,0,0
$GC,1064,-0.40,-117.3,101.5,-6.6,180,1068,0.00,2.42,0.00,0.000,4,0.000,0.060,2764,3700,3223,0,0,0,0,0,0
$GC,1087,-0.40,-117.3,102.9,-5.7,181,1094,0.00,2.38,0.00,0.000,6,0.000,0.043,2763,2182,3223,0,0,0,0,0,0
$GC,1288,-0.40,-117.3,114.0,-6.1,200,1292,0.00,2.35,0.00,0.000,4,0.000,0.050,2763,667,3223,0,0,0,0,0,0
$GC,1349,-0.40,-117.3,118.7,-7.1,205,1354,0.00,2.33,0.00,0.000,6,0.000,0.047,2759,2182,3223,0,0,0,0,0,0
$GC,1551,-0.40,-117.3,135.0,-8.1,223,1555,0.00,2.38,0.00,0.000,4,0.000,0.060,2749,3693,3223,0,0,0,0,0,0
$GC,1572,-0.40,-117.3,137.2,-8.5,224,1580,0.00,2.38,0.00,0.000,6,0.000,0.044,2749,2167,3223,0,0,0,0,0,0
$GC,1771,-0.40,-117.3,153.0,-8.2,243,1775,0.00,2.30,0.00,0.000,4,0.000,0.050,2748,668,3223,0,0,0,0,0,0
$GC,1814,-0.40,-117.3,156.5,-7.9,246,1822,0.10,2.38,0.00,0.000,6,0.114,0.049,2777,2182,3223,0,0,0,0,0,0
$GC,2013,-0.40,-117.3,170.4,-7.4,265,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2182,3223,0,0,0,0,0,0
$GC,2206,-0.40,-117.3,185.0,-7.7,283,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2182,3223,0,0,0,0,0,0
$GC,2405,-0.40,-117.3,200.7,-7.7,302,2409,0.00,2.33,0.00,0.000,4,0.000,0.050,2777,668,3223,0,0,0,0,0,0
$GC,2456,-0.41,-117.3,204.8,-7.7,306,2461,0.00,2.33,0.00,0.000,6,0.000,0.049,2774,2184,3223,0,0,0,0,0,0
$GC,2657,-0.41,-117.3,220.2,-7.3,324,2662,0.00,2.40,0.00,0.000,4,0.000,0.062,2765,3693,3223,0,0,0,0,0,0
$GC,2699,-0.42,-117.3,223.3,-7.2,327,2703,0.00,2.33,0.00,0.000,6,0.000,0.044,2765,2170,3222,0,0,0,0,0,0
$GC,2899,-0.42,-117.3,237.4,-7.1,345,2903,0.00,2.33,0.00,0.000,4,0.000,0.051,2765,668,3222,0,0,0,0,0,0
$GC,2952,-0.42,-117.3,241.7,-6.9,349,2960,0.00,2.35,0.00,0.000,6,0.000,0.050,2760,2168,3222,0,0,0,0,0,0
$GC,3152,-0.42,-117.3,256.7,-7.8,368,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2169,3222,0,0,0,0,0,0
$GC,3344,-0.42,-117.3,271.8,-7.5,386,3348,0.00,2.33,0.00,0.000,4,0.000,0.051,2760,660,3222,0,0,0,0,0,0
$GC,3384,-0.42,-117.3,274.9,-7.5,389,3388,0.00,2.30,0.00,0.000,6,0.000,0.050,2755,2159,3222,0,0,0,0,0,0
$STATE,3549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3550,begin apogee
$GC,3557,-0.22,0.0,287.2,7.6,404,3656,0.25,0.00,94.82,0.776,6,0.113,0.000,2841,2050,2734,0,0,0,0,0,0
$STATE,3656,end apogee,CONTROL_FINISHED_OK
$STATE,3656,begin climb
$GC,3659,0.50,117.3,291.1,0.0,414,3773,0.62,2.53,99.03,0.751,4,0.082,0.052,3070,552,2254,0,0,0,0,0,0
$GC,3788,0.49,123.0,286.1,5.9,424,3801,0.00,2.42,5.82,0.569,6,0.000,0.045,3070,2066,2233,0,0,0,0,0,0
$GC,3994,0.47,123.0,269.6,8.2,443,3999,0.00,2.42,0.00,0.000,4,0.000,0.058,3070,3571,2227,0,0,0,0,0,0
$GC,4036,0.45,123.0,265.6,10.2,446,4041,0.12,2.35,0.00,0.000,6,0.153,0.043,3045,2074,2225,0,0,0,0,0,0
$GC,4238,0.45,123.0,249.9,7.8,464,4242,0.00,2.40,0.00,0.000,4,0.000,0.054,3054,545,2225,0,0,0,0,0,0
$GC,4281,0.45,123.0,245.7,9.2,467,4289,0.00,2.40,0.00,0.000,6,0.000,0.047,3054,2062,2224,0,0,0,0,0,0
$GC,4481,0.45,123.0,230.2,8.0,486,4485,0.00,2.40,0.00,0.000,4,0.000,0.058,3054,3574,2223,0,0,0,0,0,0
$GC,4513,0.43,123.0,227.2,8.7,488,4520,0.00,2.40,0.00,0.000,6,0.000,0.044,3063,2060,2222,0,0,0,0,0,0
$GC,4713,0.42,123.0,212.8,7.2,507,4717,0.00,2.35,0.00,0.000,4,0.000,0.054,3074,548,2223,0,0,0,0,0,0
$GC,4746,0.40,123.0,210.4,7.0,509,4754,0.10,2.38,0.00,0.000,6,0.120,0.047,3038,2062,2222,0,0,0,0,0,0
$GC,4946,0.41,135.4,199.4,5.7,528,4962,0.00,2.45,10.15,0.657,4,0.000,0.059,3038,3570,2182,0,0,0,0,0,0
$GC,4996,0.41,135.4,196.3,6.9,532,5001,0.00,2.35,0.00,0.000,6,0.000,0.044,3042,2054,2180,0,0,0,0,0,0
$GC,5195,0.41,135.4,182.8,6.8,550,5199,0.00,2.35,0.00,0.000,4,0.000,0.054,3042,543,2180,0,0,0,0,0,0
$GC,5227,0.41,135.4,180.7,6.8,552,5231,0.00,2.38,0.00,0.000,6,0.000,0.048,3042,2072,2179,0,0,0,0,0,0
$GC,5426,0.41,135.4,167.2,6.7,570,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2072,2179,0,0,0,0,0,0
$GC,5618,0.42,149.9,155.5,5.6,588,5642,0.00,2.40,13.25,0.662,4,0.000,0.057,3042,3575,2122,0,0,0,0,0,0
$GC,5679,0.42,149.9,151.5,7.0,593,5683,0.00,2.35,0.00,0.000,6,0.000,0.044,3042,2058,2121,0,0,0,0,0,0
$GC,5878,0.43,173.1,140.3,5.3,611,5905,0.00,2.38,19.65,0.668,4,0.000,0.052,3042,548,2029,0,0,0,0,0,0
$GC,5943,0.46,189.7,137.1,5.5,616,5968,0.00,2.35,14.70,0.646,6,0.000,0.047,3042,2067,1963,0,0,0,0,0,0
$GC,6161,0.47,189.7,124.5,6.3,636,6166,0.00,2.42,0.00,0.000,4,0.000,0.058,3042,3578,1959,0,0,0,0,0,0
$GC,6206,0.47,189.7,120.9,8.1,639,6214,0.00,2.40,0.00,0.000,6,0.000,0.044,3041,2064,1958,0,0,0,0,0,0
$GC,6405,0.49,193.3,108.5,6.0,658,6418,0.00,2.42,3.95,0.458,4,0.000,0.054,3042,545,1947,0,0,0,0,0,0
$GC,6444,0.52,208.3,106.3,5.6,661,6468,0.00,2.38,14.45,0.636,6,0.000,0.047,3042,2072,1884,0,0,0,0,0,0
$GC,6661,0.54,208.3,92.9,6.7,691,6670,0.10,2.45,0.00,0.000,4,0.099,0.058,3098,3600,1881,0,0,0,0,0,0
$GC,6709,0.54,208.3,88.0,10.4,699,6717,0.00,2.42,0.00,0.000,6,0.000,0.044,3107,2072,1880,0,0,0,0,0,0
$GC,6848,0.53,208.3,73.4,10.0,724,6857,0.12,2.42,0.00,0.000,4,0.142,0.054,3080,534,1880,0,0,0,0,0,0
$GC,6933,0.55,208.3,66.3,7.6,739,6941,0.00,2.38,0.00,0.000,6,0.000,0.047,3080,2049,1879,0,0,0,0,0,0
$GC,7075,0.58,271.6,59.2,3.9,764,7133,0.00,2.55,51.05,0.633,4,0.000,0.058,3080,3581,1626,0,0,0,0,0,0
$GC,7146,0.64,337.9,56.3,3.8,774,7209,0.00,2.45,53.70,0.617,6,0.000,0.045,3081,2054,1356,0,0,0,0,0,0
$GC,7337,0.73,337.9,45.6,6.5,807,7345,0.17,2.38,0.00,0.000,4,0.092,0.054,3147,552,1347,0,0,0,0,0,0
$GC,7588,0.81,337.9,24.0,9.4,853,7596,0.00,2.38,0.00,0.000,6,0.000,0.047,3147,2058,1344,0,0,0,0,0,0
$GC,7727,0.86,337.9,13.9,7.0,878,7735,0.10,2.38,0.00,0.000,4,0.100,0.053,3202,541,1343,0,0,0,0,0,0
$GC,7832,0.86,337.9,6.2,7.8,897,7839,0.00,2.35,0.00,0.000,6,0.000,0.047,3201,2034,1342,0,0,0,0,0,0
$STATE,7866,end climb,SURFACE_DEPTH_REACHED
$STATE,7866,begin surface coast
$FINISH,1.0,1.012385
$STATE,7933,end surface coast,CONTROL_FINISHED_OK
$STATE,7933,begin surface
$SM_CCo,7951,19.30,0.374,1,0,1205,375.06
$SM_GC,2.17,0.00,0.00,19.30,0.000,0.000,0.374,124,2203,1205,-8.69,0.79,375.06
$IRIDIUM_FIX,4732.49,-12507.66,150611,232358
$TT8_MAMPS,0.027713
$HUMID,37.67
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.10
$XPDR_PINGS,2
$24V_AH,24.1,43.402
$10V_AH,10.1,39.810
$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,20.225,138.775,380.575,19.300,0.000,25.082,34.419,228.084,0.500,0.000,33.801,2273.935,2616.317,538.446,2652.274,335.098,33.349,1451.510,0.000,1963.876,0.000,0.536,0.000
$DEVICE_MAMPS,229.500,81.855,775.710,374.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.491,2204.519,1232.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297444
$DATA_FILE_SIZE,50294,915
$CAP_FILE_SIZE,124821,0
$CFSIZE,260165632,185745408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.141,203.1,1
$GPS,160611,045704,4750.844,-12512.572,14,6.9,33,18.7