version: 66.07
glider: 187
mission: 4
dive: 418
start: 6 16 111 5 7 46
data:
$ID,187
$MISSION,4
$DIVE,418
$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,-1585247.8
$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,37
$R_STBD_OVSHOOT,44
$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
$GPS1,160611,045704,4750.844,-12512.572,14,6.9,33,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.1
$GPS2,160611,050650,4750.785,-12512.555,15,1.3,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.042,0.196
$KALMAN_X,64999.0,-158.5,-69.0,-71494.5,871.7
$KALMAN_Y,-167364.8,-32.0,-335.0,175652.6,-759.4
$MHEAD_RNG_PITCHd_Wd,14.5,23464,-13.6,-6.111
$D_GRID,250
$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,-117.3,0.0,0.0,0,83,0.00,0.00,-64.80,0.000,2,0.000,0.000,124,2202,2756,0,0,0,0,0,0
$GC,88,-0.50,-117.3,3.4,-2.6,10,117,10.35,2.42,-9.50,0.000,4,0.229,0.063,2739,664,3217,0,0,0,0,0,0
$GC,167,-0.46,-117.3,22.0,-16.4,23,175,0.00,2.38,0.00,0.000,6,0.000,0.048,2730,2159,3219,0,0,0,0,0,0
$GC,308,-0.41,-117.3,40.2,-13.3,48,316,0.15,2.45,0.00,0.000,4,0.147,0.058,2763,3693,3220,0,0,0,0,0,0
$GC,341,-0.39,-117.3,44.6,-12.3,53,350,0.00,2.35,0.00,0.000,6,0.000,0.044,2762,2201,3221,0,0,0,0,0,0
$GC,483,-0.36,-117.3,58.5,-10.0,78,490,0.00,2.42,0.00,0.000,4,0.000,0.050,2761,666,3221,0,0,0,0,0,0
$GC,551,-0.35,-117.3,66.0,-10.5,90,559,0.08,2.42,0.00,0.000,6,0.089,0.047,2794,2204,3221,0,0,0,0,0,0
$GC,690,-0.35,-117.3,75.2,-6.0,115,698,0.00,2.42,0.00,0.000,4,0.000,0.049,2794,663,3222,0,0,0,0,0,0
$GC,724,-0.35,-117.3,77.5,-6.2,120,731,0.00,2.38,0.00,0.000,6,0.000,0.047,2792,2175,3222,0,0,0,0,0,0
$GC,860,-0.35,-117.3,86.7,-7.2,145,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2175,3222,0,0,0,0,0,0
$GC,996,-0.35,-117.3,95.7,-6.2,170,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2175,3222,0,0,0,0,0,0
$GC,1133,-0.35,-117.3,103.0,-5.1,190,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2175,3222,0,0,0,0,0,0
$GC,1324,-0.35,-117.3,114.9,-6.8,208,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2176,3222,0,0,0,0,0,0
$GC,1524,-0.36,-117.3,127.1,-5.2,227,1528,0.00,2.33,0.00,0.000,4,0.000,0.050,2792,665,3222,0,0,0,0,0,0
$GC,1555,-0.38,-117.3,128.7,-5.5,229,1559,0.00,2.28,0.00,0.000,6,0.000,0.047,2792,2154,3222,0,0,0,0,0,0
$GC,1757,-0.39,-117.3,137.3,-4.4,247,1761,0.00,2.45,0.00,0.000,4,0.000,0.060,2788,3696,3222,0,0,0,0,0,0
$GC,1789,-0.41,-117.3,139.3,-5.2,249,1798,0.00,2.40,0.00,0.000,6,0.000,0.043,2789,2150,3222,0,0,0,0,0,0
$GC,1989,-0.42,-117.3,150.6,-6.1,268,1993,0.00,2.30,0.00,0.000,4,0.000,0.050,2789,662,3222,0,0,0,0,0,0
$GC,2040,-0.44,-117.3,153.9,-5.9,272,2044,0.00,2.28,0.00,0.000,6,0.000,0.048,2788,2152,3222,0,0,0,0,0,0
$GC,2243,-0.46,-117.3,164.1,-4.8,290,2248,0.00,2.42,0.00,0.000,4,0.000,0.062,2785,3687,3222,0,0,0,0,0,0
$GC,2274,-0.48,-117.3,165.5,-4.1,292,2279,0.10,2.38,0.00,0.000,6,0.096,0.044,2723,2131,3221,0,0,0,0,0,0
$GC,2476,-0.46,-117.3,180.7,-7.4,310,2480,0.12,2.28,0.00,0.000,4,0.141,0.051,2760,664,3221,0,0,0,0,0,0
$GC,2544,-0.46,-117.3,185.6,-6.5,316,2549,0.00,2.25,0.00,0.000,6,0.000,0.048,2755,2138,3221,0,0,0,0,0,0
$GC,2744,-0.46,-117.3,198.7,-7.3,334,2748,0.00,2.47,0.00,0.000,4,0.000,0.061,2744,3694,3221,0,0,0,0,0,0
$GC,2775,-0.46,-117.3,201.5,-8.0,336,2784,0.00,2.42,0.00,0.000,6,0.000,0.044,2743,2135,3221,0,0,0,0,0,0
$GC,2977,-0.45,-117.3,216.8,-7.5,355,2981,0.00,2.28,0.00,0.000,4,0.000,0.052,2743,667,3220,0,0,0,0,0,0
$GC,3007,-0.43,-117.3,219.3,-7.9,357,3011,0.00,2.25,0.00,0.000,6,0.000,0.049,2735,2139,3220,0,0,0,0,0,0
$GC,3208,-0.42,-117.3,234.5,-7.4,375,3213,0.12,2.45,0.00,0.000,4,0.148,0.060,2762,3688,3220,0,0,0,0,0,0
$GC,3240,-0.42,-117.3,236.9,-5.8,377,3249,0.00,2.42,0.00,0.000,6,0.000,0.044,2761,2131,3220,0,0,0,0,0,0
$GC,3441,-0.42,-117.3,248.3,-6.1,396,3445,0.00,2.25,0.00,0.000,4,0.000,0.052,2761,666,3220,0,0,0,0,0,0
$STATE,3468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3469,begin apogee
$GC,3477,-0.22,0.0,250.2,6.3,398,3575,0.22,0.00,94.18,0.750,6,0.115,0.000,2832,2067,2734,0,0,0,0,0,0
$STATE,3576,end apogee,CONTROL_FINISHED_OK
$STATE,3576,begin climb
$GC,3578,0.50,117.3,253.4,0.0,408,3692,0.65,2.55,98.65,0.728,4,0.085,0.051,3068,549,2254,0,0,0,0,0,0
$GC,3708,0.50,117.3,247.4,6.4,418,3716,0.00,2.45,0.00,0.000,6,0.000,0.045,3067,2059,2252,0,0,0,0,0,0
$GC,3909,0.48,117.3,232.7,7.6,437,3914,0.00,2.45,0.00,0.000,4,0.000,0.058,3068,3580,2247,0,0,0,0,0,0
$GC,3994,0.46,117.3,225.3,9.2,444,3999,0.00,2.38,0.00,0.000,6,0.000,0.043,3078,2078,2245,0,0,0,0,0,0
$GC,4194,0.43,117.3,209.2,8.2,462,4196,0.12,0.00,0.00,0.000,6,0.148,0.000,3043,2075,2245,0,0,0,0,0,0
$GC,4387,0.44,132.1,197.6,5.6,480,4403,0.00,2.42,11.43,0.659,4,0.000,0.058,3042,3578,2195,0,0,0,0,0,0
$GC,4444,0.44,132.1,193.8,7.1,485,4448,0.00,2.35,0.00,0.000,6,0.000,0.044,3048,2069,2194,0,0,0,0,0,0
$GC,4644,0.45,138.4,181.0,5.9,503,4658,0.00,2.40,6.95,0.598,4,0.000,0.052,3057,545,2169,0,0,0,0,0,0
$GC,4684,0.45,138.4,178.2,6.4,506,4692,0.00,2.42,0.00,0.000,6,0.000,0.047,3057,2088,2169,0,0,0,0,0,0
$GC,4884,0.45,138.4,165.8,6.6,525,4888,0.00,2.38,0.00,0.000,4,0.000,0.059,3057,3574,2167,0,0,0,0,0,0
$GC,4913,0.43,138.4,163.6,8.0,527,4917,0.00,2.33,0.00,0.000,6,0.000,0.044,3066,2072,2166,0,0,0,0,0,0
$GC,5112,0.43,138.4,148.9,7.4,545,5116,0.00,2.38,0.00,0.000,4,0.000,0.054,3078,541,2166,0,0,0,0,0,0
$GC,5154,0.43,138.4,146.0,7.1,548,5159,0.12,2.40,0.00,0.000,6,0.141,0.047,3042,2085,2166,0,0,0,0,0,0
$GC,5356,0.45,161.7,134.5,5.3,566,5381,0.00,2.45,20.15,0.666,4,0.000,0.059,3041,3577,2075,0,0,0,0,0,0
$GC,5409,0.45,161.7,131.1,6.2,570,5417,0.00,2.38,0.00,0.000,6,0.000,0.044,3041,2078,2072,0,0,0,0,0,0
$GC,5609,0.46,183.0,120.5,5.4,589,5635,0.00,2.42,18.40,0.653,4,0.000,0.053,3041,546,1987,0,0,0,0,0,0
$GC,5660,0.50,207.5,117.6,5.3,593,5686,0.00,2.42,21.08,0.646,6,0.000,0.047,3041,2092,1888,0,0,0,0,0,0
$GC,5880,0.52,212.1,104.8,5.9,613,5894,0.00,2.42,4.47,0.480,4,0.000,0.058,3041,3570,1870,0,0,0,0,0,0
$GC,5919,0.54,212.1,102.0,7.1,616,5924,0.10,2.33,0.00,0.000,6,0.097,0.044,3096,2081,1869,0,0,0,0,0,0
$GC,6119,0.54,212.1,83.6,9.0,650,6127,0.00,2.45,0.00,0.000,4,0.000,0.054,3104,542,1868,0,0,0,0,0,0
$GC,6191,0.54,212.1,77.8,7.6,663,6198,0.00,2.38,0.00,0.000,6,0.000,0.047,3104,2052,1867,0,0,0,0,0,0
$GC,6327,0.54,212.1,66.3,8.6,688,6335,0.00,2.42,0.00,0.000,4,0.000,0.054,3112,546,1866,0,0,0,0,0,0
$GC,6353,0.54,212.1,64.2,8.0,692,6361,0.08,2.33,0.00,0.000,6,0.112,0.047,3082,2031,1866,0,0,0,0,0,0
$GC,6491,0.58,261.2,56.8,4.4,717,6534,0.00,0.00,40.33,0.630,6,0.000,0.000,3082,2031,1669,0,0,0,0,0,0
$GC,6663,0.61,278.9,48.9,5.5,747,6685,0.00,0.00,14.95,0.594,6,0.000,0.000,3082,2031,1596,0,0,0,0,0,0
$GC,6815,0.63,278.9,38.2,7.7,774,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2030,1592,0,0,0,0,0,0
$GC,6951,0.66,283.7,29.0,5.9,799,6967,0.10,2.53,4.65,0.461,4,0.099,0.058,3136,3571,1576,0,0,0,0,0,0
$GC,6987,0.66,283.7,26.3,6.9,804,6994,0.00,2.45,0.00,0.000,6,0.000,0.044,3143,2031,1576,0,0,0,0,0,0
$GC,7125,0.66,283.7,14.8,7.5,829,7134,0.00,2.35,0.00,0.000,4,0.000,0.054,3152,550,1574,0,0,0,0,0,0
$GC,7187,0.72,346.1,12.5,3.9,839,7245,0.00,2.33,51.08,0.599,6,0.000,0.047,3152,2029,1323,0,0,0,0,0,0
$STATE,7319,end climb,SURFACE_DEPTH_REACHED
$STATE,7319,begin surface coast
$FINISH,1.0,1.023732
$STATE,7399,end surface coast,CONTROL_FINISHED_OK
$STATE,7399,begin surface
$SM_CCo,7418,16.92,0.337,1,0,1205,375.06
$SM_GC,1.98,0.00,0.00,16.92,0.000,0.000,0.337,132,2191,1205,-8.66,0.45,375.06
$IRIDIUM_FIX,4732.49,-12516.60,160611,040400
$TT8_MAMPS,0.026964
$HUMID,37.91
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,24.1,43.499
$10V_AH,10.2,39.926
$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,20.200,124.125,386.300,16.925,0.000,50.187,120.143,220.338,0.000,0.000,16.424,2173.438,2367.448,519.329,2634.577,326.987,33.346,1397.430,0.000,1901.723,0.000,0.535,0.000
$DEVICE_MAMPS,228.735,66.555,750.465,337.365,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.803,2113.224,1234.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297480
$DATA_FILE_SIZE,50292,876
$CAP_FILE_SIZE,120274,0
$CFSIZE,260165632,185683968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051,151.4,1
$GPS,160611,071238,4751.303,-12511.751,14,1.9,14,18.7