version: 66.07
glider: 187
mission: 4
dive: 419
start: 6 16 111 7 20 31
data:
$ID,187
$MISSION,4
$DIVE,419
$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,-1585249
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,160611,071238,4751.303,-12511.751,14,1.9,14,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-74.2
$GPS2,160611,071934,4751.261,-12511.711,14,4.9,33,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.047,0.194
$KALMAN_X,65255.0,268.5,-38.7,-71156.3,672.2
$KALMAN_Y,-168004.5,-543.2,94.1,177253.9,-591.4
$MHEAD_RNG_PITCHd_Wd,22.3,22103,-13.6,-6.111
$D_GRID,198
$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,-117.3,0.0,0.0,0,80,0.00,0.00,-61.72,0.000,2,0.000,0.000,131,2191,2663,0,0,0,0,0,0
$GC,84,-0.50,-117.3,3.0,-2.0,9,115,10.43,2.40,-11.88,0.000,4,0.233,0.060,2736,657,3217,0,0,0,0,0,0
$GC,200,-0.46,-117.3,24.4,-12.7,28,207,0.00,2.40,0.00,0.000,6,0.000,0.048,2727,2170,3218,0,0,0,0,0,0
$GC,336,-0.42,-117.3,41.7,-13.9,53,344,0.15,2.45,0.00,0.000,4,0.145,0.060,2760,3695,3219,0,0,0,0,0,0
$GC,380,-0.40,-117.3,47.4,-12.8,60,387,0.00,2.40,0.00,0.000,6,0.000,0.043,2759,2166,3219,0,0,0,0,0,0
$GC,518,-0.38,-117.3,61.6,-9.9,85,526,0.00,2.35,0.00,0.000,4,0.000,0.050,2759,678,3220,0,0,0,0,0,0
$GC,618,-0.36,-117.3,72.1,-9.6,103,627,0.10,2.33,0.00,0.000,6,0.112,0.048,2787,2154,3220,0,0,0,0,0,0
$GC,757,-0.36,-117.3,81.8,-6.5,128,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2154,3221,0,0,0,0,0,0
$GC,896,-0.36,-117.3,92.3,-7.9,153,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2154,3221,0,0,0,0,0,0
$GC,1035,-0.36,-117.3,103.6,-7.9,175,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2154,3221,0,0,0,0,0,0
$GC,1228,-0.36,-117.3,115.3,-5.1,193,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2154,3221,0,0,0,0,0,0
$GC,1428,-0.36,-117.3,127.1,-6.8,212,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2154,3221,0,0,0,0,0,0
$GC,1620,-0.37,-117.3,138.5,-5.9,230,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2154,3221,0,0,0,0,0,0
$GC,1820,-0.38,-117.3,151.2,-6.4,249,1824,0.00,2.28,0.00,0.000,4,0.000,0.050,2787,670,3221,0,0,0,0,0,0
$GC,1872,-0.40,-117.3,154.3,-5.7,253,1876,0.00,2.30,0.00,0.000,6,0.000,0.047,2786,2160,3221,0,0,0,0,0,0
$GC,2073,-0.41,-117.3,166.5,-6.2,271,2077,0.00,2.45,0.00,0.000,4,0.000,0.060,2785,3693,3221,0,0,0,0,0,0
$GC,2113,-0.44,-117.3,169.2,-6.5,274,2117,0.00,2.35,0.00,0.000,6,0.000,0.044,2784,2153,3221,0,0,0,0,0,0
$GC,2314,-0.45,-117.3,181.4,-6.1,292,2318,0.00,2.28,0.00,0.000,4,0.000,0.051,2784,667,3221,0,0,0,0,0,0
$GC,2344,-0.46,-117.3,183.4,-6.6,294,2348,0.00,2.30,0.00,0.000,6,0.000,0.048,2784,2170,3221,0,0,0,0,0,0
$GC,2545,-0.47,-117.3,194.6,-4.9,312,2549,0.00,2.42,0.00,0.000,4,0.000,0.061,2782,3691,3221,0,0,0,0,0,0
$GC,2582,-0.50,-117.3,196.3,-4.8,315,2587,0.10,2.33,0.00,0.000,6,0.098,0.044,2720,2164,3221,0,0,0,0,0,0
$STATE,2608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2608,begin apogee
$GC,2615,-0.22,0.0,198.3,6.0,317,2713,0.32,0.00,93.60,0.714,6,0.116,0.000,2829,2049,2734,0,0,0,0,0,0
$STATE,2714,end apogee,CONTROL_FINISHED_OK
$STATE,2714,begin climb
$GC,2718,0.50,117.3,202.2,0.0,327,2829,0.68,2.55,97.75,0.694,4,0.086,0.057,3062,3570,2254,0,0,0,0,0,0
$GC,2856,0.47,117.3,197.2,6.9,338,2864,0.00,2.45,0.00,0.000,6,0.000,0.042,3071,2072,2251,0,0,0,0,0,0
$GC,3057,0.46,117.3,184.3,6.8,357,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2070,2247,0,0,0,0,0,0
$GC,3257,0.44,117.3,170.6,6.3,376,3261,0.00,2.40,0.00,0.000,4,0.000,0.057,3071,3573,2246,0,0,0,0,0,0
$GC,3320,0.42,117.3,165.9,8.4,381,3325,0.15,2.38,0.00,0.000,6,0.148,0.042,3039,2057,2244,0,0,0,0,0,0
$GC,3521,0.44,158.9,156.1,4.6,399,3559,0.00,0.00,33.20,0.672,6,0.000,0.000,3039,2054,2086,0,0,0,0,0,0
$GC,3752,0.44,158.9,143.0,6.2,421,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2053,2081,0,0,0,0,0,0
$GC,3951,0.44,158.9,130.8,6.8,440,3955,0.00,2.40,0.00,0.000,4,0.000,0.054,3042,544,2080,0,0,0,0,0,0
$GC,3989,0.46,158.9,128.4,6.2,443,3997,0.00,2.40,0.00,0.000,6,0.000,0.047,3041,2067,2079,0,0,0,0,0,0
$GC,4189,0.46,158.9,116.4,6.4,462,4194,0.00,2.40,0.00,0.000,4,0.000,0.058,3041,3574,2078,0,0,0,0,0,0
$GC,4230,0.46,158.9,113.4,7.6,465,4234,0.00,2.35,0.00,0.000,6,0.000,0.043,3042,2065,2077,0,0,0,0,0,0
$GC,4429,0.49,211.4,102.6,4.3,483,4478,0.00,2.42,42.20,0.655,4,0.000,0.052,3042,547,1872,0,0,0,0,0,0
$GC,4505,0.53,243.5,99.2,5.0,490,4541,0.05,2.42,27.27,0.633,6,0.063,0.047,3106,2070,1741,0,0,0,0,0,0
$GC,4672,0.53,243.5,85.0,8.7,519,4680,0.00,2.45,0.00,0.000,4,0.000,0.058,3106,3569,1733,0,0,0,0,0,0
$GC,4715,0.53,243.5,81.0,9.3,526,4724,0.08,2.40,0.00,0.000,6,0.118,0.044,3074,2070,1732,0,0,0,0,0,0
$GC,4855,0.57,285.5,73.5,4.6,551,4899,0.00,2.47,33.20,0.626,4,0.000,0.054,3074,552,1569,0,0,0,0,0,0
$GC,4940,0.63,325.5,69.4,4.7,564,4982,0.00,2.40,33.22,0.616,6,0.000,0.045,3074,2063,1405,0,0,0,0,0,0
$GC,5112,0.71,325.5,56.9,9.1,594,5121,0.17,2.45,0.00,0.000,4,0.081,0.059,3141,3575,1398,0,0,0,0,0,0
$GC,5135,0.79,325.5,54.7,9.6,597,5143,0.00,2.53,0.00,0.000,6,0.000,0.044,3141,1995,1397,0,0,0,0,0,0
$GC,5276,0.82,325.5,42.4,8.9,622,5283,0.00,2.53,0.00,0.000,4,0.000,0.059,3142,3570,1396,0,0,0,0,0,0
$GC,5350,0.82,325.5,35.0,9.9,635,5357,0.00,2.70,0.00,0.000,6,0.000,0.044,3149,1850,1395,0,0,0,0,0,0
$GC,5487,0.82,325.5,22.4,9.0,660,5495,0.00,2.08,0.00,0.000,4,0.000,0.056,3152,548,1395,0,0,0,0,0,0
$GC,5504,0.82,325.5,20.8,8.8,662,5511,0.00,2.05,0.00,0.000,6,0.000,0.046,3152,1860,1395,0,0,0,0,0,0
$GC,5641,0.84,331.7,11.0,5.9,687,5658,0.00,2.78,4.45,0.441,4,0.000,0.057,3152,3572,1381,0,0,0,0,0,0
$GC,5690,0.85,331.7,7.7,6.9,694,5697,0.00,2.67,0.00,0.000,6,0.000,0.044,3152,1855,1381,0,0,0,0,0,0
$STATE,5744,end climb,SURFACE_DEPTH_REACHED
$STATE,5744,begin surface coast
$FINISH,0.9,1.023945
$STATE,5809,end surface coast,CONTROL_FINISHED_OK
$STATE,5810,begin surface
$SM_CCo,5828,25.52,0.429,1,0,1205,375.06
$SM_GC,2.33,0.00,0.00,25.52,0.000,0.000,0.429,123,2187,1205,-8.70,0.34,375.06
$IRIDIUM_FIX,4732.49,-12510.28,160611,050547
$TT8_MAMPS,0.026964
$HUMID,37.95
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,24.2,43.588
$10V_AH,10.2,40.021
$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,20.050,87.350,364.900,25.525,0.000,24.799,36.494,204.739,0.000,0.000,34.932,1742.438,1690.259,490.757,2068.758,280.841,33.343,1210.028,0.000,1544.320,0.000,0.536,0.000
$DEVICE_MAMPS,232.560,81.090,713.745,429.165,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,487.304,1716.892,1062.327,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297436
$DATA_FILE_SIZE,40352,716
$CAP_FILE_SIZE,94344,0
$CFSIZE,260165632,185655296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.098,165.7,1
$GPS,160611,085902,4751.549,-12510.946,13,1.9,13,18.7