version: 66.07
glider: 187
mission: 4
dive: 420
start: 6 16 111 9 6 17
data:
$ID,187
$MISSION,4
$DIVE,420
$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,-1585250.2
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,160611,085902,4751.549,-12510.946,13,1.9,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.3
$GPS2,160611,090519,4751.491,-12510.905,14,2.0,14,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.036,0.197
$KALMAN_X,65542.3,593.4,41.3,-70848.0,451.1
$KALMAN_Y,-168715.9,-893.9,339.3,178501.2,-670.3
$MHEAD_RNG_PITCHd_Wd,9.2,21039,-13.6,-6.111
$D_GRID,175
$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,-117.3,0.0,0.0,0,77,0.00,0.00,-59.65,0.000,2,0.000,0.000,123,2187,2614,0,0,0,0,0,0
$GC,82,-0.50,-117.3,3.1,-2.4,9,113,10.40,2.40,-13.05,0.000,4,0.230,0.060,2734,657,3216,0,0,0,0,0,0
$GC,198,-0.46,-117.3,24.3,-13.2,28,206,0.00,2.38,0.00,0.000,6,0.000,0.048,2725,2158,3218,0,0,0,0,0,0
$GC,336,-0.42,-117.3,43.1,-13.4,53,344,0.15,0.00,0.00,0.000,6,0.145,0.000,2768,2158,3219,0,0,0,0,0,0
$GC,475,-0.40,-117.3,58.1,-9.9,78,483,0.00,2.50,0.00,0.000,4,0.000,0.059,2758,3693,3220,0,0,0,0,0,0
$GC,502,-0.38,-117.3,61.1,-10.1,82,510,0.00,2.38,0.00,0.000,6,0.000,0.044,2758,2183,3220,0,0,0,0,0,0
$GC,642,-0.36,-117.3,74.4,-9.8,107,649,0.00,2.38,0.00,0.000,4,0.000,0.050,2757,672,3220,0,0,0,0,0,0
$GC,710,-0.36,-117.3,81.7,-10.1,119,718,0.10,2.35,0.00,0.000,6,0.111,0.049,2798,2167,3220,0,0,0,0,0,0
$GC,850,-0.37,-117.3,91.4,-6.3,144,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2166,3220,0,0,0,0,0,0
$GC,984,-0.39,-117.3,100.7,-7.2,168,988,0.00,2.42,0.00,0.000,4,0.000,0.060,2791,3692,3221,0,0,0,0,0,0
$GC,1017,-0.40,-117.3,103.1,-7.1,170,1025,0.00,2.40,0.00,0.000,6,0.000,0.044,2791,2154,3220,0,0,0,0,0,0
$GC,1218,-0.41,-117.3,114.1,-5.2,189,1222,0.00,2.28,0.00,0.000,4,0.000,0.050,2790,669,3220,0,0,0,0,0,0
$GC,1272,-0.43,-117.3,117.3,-5.9,193,1277,0.00,2.30,0.00,0.000,6,0.000,0.047,2791,2172,3220,0,0,0,0,0,0
$GC,1474,-0.46,-117.3,128.4,-5.8,211,1478,0.00,2.33,0.00,0.000,4,0.000,0.050,2790,659,3220,0,0,0,0,0,0
$GC,1561,-0.47,-117.3,134.7,-6.9,218,1569,0.08,2.22,0.00,0.000,6,0.056,0.048,2738,2082,3220,0,0,0,0,0,0
$GC,1764,-0.45,-117.3,152.0,-8.5,237,1768,0.00,2.58,0.00,0.000,4,0.000,0.060,2725,3690,3220,0,0,0,0,0,0
$GC,1805,-0.44,-117.3,155.9,-8.4,240,1810,0.12,2.45,0.00,0.000,6,0.132,0.044,2762,2097,3220,0,0,0,0,0,0
$GC,2006,-0.44,-117.3,169.8,-6.8,258,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2093,3220,0,0,0,0,0,0
$STATE,2086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2086,begin apogee
$GC,2092,-0.22,0.0,175.3,6.3,266,2190,0.22,0.00,93.22,0.695,6,0.116,0.000,2838,2092,2734,0,0,0,0,0,0
$STATE,2191,end apogee,CONTROL_FINISHED_OK
$STATE,2191,begin climb
$GC,2195,0.50,117.3,178.8,0.0,276,2296,0.65,0.00,97.80,0.674,6,0.083,0.000,3063,2093,2255,0,0,0,0,0,0
$GC,2485,0.48,117.3,162.2,7.1,304,2490,0.00,2.42,0.00,0.000,4,0.000,0.056,3063,3584,2247,0,0,0,0,0,0
$GC,2519,0.46,117.3,159.2,9.0,306,2527,0.00,2.42,0.00,0.000,6,0.000,0.042,3074,2074,2246,0,0,0,0,0,0
$GC,2718,0.45,117.3,144.9,7.1,325,2723,0.00,2.40,0.00,0.000,4,0.000,0.052,3085,539,2246,0,0,0,0,0,0
$GC,2749,0.43,117.3,142.7,7.7,327,2753,0.15,2.38,0.00,0.000,6,0.135,0.047,3042,2071,2245,0,0,0,0,0,0
$GC,2951,0.44,140.4,132.1,5.3,345,2971,0.00,0.00,18.48,0.640,6,0.000,0.000,3042,2071,2161,0,0,0,0,0,0
$GC,3160,0.46,167.0,120.8,5.2,365,3190,0.00,0.00,22.67,0.642,6,0.000,0.000,3042,2071,2053,0,0,0,0,0,0
$GC,3386,0.52,243.9,110.4,3.4,386,3457,0.00,2.50,62.30,0.647,4,0.000,0.058,3041,3570,1738,0,0,0,0,0,0
$GC,3473,0.59,317.9,107.2,3.5,393,3538,0.15,2.42,59.12,0.631,6,0.075,0.043,3115,2039,1439,0,0,0,0,0,0
$GC,3731,0.59,317.9,81.5,10.1,432,3738,0.00,2.40,0.00,0.000,4,0.000,0.054,3124,553,1428,0,0,0,0,0,0
$GC,3773,0.59,317.9,77.9,8.7,439,3781,0.08,2.38,0.00,0.000,6,0.102,0.046,3094,2048,1426,0,0,0,0,0,0
$GC,3912,0.61,317.9,68.7,7.1,464,3919,0.00,2.40,0.00,0.000,4,0.000,0.053,3094,552,1425,0,0,0,0,0,0
$GC,3952,0.63,317.9,65.9,7.3,470,3959,0.00,2.30,0.00,0.000,6,0.000,0.045,3093,2015,1425,0,0,0,0,0,0
$GC,4091,0.66,325.7,56.9,5.8,495,4106,0.00,2.53,5.62,0.493,4,0.000,0.057,3094,3566,1407,0,0,0,0,0,0
$GC,4130,0.69,325.7,54.2,6.2,501,4138,0.00,2.42,0.00,0.000,6,0.000,0.044,3094,2034,1406,0,0,0,0,0,0
$GC,4270,0.72,342.8,46.4,5.5,526,4294,0.12,2.40,15.73,0.589,4,0.086,0.054,3170,542,1336,0,0,0,0,0,0
$GC,4326,0.72,342.8,41.6,8.3,534,4334,0.08,2.33,0.00,0.000,6,0.113,0.047,3143,2018,1334,0,0,0,0,0,0
$GC,4464,0.72,342.8,29.3,9.4,559,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2018,1332,0,0,0,0,0,0
$GC,4597,0.72,342.8,16.0,9.4,584,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2018,1331,0,0,0,0,0,0
$GC,4737,0.75,348.5,6.4,5.9,609,4747,0.00,2.38,5.30,0.474,4,0.000,0.054,3143,548,1313,0,0,0,0,0,0
$GC,4766,0.79,357.3,4.6,5.8,613,4782,0.00,2.28,8.55,0.529,6,0.000,0.046,3142,2004,1277,0,0,0,0,0,0
$STATE,4788,end climb,SURFACE_DEPTH_REACHED
$STATE,4788,begin surface coast
$FINISH,0.9,1.023682
$STATE,4877,end surface coast,CONTROL_FINISHED_OK
$STATE,4877,begin surface
$SM_CCo,4895,10.95,0.177,1,0,1205,375.06
$SM_GC,1.46,0.00,0.00,10.95,0.000,0.000,0.177,127,2188,1205,-8.68,0.37,375.06
$IRIDIUM_FIX,4732.49,-12510.28,160611,070734
$TT8_MAMPS,0.027713
$HUMID,38.85
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,24.2,43.674
$10V_AH,10.3,40.108
$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,20.125,71.950,388.800,10.950,0.000,27.176,37.651,185.867,0.000,0.000,14.888,1546.427,1181.596,477.525,1817.010,267.705,33.338,1117.448,0.000,1391.440,0.000,0.536,0.000
$DEVICE_MAMPS,229.500,65.025,694.620,177.480,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.669,1519.165,1001.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297424
$DATA_FILE_SIZE,33718,632
$CAP_FILE_SIZE,84722,0
$CFSIZE,260165632,185618432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110,143.5,1
$GPS,160611,102930,4751.773,-12510.229,37,1.5,42,18.7