version: 66.07
glider: 187
mission: 4
dive: 421
start: 6 16 111 10 36 40
data:
$ID,187
$MISSION,4
$DIVE,421
$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,-1585251.5
$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,33
$R_STBD_OVSHOOT,41
$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
$GPS1,160611,102930,4751.773,-12510.229,37,1.5,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.1
$GPS2,160611,103543,4751.728,-12510.192,12,1.5,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.030,0.198
$KALMAN_X,65962.0,796.9,86.1,-70631.8,324.1
$KALMAN_Y,-169278.6,-1027.8,344.7,179627.2,-689.0
$MHEAD_RNG_PITCHd_Wd,2.5,20064,-13.6,-6.111
$D_GRID,159
$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,-117.3,0.0,0.0,0,78,0.00,0.00,-60.25,0.000,2,0.000,0.000,127,2189,2634,0,0,0,0,0,0
$GC,83,-0.50,-117.3,3.2,-2.3,9,113,10.35,2.40,-12.40,0.000,4,0.230,0.060,2738,653,3215,0,0,0,0,0,0
$GC,153,-0.43,-117.3,19.0,-19.0,20,161,0.08,2.40,0.00,0.000,6,0.122,0.048,2766,2166,3217,0,0,0,0,0,0
$GC,291,-0.41,-117.3,33.0,-10.1,45,298,0.00,2.50,0.00,0.000,4,0.000,0.060,2756,3724,3218,0,0,0,0,0,0
$GC,318,-0.39,-117.3,35.9,-10.0,49,326,0.00,2.45,0.00,0.000,6,0.000,0.043,2755,2168,3219,0,0,0,0,0,0
$GC,456,-0.36,-117.3,50.7,-11.4,74,464,0.10,2.38,0.00,0.000,4,0.160,0.051,2784,671,3218,0,0,0,0,0,0
$GC,510,-0.36,-117.3,56.3,-10.0,83,518,0.00,2.35,0.00,0.000,6,0.000,0.047,2782,2167,3219,0,0,0,0,0,0
$GC,645,-0.36,-117.3,67.1,-7.5,108,653,0.00,2.47,0.00,0.000,4,0.000,0.060,2771,3691,3219,0,0,0,0,0,0
$GC,678,-0.36,-117.3,69.5,-7.4,113,686,0.00,2.40,0.00,0.000,6,0.000,0.043,2771,2155,3219,0,0,0,0,0,0
$GC,814,-0.36,-117.3,79.4,-7.4,138,822,0.00,2.33,0.00,0.000,4,0.000,0.050,2770,670,3219,0,0,0,0,0,0
$GC,867,-0.36,-117.3,83.9,-8.5,147,875,0.00,2.33,0.00,0.000,6,0.000,0.047,2769,2155,3220,0,0,0,0,0,0
$GC,1004,-0.36,-117.3,94.7,-7.8,172,1012,0.00,2.47,0.00,0.000,4,0.000,0.060,2759,3682,3220,0,0,0,0,0,0
$GC,1073,-0.36,-117.3,101.0,-8.1,183,1077,0.00,2.35,0.00,0.000,6,0.000,0.042,2758,2157,3220,0,0,0,0,0,0
$GC,1274,-0.36,-117.3,119.1,-9.6,201,1277,0.00,2.28,0.00,0.000,4,0.000,0.050,2758,667,3220,0,0,0,0,0,0
$GC,1319,-0.36,-117.3,123.3,-8.7,205,1324,0.12,2.30,0.00,0.000,6,0.141,0.047,2787,2170,3220,0,0,0,0,0,0
$GC,1520,-0.36,-117.3,135.8,-5.8,223,1524,0.00,2.40,0.00,0.000,4,0.000,0.060,2781,3695,3220,0,0,0,0,0,0
$GC,1551,-0.38,-117.3,137.7,-6.1,225,1556,0.00,2.35,0.00,0.000,6,0.000,0.043,2781,2151,3220,0,0,0,0,0,0
$GC,1751,-0.38,-117.3,149.8,-6.4,243,1755,0.00,2.30,0.00,0.000,4,0.000,0.050,2780,662,3220,0,0,0,0,0,0
$GC,1806,-0.39,-117.3,153.7,-6.6,247,1814,0.00,2.33,0.00,0.000,6,0.000,0.047,2779,2153,3220,0,0,0,0,0,0
$STATE,1885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1885,begin apogee
$GC,1892,-0.22,0.0,159.1,6.3,255,1990,0.17,0.00,93.18,0.679,6,0.117,0.000,2836,2057,2734,0,0,0,0,0,0
$STATE,1991,end apogee,CONTROL_FINISHED_OK
$STATE,1991,begin climb
$GC,1994,0.50,117.3,162.9,0.0,265,2106,0.65,2.47,97.28,0.659,4,0.082,0.050,3073,567,2254,0,0,0,0,0,0
$GC,2122,0.50,130.4,158.2,5.7,275,2143,0.00,2.42,11.95,0.593,6,0.000,0.044,3072,2066,2201,0,0,0,0,0,0
$GC,2337,0.49,130.4,143.4,7.5,295,2341,0.00,2.45,0.00,0.000,4,0.000,0.056,3073,3583,2195,0,0,0,0,0,0
$GC,2381,0.47,130.4,139.5,8.6,298,2388,0.00,2.40,0.00,0.000,6,0.000,0.042,3082,2081,2193,0,0,0,0,0,0
$GC,2580,0.46,140.4,126.9,5.8,317,2594,0.00,2.47,8.48,0.571,4,0.000,0.052,3094,547,2162,0,0,0,0,0,0
$GC,2623,0.44,144.7,124.4,6.0,320,2635,0.12,2.38,5.30,0.499,6,0.109,0.046,3049,2051,2143,0,0,0,0,0,0
$GC,2837,0.48,203.2,116.4,4.1,340,2890,0.00,2.47,47.90,0.644,4,0.000,0.055,3049,3580,1906,0,0,0,0,0,0
$GC,2920,0.50,222.2,112.5,5.4,346,2943,0.00,2.45,16.48,0.605,6,0.000,0.043,3054,2053,1828,0,0,0,0,0,0
$GC,3146,0.55,270.5,102.6,4.4,367,3192,0.00,2.47,39.08,0.630,4,0.000,0.053,3054,549,1631,0,0,0,0,0,0
$GC,3207,0.60,302.9,99.5,5.0,372,3244,0.08,2.40,27.00,0.612,6,0.052,0.044,3114,2058,1499,0,0,0,0,0,0
$GC,3374,0.60,302.9,86.2,8.4,401,3382,0.00,2.47,0.00,0.000,4,0.000,0.057,3114,3571,1493,0,0,0,0,0,0
$GC,3412,0.60,302.9,82.9,8.7,407,3420,0.00,2.38,0.00,0.000,6,0.000,0.043,3120,2085,1491,0,0,0,0,0,0
$GC,3551,0.60,302.9,73.2,6.9,432,3559,0.00,2.45,0.00,0.000,4,0.000,0.053,3124,550,1490,0,0,0,0,0,0
$GC,3638,0.62,319.3,68.0,5.5,447,3660,0.00,2.35,13.60,0.587,6,0.000,0.044,3125,2047,1432,0,0,0,0,0,0
$GC,3792,0.62,319.7,59.1,6.1,474,3800,0.00,2.47,0.00,0.000,4,0.000,0.057,3124,3577,1428,0,0,0,0,0,0
$GC,3813,0.62,319.7,57.6,6.4,477,3820,0.00,2.45,0.00,0.000,6,0.000,0.044,3124,2036,1427,0,0,0,0,0,0
$GC,3948,0.62,319.7,47.0,8.5,502,3955,0.00,2.38,0.00,0.000,4,0.000,0.054,3124,542,1426,0,0,0,0,0,0
$GC,4001,0.64,319.7,42.4,8.9,511,4010,0.00,2.30,0.00,0.000,6,0.000,0.047,3124,2011,1426,0,0,0,0,0,0
$GC,4141,0.64,319.7,28.1,10.4,536,4148,0.00,2.50,0.00,0.000,4,0.000,0.057,3124,3567,1425,0,0,0,0,0,0
$GC,4156,0.64,319.7,26.4,10.1,538,4164,0.00,2.45,0.00,0.000,6,0.000,0.044,3125,2016,1425,0,0,0,0,0,0
$GC,4297,0.68,319.7,15.7,6.9,563,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2014,1425,0,0,0,0,0,0
$GC,4436,0.76,383.3,9.0,3.9,588,4493,0.00,2.40,51.10,0.588,4,0.000,0.051,3125,539,1171,0,0,0,0,0,0
$STATE,4529,end climb,SURFACE_DEPTH_REACHED
$STATE,4529,begin surface coast
$FINISH,1.0,1.004028
$STATE,4607,end surface coast,CONTROL_FINISHED_OK
$STATE,4608,begin surface
$SM_CCo,4688,0.00,0.000,0,0,1161,386.10
$SM_GC,1.81,7.85,0.00,0.00,0.034,0.000,0.000,128,2175,1161,-8.56,0.03,386.10
$IRIDIUM_FIX,4735.69,-12505.04,160611,090959
$TT8_MAMPS,0.026964
$HUMID,37.20
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,24.2,43.763
$10V_AH,10.2,40.195
$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,19.525,96.500,411.325,0.000,0.000,25.102,49.547,168.752,0.000,0.000,18.543,1494.789,1028.774,489.084,1794.443,254.705,33.340,1148.080,0.000,1392.831,0.000,0.535,0.000
$DEVICE_MAMPS,229.500,87.210,679.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.234,1479.684,1030.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33600,617
$CAP_FILE_SIZE,85561,0
$CFSIZE,260165632,185573376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,158.0,1
$GPS,160611,115537,4751.787,-12509.629,8,1.5,13,18.7