version: 66.07
glider: 187
mission: 4
dive: 423
start: 6 16 111 13 31 31
data:
$ID,187
$MISSION,4
$DIVE,423
$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,-1585254
$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,28
$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
$GPS1,160611,132423,4751.663,-12509.245,12,7.2,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.4
$GPS2,160611,133034,4751.572,-12509.220,13,5.8,32,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.012,0.200
$KALMAN_X,67025.1,790.9,105.5,-70494.3,261.4
$KALMAN_Y,-171162.5,-909.3,-174.6,181630.1,-754.8
$MHEAD_RNG_PITCHd_Wd,351.2,19270,-13.6,-6.111
$D_GRID,154
$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,-64.93,0.000,2,0.000,0.000,122,2178,2768,0,0,0,0,0,0
$GC,87,-0.50,-117.3,3.6,-3.0,10,117,10.38,2.42,-8.95,0.000,4,0.230,0.060,2740,656,3217,0,0,0,0,0,0
$GC,149,-0.37,-117.3,19.5,-24.4,19,157,0.12,2.40,0.00,0.000,6,0.119,0.048,2782,2171,3219,0,0,0,0,0,0
$GC,289,-0.36,-117.3,31.7,-7.6,44,297,0.00,2.40,0.00,0.000,4,0.000,0.050,2782,659,3220,0,0,0,0,0,0
$GC,328,-0.36,-117.3,34.8,-7.5,50,336,0.00,2.35,0.00,0.000,6,0.000,0.048,2781,2151,3220,0,0,0,0,0,0
$GC,465,-0.35,-117.3,45.5,-9.1,75,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2151,3220,0,0,0,0,0,0
$GC,600,-0.35,-117.3,59.8,-11.2,100,609,0.00,2.35,0.00,0.000,4,0.000,0.050,2781,662,3220,0,0,0,0,0,0
$GC,634,-0.35,-117.3,63.2,-10.5,105,641,0.00,2.30,0.00,0.000,6,0.000,0.047,2774,2130,3220,0,0,0,0,0,0
$GC,770,-0.35,-117.3,76.3,-8.9,130,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2130,3221,0,0,0,0,0,0
$GC,905,-0.35,-117.3,87.4,-7.8,155,913,0.00,2.50,0.00,0.000,4,0.000,0.060,2762,3689,3221,0,0,0,0,0,0
$GC,937,-0.35,-117.3,90.0,-8.0,160,946,0.00,2.45,0.00,0.000,6,0.000,0.043,2762,2117,3221,0,0,0,0,0,0
$GC,1082,-0.35,-117.3,102.1,-8.0,184,1086,0.00,2.28,0.00,0.000,4,0.000,0.050,2761,650,3221,0,0,0,0,0,0
$GC,1160,-0.35,-117.3,108.4,-8.2,191,1164,0.12,2.25,0.00,0.000,6,0.137,0.047,2792,2113,3221,0,0,0,0,0,0
$GC,1363,-0.36,-117.3,120.9,-5.9,209,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2113,3221,0,0,0,0,0,0
$GC,1562,-0.37,-117.3,133.9,-6.3,228,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2113,3222,0,0,0,0,0,0
$GC,1753,-0.39,-117.3,145.7,-6.0,246,1757,0.00,2.47,0.00,0.000,4,0.000,0.060,2789,3690,3221,0,0,0,0,0,0
$GC,1796,-0.41,-117.3,148.1,-5.7,249,1800,0.00,2.45,0.00,0.000,6,0.000,0.043,2788,2096,3221,0,0,0,0,0,0
$STATE,1897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1897,begin apogee
$GC,1903,-0.22,0.0,154.3,5.9,258,2001,0.15,0.00,93.10,0.675,6,0.109,0.000,2842,2095,2734,0,0,0,0,0,0
$STATE,2002,end apogee,CONTROL_FINISHED_OK
$STATE,2002,begin climb
$GC,2006,0.50,117.3,158.8,0.0,268,2116,0.62,2.50,96.82,0.656,4,0.080,0.055,3062,3570,2254,0,0,0,0,0,0
$GC,2208,0.48,117.3,151.2,7.5,285,2212,0.00,2.40,0.00,0.000,6,0.000,0.041,3072,2050,2250,0,0,0,0,0,0
$GC,2409,0.46,117.3,138.9,6.4,303,2413,0.00,2.47,0.00,0.000,4,0.000,0.055,3072,3582,2247,0,0,0,0,0,0
$GC,2452,0.44,117.3,135.1,8.6,306,2460,0.10,2.40,0.00,0.000,6,0.123,0.042,3047,2071,2246,0,0,0,0,0,0
$GC,2653,0.44,117.3,122.6,6.9,325,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2068,2246,0,0,0,0,0,0
$GC,2852,0.44,117.3,109.3,6.2,344,2856,0.00,2.38,0.00,0.000,4,0.000,0.052,3055,537,2245,0,0,0,0,0,0
$GC,2881,0.44,125.6,107.7,5.8,346,2895,0.00,2.40,6.45,0.535,6,0.000,0.046,3055,2086,2222,0,0,0,0,0,0
$GC,3086,0.44,128.1,96.2,6.0,371,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2086,2220,0,0,0,0,0,0
$GC,3220,0.44,128.1,87.8,6.4,396,3228,0.00,2.42,0.00,0.000,4,0.000,0.052,3065,549,2220,0,0,0,0,0,0
$GC,3268,0.46,147.8,85.2,5.4,404,3297,0.00,2.35,19.23,0.617,6,0.000,0.046,3065,2060,2132,0,0,0,0,0,0
$GC,3427,0.48,180.6,77.2,5.0,432,3464,0.00,2.47,27.60,0.618,4,0.000,0.058,3065,3577,1996,0,0,0,0,0,0
$GC,3500,0.48,186.8,73.1,5.9,443,3515,0.00,2.42,6.30,0.513,6,0.000,0.043,3073,2053,1973,0,0,0,0,0,0
$GC,3643,0.48,195.5,64.7,5.8,469,3658,0.00,2.38,8.48,0.553,4,0.000,0.052,3073,545,1936,0,0,0,0,0,0
$GC,3733,0.53,236.5,60.2,4.7,484,3776,0.00,2.33,34.38,0.609,6,0.000,0.046,3073,2022,1768,0,0,0,0,0,0
$GC,3909,0.58,283.8,52.4,4.4,514,3952,0.00,2.60,37.62,0.601,4,0.000,0.056,3073,3581,1576,0,0,0,0,0,0
$GC,3972,0.62,307.1,49.1,5.3,523,4002,0.00,2.53,19.73,0.578,6,0.000,0.043,3073,1995,1481,0,0,0,0,0,0
$GC,4132,0.70,307.1,38.8,7.1,551,4140,0.15,0.00,0.00,0.000,6,0.086,0.000,3133,1993,1475,0,0,0,0,0,0
$GC,4270,0.72,307.1,29.9,6.4,576,4277,0.00,2.53,0.00,0.000,4,0.000,0.057,3133,3575,1474,0,0,0,0,0,0
$GC,4371,0.72,307.1,21.4,9.3,594,4378,0.00,2.47,0.00,0.000,6,0.000,0.043,3134,2013,1473,0,0,0,0,0,0
$GC,4508,0.74,307.1,10.6,7.1,619,4516,0.00,2.33,0.00,0.000,4,0.000,0.054,3135,543,1472,0,0,0,0,0,0
$GC,4588,0.78,318.6,5.7,5.7,633,4603,0.00,2.30,9.00,0.529,6,0.000,0.046,3134,2017,1436,0,0,0,0,0,0
$STATE,4614,end climb,SURFACE_DEPTH_REACHED
$STATE,4614,begin surface coast
$FINISH,0.8,1.001687
$STATE,4691,end surface coast,CONTROL_FINISHED_OK
$STATE,4691,begin surface
$SM_CCo,4709,30.20,0.448,1,0,1205,375.06
$SM_GC,2.16,0.00,0.00,30.20,0.000,0.000,0.448,134,2187,1205,-8.65,0.34,375.06
$IRIDIUM_FIX,4732.49,-12507.66,160611,121240
$TT8_MAMPS,0.027713
$HUMID,38.18
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,24.3,43.940
$10V_AH,10.2,40.375
$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,19.450,72.550,358.700,30.200,0.000,25.376,38.910,162.063,0.250,0.000,34.515,1564.600,971.777,476.095,1854.686,254.060,33.337,1131.432,0.000,1464.435,0.000,0.536,0.000
$DEVICE_MAMPS,229.500,70.380,674.730,447.525,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.108,1563.010,1121.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297488
$DATA_FILE_SIZE,36866,651
$CAP_FILE_SIZE,82359,0
$CFSIZE,260165632,185479168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.225,171.0,1
$GPS,160611,145132,4751.591,-12509.021,16,1.8,16,18.7