version: 66.07
glider: 187
mission: 4
dive: 424
start: 6 16 111 14 58 23
data:
$ID,187
$MISSION,4
$DIVE,424
$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,-1585255.2
$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,33
$R_STBD_OVSHOOT,35
$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
$GPS1,160611,145132,4751.591,-12509.021,16,1.8,16,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.0
$GPS2,160611,145726,4751.526,-12509.006,17,1.8,17,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.057,0.192
$KALMAN_X,67388.6,658.9,82.3,-70435.9,69.2
$KALMAN_Y,-172236.8,-660.5,-432.4,182627.0,-678.0
$MHEAD_RNG_PITCHd_Wd,347.5,19115,-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,-64.85,0.000,2,0.000,0.000,131,2187,2773,0,0,0,0,0,0
$GC,88,-0.50,-117.3,3.7,-3.2,10,118,10.40,2.45,-8.65,0.000,4,0.231,0.061,2741,654,3217,0,0,0,0,0,0
$GC,163,-0.44,-117.3,22.5,-17.6,22,171,0.00,2.40,0.00,0.000,6,0.000,0.047,2732,2172,3218,0,0,0,0,0,0
$GC,302,-0.41,-117.3,40.2,-12.3,47,310,0.15,2.42,0.00,0.000,4,0.147,0.059,2765,3690,3219,0,0,0,0,0,0
$GC,335,-0.38,-117.3,44.2,-11.5,52,344,0.00,2.38,0.00,0.000,6,0.000,0.043,2765,2179,3220,0,0,0,0,0,0
$GC,477,-0.36,-117.3,56.9,-9.0,77,484,0.00,2.38,0.00,0.000,4,0.000,0.050,2764,669,3220,0,0,0,0,0,0
$GC,539,-0.36,-117.3,63.4,-9.8,88,548,0.00,2.33,0.00,0.000,6,0.000,0.047,2757,2153,3221,0,0,0,0,0,0
$GC,678,-0.35,-117.3,75.8,-8.6,113,686,0.12,2.45,0.00,0.000,4,0.139,0.060,2784,3687,3221,0,0,0,0,0,0
$GC,718,-0.35,-117.3,79.0,-8.0,119,725,0.00,2.40,0.00,0.000,6,0.000,0.042,2784,2147,3221,0,0,0,0,0,0
$GC,854,-0.35,-117.3,89.4,-7.7,144,862,0.00,2.30,0.00,0.000,4,0.000,0.050,2783,673,3221,0,0,0,0,0,0
$GC,912,-0.35,-117.3,93.9,-7.8,154,920,0.00,2.28,0.00,0.000,6,0.000,0.048,2782,2127,3222,0,0,0,0,0,0
$GC,1050,-0.35,-117.3,104.4,-8.1,174,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2127,3221,0,0,0,0,0,0
$GC,1250,-0.35,-117.3,118.4,-6.7,193,1254,0.00,2.28,0.00,0.000,4,0.000,0.050,2782,659,3221,0,0,0,0,0,0
$GC,1279,-0.35,-117.3,120.4,-7.0,195,1283,0.00,2.25,0.00,0.000,6,0.000,0.047,2781,2131,3221,0,0,0,0,0,0
$GC,1480,-0.35,-117.3,135.2,-7.5,213,1484,0.00,2.45,0.00,0.000,4,0.000,0.060,2772,3689,3221,0,0,0,0,0,0
$GC,1520,-0.36,-117.3,138.3,-8.1,216,1524,0.00,2.40,0.00,0.000,6,0.000,0.043,2772,2125,3221,0,0,0,0,0,0
$GC,1720,-0.36,-117.3,152.9,-7.2,234,1724,0.00,2.25,0.00,0.000,4,0.000,0.050,2772,665,3221,0,0,0,0,0,0
$STATE,1731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1731,begin apogee
$GC,1739,-0.22,0.0,154.0,7.5,235,1839,0.20,0.00,93.10,0.674,6,0.116,0.000,2834,2061,2734,0,0,0,0,0,0
$STATE,1840,end apogee,CONTROL_FINISHED_OK
$STATE,1840,begin climb
$GC,1844,0.50,117.3,159.2,0.0,245,1955,0.65,2.55,97.00,0.656,4,0.083,0.055,3059,3570,2254,0,0,0,0,0,0
$GC,1969,0.50,146.6,156.0,5.1,255,1999,0.00,2.40,24.67,0.628,6,0.000,0.041,3069,2064,2136,0,0,0,0,0,0
$GC,2192,0.50,146.6,140.4,7.4,275,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2064,2130,0,0,0,0,0,0
$GC,2384,0.50,146.6,126.7,6.8,293,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2064,2128,0,0,0,0,0,0
$GC,2575,0.50,146.6,114.3,6.6,311,2579,0.00,2.35,0.00,0.000,4,0.000,0.051,3080,551,2127,0,0,0,0,0,0
$GC,2616,0.50,146.6,111.7,6.5,314,2620,0.00,2.33,0.00,0.000,6,0.000,0.045,3080,2069,2127,0,0,0,0,0,0
$GC,2815,0.51,154.9,98.9,5.8,333,2830,0.00,2.40,6.68,0.535,4,0.000,0.057,3080,3582,2102,0,0,0,0,0,0
$GC,2863,0.49,154.9,95.8,6.8,340,2871,0.00,2.38,0.00,0.000,6,0.000,0.042,3087,2075,2101,0,0,0,0,0,0
$GC,3000,0.50,158.9,87.7,6.0,365,3015,0.00,2.42,4.80,0.478,4,0.000,0.052,3098,551,2087,0,0,0,0,0,0
$GC,3055,0.50,158.9,83.7,7.0,374,3063,0.08,2.35,0.00,0.000,6,0.112,0.046,3069,2054,2085,0,0,0,0,0,0
$GC,3194,0.50,158.9,72.7,8.3,399,3202,0.00,2.42,0.00,0.000,4,0.000,0.057,3069,3569,2084,0,0,0,0,0,0
$GC,3242,0.50,158.9,68.2,9.3,407,3249,0.00,2.35,0.00,0.000,6,0.000,0.043,3069,2070,2084,0,0,0,0,0,0
$GC,3381,0.50,158.9,58.8,6.5,432,3389,0.00,2.45,0.00,0.000,4,0.000,0.057,3069,3576,2084,0,0,0,0,0,0
$GC,3446,0.50,170.8,54.9,5.7,443,3463,0.00,2.30,11.12,0.575,6,0.000,0.042,3077,2097,2038,0,0,0,0,0,0
$GC,3594,0.55,240.5,49.2,3.7,469,3660,0.00,2.50,56.65,0.610,4,0.000,0.052,3082,560,1752,0,0,0,0,0,0
$GC,3707,0.57,240.5,43.2,6.2,486,3715,0.00,2.45,0.00,0.000,6,0.000,0.046,3082,2100,1749,0,0,0,0,0,0
$GC,3847,0.61,276.0,35.9,4.9,511,3884,0.00,2.40,28.58,0.589,4,0.000,0.057,3082,3582,1607,0,0,0,0,0,0
$GC,3918,0.63,276.0,31.4,6.5,522,3926,0.00,2.35,0.00,0.000,6,0.000,0.043,3082,2115,1603,0,0,0,0,0,0
$GC,4059,0.68,276.0,21.9,6.4,547,4067,0.12,2.47,0.00,0.000,4,0.084,0.054,3152,563,1601,0,0,0,0,0,0
$GC,4187,0.70,312.7,14.6,4.8,570,4223,0.00,2.33,29.33,0.580,6,0.000,0.047,3152,2042,1459,0,0,0,0,0,0
$GC,4353,0.73,327.3,5.5,5.6,599,4377,0.00,2.50,12.62,0.544,4,0.000,0.057,3152,3567,1398,0,0,0,0,0,0
$STATE,4382,end climb,SURFACE_DEPTH_REACHED
$STATE,4383,begin surface coast
$FINISH,0.8,1.015041
$STATE,4462,end surface coast,CONTROL_FINISHED_OK
$STATE,4462,begin surface
$SM_CCo,4481,26.12,0.421,1,0,1205,375.06
$SM_GC,2.13,0.00,0.00,26.12,0.000,0.000,0.421,124,2166,1205,-8.70,-0.25,375.06
$IRIDIUM_FIX,4735.69,-12505.04,160611,131314
$TT8_MAMPS,0.026964
$HUMID,37.91
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,24.3,44.021
$10V_AH,10.3,40.462
$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,19.675,85.500,364.550,26.125,0.000,25.702,39.169,164.815,0.000,0.000,18.084,1483.652,919.889,472.779,1741.822,252.301,33.335,1103.781,0.000,1374.222,0.000,0.535,0.000
$DEVICE_MAMPS,231.030,61.200,673.965,420.750,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.902,1481.580,1070.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297448
$DATA_FILE_SIZE,33507,617
$CAP_FILE_SIZE,80739,0
$CFSIZE,260165632,185442304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.141,159.7,1
$GPS,160611,161455,4751.657,-12508.781,40,1.9,40,18.7