version: 66.07
glider: 187
mission: 4
dive: 450
start: 6 17 111 15 0 52
data:
$ID,187
$MISSION,4
$DIVE,450
$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,325
$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,-1585288
$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,2920
$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,12
$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
$GPS1,170611,145306,4749.404,-12507.856,36,0.9,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-78.6
$GPS2,170611,145956,4749.382,-12507.757,18,1.4,18,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.200,-0.006
$KALMAN_X,70971.8,287.9,-22.7,-71995.9,879.3
$KALMAN_Y,-182781.9,-288.8,62.2,188332.0,-594.9
$MHEAD_RNG_PITCHd_Wd,263.5,168709,-13.6,-6.111
$D_GRID,287
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.50,-117.3,0.0,0.0,0,84,0.00,0.00,-64.82,0.000,2,0.000,0.000,130,2193,2799,0,0,0,0,0,0
$GC,89,-0.50,-117.3,3.7,-3.1,10,119,10.45,2.45,-8.10,0.000,4,0.232,0.061,2752,663,3219,0,0,0,0,0,0
$GC,192,-0.47,-117.3,26.4,-11.2,27,200,0.00,2.38,0.00,0.000,6,0.000,0.047,2743,2162,3221,0,0,0,0,0,0
$GC,331,-0.44,-117.3,40.7,-10.9,52,339,0.12,2.50,0.00,0.000,4,0.149,0.060,2769,3694,3222,0,0,0,0,0,0
$GC,354,-0.41,-117.3,43.5,-10.6,55,362,0.00,2.42,0.00,0.000,6,0.000,0.044,2769,2159,3222,0,0,0,0,0,0
$GC,492,-0.39,-117.3,56.0,-9.1,80,500,0.00,2.35,0.00,0.000,4,0.000,0.050,2768,667,3222,0,0,0,0,0,0
$GC,544,-0.38,-117.3,61.2,-9.6,89,553,0.08,2.33,0.00,0.000,6,0.113,0.047,2790,2148,3223,0,0,0,0,0,0
$GC,684,-0.38,-117.3,73.2,-8.5,114,692,0.00,2.45,0.00,0.000,4,0.000,0.060,2781,3696,3223,0,0,0,0,0,0
$GC,714,-0.38,-117.3,75.6,-8.3,118,722,0.00,2.45,0.00,0.000,6,0.000,0.043,2781,2131,3223,0,0,0,0,0,0
$GC,851,-0.38,-117.3,86.1,-6.2,143,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2129,3223,0,0,0,0,0,0
$GC,985,-0.38,-117.3,95.3,-7.0,168,993,0.00,2.30,0.00,0.000,4,0.000,0.050,2781,663,3223,0,0,0,0,0,0
$GC,1012,-0.38,-117.3,97.5,-7.4,172,1020,0.00,2.33,0.00,0.000,6,0.000,0.047,2779,2152,3223,0,0,0,0,0,0
$GC,1155,-0.38,-117.3,107.5,-7.1,188,1159,0.00,2.45,0.00,0.000,4,0.000,0.060,2773,3693,3223,0,0,0,0,0,0
$GC,1209,-0.40,-117.3,111.1,-6.7,192,1213,0.00,2.35,0.00,0.000,6,0.000,0.043,2772,2164,3223,0,0,0,0,0,0
$GC,1409,-0.40,-117.3,124.5,-6.9,210,1412,0.00,2.30,0.00,0.000,4,0.000,0.050,2772,659,3223,0,0,0,0,0,0
$GC,1478,-0.40,-117.3,129.8,-6.6,216,1486,0.00,2.33,0.00,0.000,6,0.000,0.049,2769,2152,3223,0,0,0,0,0,0
$GC,1678,-0.40,-117.3,143.1,-6.8,235,1683,0.00,2.42,0.00,0.000,4,0.000,0.061,2759,3694,3223,0,0,0,0,0,0
$GC,1711,-0.40,-117.3,145.5,-6.7,237,1722,0.08,2.40,0.00,0.000,6,0.097,0.044,2789,2147,3223,0,0,0,0,0,0
$GC,1914,-0.41,-117.3,155.8,-4.9,256,1918,0.00,2.28,0.00,0.000,4,0.000,0.050,2789,670,3222,0,0,0,0,0,0
$GC,1945,-0.43,-117.3,157.6,-5.4,258,1949,0.00,2.30,0.00,0.000,6,0.000,0.048,2789,2160,3223,0,0,0,0,0,0
$GC,2148,-0.44,-117.3,167.3,-5.0,276,2152,0.00,2.40,0.00,0.000,4,0.000,0.060,2788,3691,3223,0,0,0,0,0,0
$GC,2186,-0.47,-117.3,169.7,-5.1,279,2194,0.00,2.40,0.00,0.000,6,0.000,0.044,2788,2146,3222,0,0,0,0,0,0
$GC,2387,-0.48,-117.3,180.6,-5.8,298,2391,0.00,2.28,0.00,0.000,4,0.000,0.050,2788,670,3222,0,0,0,0,0,0
$GC,2418,-0.50,-117.3,182.3,-5.2,300,2422,0.00,2.28,0.00,0.000,6,0.000,0.048,2788,2158,3222,0,0,0,0,0,0
$GC,2620,-0.51,-117.3,192.3,-4.7,318,2624,0.00,2.42,0.00,0.000,4,0.000,0.061,2785,3689,3221,0,0,0,0,0,0
$GC,2656,-0.53,-117.3,194.3,-5.2,321,2661,0.10,2.38,0.00,0.000,6,0.098,0.044,2724,2144,3221,0,0,0,0,0,0
$GC,2857,-0.51,-117.3,210.0,-7.8,339,2861,0.00,2.28,0.00,0.000,4,0.000,0.052,2723,667,3221,0,0,0,0,0,0
$GC,2892,-0.50,-117.3,213.1,-9.0,342,2897,0.15,2.28,0.00,0.000,6,0.133,0.050,2764,2154,3220,0,0,0,0,0,0
$GC,3094,-0.50,-117.3,224.9,-5.9,360,3099,0.00,2.45,0.00,0.000,4,0.000,0.062,2756,3694,3220,0,0,0,0,0,0
$GC,3138,-0.51,-117.3,228.0,-6.4,363,3145,0.00,2.40,0.00,0.000,6,0.000,0.044,2755,2150,3220,0,0,0,0,0,0
$GC,3339,-0.51,-117.3,241.6,-7.1,382,3343,0.00,2.28,0.00,0.000,4,0.000,0.050,2755,666,3220,0,0,0,0,0,0
$GC,3379,-0.51,-117.3,244.4,-7.2,385,3383,0.00,2.30,0.00,0.000,6,0.000,0.049,2755,2155,3220,0,0,0,0,0,0
$GC,3579,-0.51,-117.3,257.2,-6.2,403,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2155,3219,0,0,0,0,0,0
$GC,3779,-0.51,-117.3,269.4,-5.8,422,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2155,3220,0,0,0,0,0,0
$GC,3970,-0.51,-117.3,280.9,-6.2,440,3974,0.00,2.33,0.00,0.000,4,0.000,0.051,2755,660,3219,0,0,0,0,0,0
$GC,4002,-0.51,-117.3,283.0,-7.0,442,4006,0.00,2.30,0.00,0.000,6,0.000,0.050,2750,2158,3219,0,0,0,0,0,0
$STATE,4060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4060,begin apogee
$GC,4066,-0.22,0.0,287.4,7.0,447,4165,0.28,0.00,94.57,0.766,6,0.109,0.000,2845,2050,2735,0,0,0,0,0,0
$STATE,4166,end apogee,CONTROL_FINISHED_OK
$STATE,4166,begin climb
$GC,4168,0.50,117.3,290.7,0.0,457,4274,0.65,2.53,98.93,0.744,4,0.076,0.051,3086,556,2255,0,0,0,0,0,0
$GC,4290,0.48,119.6,286.2,6.0,468,4298,0.00,2.45,0.00,0.000,6,0.000,0.046,3086,2050,2253,0,0,0,0,0,0
$GC,4491,0.45,119.6,270.0,8.7,487,4495,0.00,2.47,0.00,0.000,4,0.000,0.057,3086,3575,2248,0,0,0,0,0,0
$GC,4534,0.42,119.6,265.5,10.2,490,4542,0.12,2.42,0.00,0.000,6,0.125,0.044,3055,2069,2246,0,0,0,0,0,0
$GC,4735,0.40,119.6,250.0,8.3,509,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2067,2245,0,0,0,0,0,0
$GC,4934,0.39,119.6,234.5,7.5,528,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2065,2244,0,0,0,0,0,0
$GC,5125,0.38,119.6,220.9,6.8,546,5129,0.00,2.40,0.00,0.000,4,0.000,0.059,3055,3576,2244,0,0,0,0,0,0
$GC,5168,0.37,119.6,217.7,7.8,549,5172,0.00,2.33,0.00,0.000,6,0.000,0.044,3062,2077,2242,0,0,0,0,0,0
$GC,5369,0.35,119.6,203.4,7.1,567,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2076,2242,0,0,0,0,0,0
$GC,5569,0.34,119.6,188.6,7.2,586,5574,0.12,2.42,0.00,0.000,4,0.143,0.058,3025,3581,2242,0,0,0,0,0,0
$GC,5610,0.34,119.6,185.9,6.8,589,5615,0.00,2.33,0.00,0.000,6,0.000,0.044,3030,2086,2240,0,0,0,0,0,0
$GC,5810,0.35,148.4,174.5,5.1,607,5840,0.00,0.00,24.55,0.685,6,0.000,0.000,3030,2081,2127,0,0,0,0,0,0
$GC,6032,0.37,176.7,162.9,5.1,628,6061,0.00,2.45,23.70,0.676,4,0.000,0.060,3031,3582,2013,0,0,0,0,0,0
$GC,6088,0.37,180.8,159.7,6.0,632,6099,0.00,2.35,4.25,0.473,6,0.000,0.044,3030,2107,1998,0,0,0,0,0,0
$GC,6303,0.39,186.8,148.4,5.9,652,6316,0.00,2.45,6.47,0.570,4,0.000,0.052,3040,549,1972,0,0,0,0,0,0
$GC,6333,0.41,193.0,146.1,5.9,654,6345,0.00,2.45,6.75,0.569,6,0.000,0.047,3040,2103,1948,0,0,0,0,0,0
$GC,6543,0.44,214.0,133.6,5.4,673,6569,0.00,2.35,18.88,0.652,4,0.000,0.057,3040,3570,1860,0,0,0,0,0,0
$GC,6585,0.46,223.2,130.8,5.8,676,6606,0.00,2.35,8.77,0.589,6,0.000,0.044,3041,2097,1824,0,0,0,0,0,0
$GC,6799,0.48,223.2,118.7,6.4,696,6804,0.10,2.47,0.00,0.000,4,0.099,0.054,3103,548,1820,0,0,0,0,0,0
$GC,6864,0.48,223.2,113.3,8.5,701,6872,0.00,2.40,0.00,0.000,6,0.000,0.047,3103,2072,1820,0,0,0,0,0,0
$GC,7065,0.47,223.2,95.4,9.0,724,7074,0.12,2.45,0.00,0.000,4,0.147,0.059,3066,3604,1818,0,0,0,0,0,0
$GC,7087,0.47,223.2,93.0,9.6,727,7095,0.00,2.42,0.00,0.000,6,0.000,0.045,3069,2077,1818,0,0,0,0,0,0
$GC,7225,0.48,223.2,82.7,7.2,752,7233,0.00,2.42,0.00,0.000,4,0.000,0.055,3074,549,1817,0,0,0,0,0,0
$GC,7258,0.49,223.2,80.3,6.8,757,7267,0.00,2.40,0.00,0.000,6,0.000,0.047,3074,2076,1817,0,0,0,0,0,0
$GC,7399,0.50,223.2,70.3,7.3,782,7406,0.00,2.40,0.00,0.000,4,0.000,0.059,3074,3571,1817,0,0,0,0,0,0
$GC,7447,0.50,223.2,66.5,7.6,790,7454,0.00,2.33,0.00,0.000,6,0.000,0.044,3081,2094,1816,0,0,0,0,0,0
$GC,7586,0.53,245.4,59.0,5.3,815,7610,0.00,2.50,18.40,0.615,4,0.000,0.054,3083,542,1733,0,0,0,0,0,0
$GC,7660,0.55,245.4,54.6,6.1,827,7668,0.00,2.40,0.00,0.000,6,0.000,0.047,3083,2068,1730,0,0,0,0,0,0
$GC,7802,0.58,270.7,46.4,5.2,852,7831,0.00,2.40,21.12,0.607,4,0.000,0.057,3082,3574,1629,0,0,0,0,0,0
$GC,7868,0.61,277.6,42.6,5.9,862,7883,0.00,2.38,6.85,0.523,6,0.000,0.044,3082,2075,1603,0,0,0,0,0,0
$GC,8015,0.65,310.1,34.8,5.0,888,8052,0.12,2.45,27.58,0.599,4,0.086,0.054,3153,541,1468,0,0,0,0,0,0
$GC,8098,0.65,310.1,28.0,9.0,901,8106,0.00,2.45,0.00,0.000,6,0.000,0.047,3153,2079,1465,0,0,0,0,0,0
$GC,8237,0.65,310.1,15.3,8.2,926,8245,0.00,2.42,0.00,0.000,4,0.000,0.058,3153,3574,1462,0,0,0,0,0,0
$GC,8308,0.65,310.1,9.8,7.9,938,8316,0.00,2.25,0.00,0.000,6,0.000,0.044,3157,2154,1461,0,0,0,0,0,0
$STATE,8389,end climb,SURFACE_DEPTH_REACHED
$STATE,8389,begin surface coast
$FINISH,0.8,1.022069
$STATE,8454,end surface coast,CONTROL_FINISHED_OK
$STATE,8454,begin surface
$SM_CCo,8471,16.25,0.334,1,0,1410,325.02
$SM_GC,1.88,0.00,0.00,16.25,0.000,0.000,0.334,120,2148,1410,-8.75,-0.76,325.02
$IRIDIUM_FIX,4729.30,-12505.82,170611,131300
$TT8_MAMPS,0.026215
$HUMID,39.80
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.20
$XPDR_PINGS,2
$24V_AH,24.1,46.626
$10V_AH,10.1,42.057
$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,20.425,147.975,360.825,16.250,0.000,26.007,39.279,214.131,0.500,0.000,19.260,2416.721,2813.203,537.441,2758.070,378.078,33.327,1491.585,0.000,2040.642,0.000,0.536,0.000
$DEVICE_MAMPS,231.795,81.090,765.765,334.305,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,658.982,2355.704,1274.973,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297632
$DATA_FILE_SIZE,53537,965
$CAP_FILE_SIZE,135658,0
$CFSIZE,260165632,184483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.139,152.1,1
$GPS,170611,172344,4749.008,-12508.674,39,1.9,39,18.7