version: 66.07
glider: 187
mission: 4
dive: 262
start: 5 23 111 5 2 8
data:
$ID,187
$MISSION,4
$DIVE,262
$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,0
$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,115
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-1584152
$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,31
$R_STBD_OVSHOOT,39
$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
$GPS1,230511,045604,4753.173,-12506.427,13,4.5,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-77.5
$GPS2,230511,050114,4753.165,-12506.348,12,1.4,12,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.149,0.128
$KALMAN_X,11681.1,-335.6,49.6,130184.2,130.8
$KALMAN_Y,23776.4,884.7,545.6,69794.2,-1030.3
$MHEAD_RNG_PITCHd_Wd,30.7,14648,-13.9,-6.111
$D_GRID,122
$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,-112.4,0.0,0.0,0,82,0.00,0.00,-64.85,0.000,2,0.000,0.000,133,2184,2747,0,0,0,0,0,0
$GC,86,-0.50,-112.4,3.2,-2.8,10,114,10.32,2.42,-9.12,0.000,4,0.236,0.062,2737,663,3197,0,0,0,0,0,0
$GC,324,-0.47,-112.4,45.8,-14.1,54,331,0.00,2.35,0.00,0.000,6,0.000,0.047,2728,2159,3199,0,0,0,0,0,0
$GC,397,-0.43,-112.4,55.9,-14.3,67,404,0.12,0.00,0.00,0.000,6,0.158,0.000,2761,2159,3200,0,0,0,0,0,0
$GC,470,-0.40,-112.4,64.4,-10.9,80,477,0.00,2.50,0.00,0.000,4,0.000,0.060,2752,3718,3200,0,0,0,0,0,0
$GC,497,-0.38,-112.4,67.4,-11.1,84,504,0.00,2.50,0.00,0.000,6,0.000,0.044,2751,2127,3200,0,0,0,0,0,0
$GC,570,-0.36,-112.4,75.4,-11.3,97,578,0.12,2.30,0.00,0.000,4,0.153,0.050,2787,671,3200,0,0,0,0,0,0
$GC,607,-0.34,-112.4,79.1,-10.3,103,614,0.00,2.33,0.00,0.000,6,0.000,0.048,2782,2155,3200,0,0,0,0,0,0
$GC,680,-0.34,-112.4,85.1,-8.5,116,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2155,3200,0,0,0,0,0,0
$GC,753,-0.34,-112.4,91.0,-7.5,129,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2155,3200,0,0,0,0,0,0
$GC,825,-0.34,-112.4,96.0,-6.7,142,832,0.00,2.47,0.00,0.000,4,0.000,0.060,2772,3685,3200,0,0,0,0,0,0
$GC,871,-0.34,-112.4,99.1,-6.5,150,879,0.00,2.40,0.00,0.000,6,0.000,0.040,2771,2133,3200,0,0,0,0,0,0
$GC,949,-0.34,-112.4,104.1,-6.2,158,953,0.00,2.25,0.00,0.000,4,0.000,0.048,2770,671,3200,0,0,0,0,0,0
$GC,978,-0.34,-112.4,106.2,-7.3,160,985,0.10,2.28,0.00,0.000,6,0.153,0.046,2790,2155,3200,0,0,0,0,0,0
$GC,1112,-0.34,-112.4,112.8,-4.8,173,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2155,3200,0,0,0,0,0,0
$GC,1241,-0.35,-112.4,119.9,-5.4,185,1245,0.00,2.28,0.00,0.000,4,0.000,0.049,2791,666,3200,0,0,0,0,0,0
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1270,begin apogee
$GC,1278,-0.22,0.0,122.0,6.2,187,1375,0.15,0.00,88.88,0.653,6,0.126,0.000,2837,2061,2735,0,0,0,0,0,0
$STATE,1376,end apogee,CONTROL_FINISHED_OK
$STATE,1376,begin climb
$GC,1378,0.50,112.4,125.0,0.0,197,1478,0.65,2.55,92.78,0.633,4,0.086,0.055,3061,3599,2275,0,0,0,0,0,0
$GC,1510,0.49,112.4,119.5,7.3,209,1515,0.00,2.45,0.00,0.000,6,0.000,0.039,3071,2069,2272,0,0,0,0,0,0
$GC,1648,0.49,148.6,112.2,4.8,221,1683,0.00,2.50,29.62,0.616,4,0.000,0.049,3083,545,2129,0,0,0,0,0,0
$GC,1722,0.49,148.6,107.7,6.2,227,1729,0.00,2.35,0.00,0.000,6,0.000,0.044,3082,2048,2125,0,0,0,0,0,0
$GC,1857,0.49,148.6,98.3,7.6,242,1864,0.00,2.45,0.00,0.000,4,0.000,0.056,3082,3574,2123,0,0,0,0,0,0
$GC,1920,0.47,148.6,92.5,9.6,253,1928,0.08,2.40,0.00,0.000,6,0.129,0.040,3053,2056,2121,0,0,0,0,0,0
$GC,1993,0.47,148.6,86.8,7.1,266,2000,0.00,2.38,0.00,0.000,4,0.000,0.050,3057,553,2121,0,0,0,0,0,0
$GC,2024,0.47,148.6,84.7,6.9,271,2031,0.00,2.33,0.00,0.000,6,0.000,0.044,3057,2035,2121,0,0,0,0,0,0
$GC,2097,0.48,148.6,80.0,6.7,284,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2035,2121,0,0,0,0,0,0
$GC,2170,0.51,164.8,76.0,5.5,297,2191,0.00,2.47,13.55,0.588,4,0.000,0.055,3057,3577,2062,0,0,0,0,0,0
$GC,2229,0.51,164.8,71.9,7.3,307,2237,0.00,2.42,0.00,0.000,6,0.000,0.041,3065,2037,2059,0,0,0,0,0,0
$GC,2303,0.51,165.0,67.2,6.1,320,2310,0.00,2.35,0.00,0.000,4,0.000,0.050,3076,545,2059,0,0,0,0,0,0
$GC,2349,0.52,165.0,64.1,6.5,328,2357,0.00,2.25,0.00,0.000,6,0.000,0.045,3076,1984,2059,0,0,0,0,0,0
$GC,2422,0.52,165.0,59.6,6.4,341,2429,0.00,2.55,0.00,0.000,4,0.000,0.057,3076,3578,2058,0,0,0,0,0,0
$GC,2463,0.52,165.0,56.4,7.3,348,2471,0.00,2.47,0.00,0.000,6,0.000,0.041,3082,1979,2057,0,0,0,0,0,0
$GC,2535,0.52,165.0,51.7,6.4,361,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1979,2057,0,0,0,0,0,0
$GC,2607,0.52,169.8,47.4,5.9,374,2614,0.00,0.00,5.05,0.481,6,0.000,0.000,3082,1979,2041,0,0,0,0,0,0
$GC,2679,0.54,195.7,43.6,5.2,387,2707,0.00,2.30,22.23,0.596,4,0.000,0.050,3082,549,1936,0,0,0,0,0,0
$GC,2736,0.57,221.1,40.6,5.2,396,2764,0.00,2.28,22.05,0.586,6,0.000,0.045,3082,1997,1832,0,0,0,0,0,0
$GC,2830,0.58,221.1,34.9,6.8,412,2838,0.00,2.55,0.00,0.000,4,0.000,0.057,3083,3577,1827,0,0,0,0,0,0
$GC,2883,0.58,221.1,30.8,7.8,421,2890,0.00,2.47,0.00,0.000,6,0.000,0.041,3082,1987,1826,0,0,0,0,0,0
$GC,2956,0.61,228.6,26.3,5.8,434,2971,0.00,2.55,6.55,0.506,4,0.000,0.057,3082,3569,1801,0,0,0,0,0,0
$GC,2996,0.63,235.7,23.7,5.9,440,3011,0.00,2.45,7.32,0.516,6,0.000,0.041,3082,2020,1773,0,0,0,0,0,0
$GC,3076,0.68,276.5,19.7,4.6,454,3118,0.12,0.00,33.95,0.581,6,0.085,0.000,3149,2017,1605,0,0,0,0,0,0
$GC,3186,0.68,280.6,14.6,6.0,472,3193,0.00,2.35,0.00,0.000,4,0.000,0.050,3152,548,1599,0,0,0,0,0,0
$GC,3228,0.70,298.7,12.0,5.4,479,3256,0.00,2.35,17.75,0.562,6,0.000,0.045,3152,2036,1517,0,0,0,0,0,0
$GC,3323,0.70,298.7,5.8,6.9,495,3331,0.00,2.38,0.00,0.000,4,0.000,0.051,3152,556,1513,0,0,0,0,0,0
$STATE,3351,end climb,SURFACE_DEPTH_REACHED
$STATE,3352,begin surface coast
$FINISH,1.9,1.023628
$STATE,3384,end surface coast,CONTROL_FINISHED_OK
$STATE,3384,begin surface
$SM_CCo,3405,45.50,0.490,1,0,1205,375.06
$SM_GC,1.56,0.00,0.00,45.50,0.000,0.000,0.490,136,2181,1205,-8.65,0.14,375.06
$IRIDIUM_FIX,4738.89,-12506.88,230511,030356
$TT8_MAMPS,0.026964
$HUMID,35.54
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,24.3,26.586
$10V_AH,10.3,21.697
$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,19.800,86.425,339.725,45.500,0.000,25.549,35.051,136.507,0.000,0.000,13.553,1152.682,555.367,511.853,1343.064,208.648,33.343,1061.899,0.000,1168.969,0.000,0.537,0.000
$DEVICE_MAMPS,236.385,61.965,653.310,490.365,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.107,366.827,944.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297512
$DATA_FILE_SIZE,26951,506
$CAP_FILE_SIZE,77921,0
$CFSIZE,260165632,197419008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230511,060037,4753.085,-12505.915,10,1.1,15,18.7