version: 66.07
glider: 187
mission: 4
dive: 531
start: 7 11 111 18 9 52
data:
$ID,187
$MISSION,4
$DIVE,531
$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,-1585401.8
$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,37
$R_STBD_OVSHOOT,42
$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
$GPS1,110711,180151,4751.237,-12513.598,85,3.2,105,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-78.0
$GPS2,110711,180856,4751.255,-12513.568,13,1.9,13,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.153,0.129
$KALMAN_X,193062.5,494.6,376.1,-201926.6,-1313.0
$KALMAN_Y,-356986.1,58.3,343.4,365367.9,-1095.3
$MHEAD_RNG_PITCHd_Wd,47.4,24045,-13.6,-6.111
$D_GRID,250
$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,-117.3,0.0,0.0,0,70,0.00,0.00,-52.60,0.000,2,0.000,0.000,120,2191,2657,0,0,0,0,0,0
$GC,75,-0.50,-117.3,3.1,-2.4,8,105,10.57,2.40,-11.62,0.000,4,0.228,0.068,2745,3682,3217,0,0,0,0,0,0
$GC,262,-0.48,-117.3,33.8,-9.7,41,269,0.00,2.40,0.00,0.000,6,0.000,0.042,2744,2163,3220,0,0,0,0,0,0
$GC,398,-0.48,-117.3,46.6,-9.2,66,407,0.00,2.38,0.00,0.000,4,0.000,0.050,2743,667,3220,0,0,0,0,0,0
$GC,454,-0.46,-117.3,52.5,-10.5,75,463,0.10,2.38,0.00,0.000,6,0.116,0.048,2771,2167,3221,0,0,0,0,0,0
$GC,596,-0.46,-117.3,65.4,-7.5,100,604,0.00,2.50,0.00,0.000,4,0.000,0.060,2761,3714,3221,0,0,0,0,0,0
$GC,623,-0.46,-117.3,67.6,-7.4,104,631,0.00,2.45,0.00,0.000,6,0.000,0.043,2761,2160,3221,0,0,0,0,0,0
$GC,761,-0.46,-117.3,77.4,-7.0,129,769,0.00,2.35,0.00,0.000,4,0.000,0.050,2760,671,3222,0,0,0,0,0,0
$GC,814,-0.46,-117.3,80.8,-6.2,138,823,0.00,2.35,0.00,0.000,6,0.000,0.048,2754,2163,3222,0,0,0,0,0,0
$GC,958,-0.46,-117.3,88.7,-5.8,163,966,0.00,2.47,0.00,0.000,4,0.000,0.060,2743,3693,3222,0,0,0,0,0,0
$GC,1034,-0.46,-117.3,93.9,-6.9,176,1041,0.00,2.35,0.00,0.000,6,0.000,0.042,2742,2193,3222,0,0,0,0,0,0
$GC,1178,-0.46,-117.3,105.3,-8.3,196,1182,0.00,2.35,0.00,0.000,4,0.000,0.049,2742,674,3222,0,0,0,0,0,0
$GC,1231,-0.46,-117.3,109.7,-8.7,200,1236,0.12,2.35,0.00,0.000,6,0.140,0.047,2772,2199,3222,0,0,0,0,0,0
$GC,1429,-0.46,-117.3,123.2,-6.3,218,1433,0.00,2.38,0.00,0.000,4,0.000,0.049,2772,667,3222,0,0,0,0,0,0
$GC,1469,-0.47,-117.3,125.9,-6.6,221,1473,0.00,2.35,0.00,0.000,6,0.000,0.047,2772,2181,3222,0,0,0,0,0,0
$GC,1670,-0.47,-117.3,138.3,-5.8,239,1674,0.00,2.42,0.00,0.000,4,0.000,0.060,2769,3696,3222,0,0,0,0,0,0
$GC,1703,-0.49,-117.3,140.5,-6.1,241,1710,0.00,2.38,0.00,0.000,6,0.000,0.043,2769,2152,3222,0,0,0,0,0,0
$GC,1902,-0.49,-117.3,152.8,-6.1,260,1906,0.00,2.30,0.00,0.000,4,0.000,0.050,2768,666,3222,0,0,0,0,0,0
$GC,1934,-0.50,-117.3,155.3,-7.1,262,1942,0.00,2.33,0.00,0.000,6,0.000,0.047,2768,2163,3222,0,0,0,0,0,0
$GC,2136,-0.50,-117.3,167.7,-6.2,281,2140,0.00,2.45,0.00,0.000,4,0.000,0.060,2760,3694,3222,0,0,0,0,0,0
$GC,2168,-0.51,-117.3,169.9,-6.9,283,2172,0.00,2.40,0.00,0.000,6,0.000,0.043,2760,2151,3222,0,0,0,0,0,0
$GC,2367,-0.51,-117.3,182.5,-6.1,301,2371,0.00,2.30,0.00,0.000,4,0.000,0.050,2759,668,3222,0,0,0,0,0,0
$GC,2417,-0.51,-117.3,185.8,-6.4,305,2421,0.00,2.28,0.00,0.000,6,0.000,0.048,2759,2146,3222,0,0,0,0,0,0
$GC,2618,-0.51,-117.3,198.6,-6.9,323,2622,0.00,2.47,0.00,0.000,4,0.000,0.062,2759,3690,3222,0,0,0,0,0,0
$GC,2650,-0.53,-117.3,201.0,-6.7,325,2657,0.00,2.42,0.00,0.000,6,0.000,0.044,2759,2132,3222,0,0,0,0,0,0
$GC,2850,-0.53,-117.3,213.9,-6.6,344,2854,0.00,2.28,0.00,0.000,4,0.000,0.051,2759,664,3221,0,0,0,0,0,0
$GC,2890,-0.54,-117.3,216.6,-6.7,347,2894,0.00,2.28,0.00,0.000,6,0.000,0.048,2759,2140,3222,0,0,0,0,0,0
$GC,3095,-0.54,-117.3,228.0,-5.2,366,3099,0.00,2.50,0.00,0.000,4,0.000,0.061,2758,3693,3221,0,0,0,0,0,0
$GC,3136,-0.56,-117.3,230.5,-6.0,369,3140,0.00,2.42,0.00,0.000,6,0.000,0.044,2758,2128,3221,0,0,0,0,0,0
$GC,3334,-0.56,-117.3,243.1,-6.4,387,3338,0.00,2.30,0.00,0.000,4,0.000,0.051,2757,659,3221,0,0,0,0,0,0
$GC,3368,-0.56,-117.3,245.4,-6.8,389,3375,0.00,2.30,0.00,0.000,6,0.000,0.050,2755,2138,3220,0,0,0,0,0,0
$STATE,3447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3448,begin apogee
$GC,3454,-0.22,0.0,250.3,6.0,397,3554,0.25,0.00,94.50,0.747,6,0.109,0.000,2844,2058,2735,0,0,0,0,0,0
$STATE,3554,end apogee,CONTROL_FINISHED_OK
$STATE,3554,begin climb
$GC,3557,0.50,117.3,253.3,0.0,407,3666,0.65,2.53,98.20,0.723,4,0.075,0.051,3087,556,2256,0,0,0,0,0,0
$GC,3677,0.48,117.3,248.8,6.2,417,3685,0.00,2.45,0.00,0.000,6,0.000,0.045,3087,2056,2252,0,0,0,0,0,0
$GC,3878,0.46,117.3,232.5,8.6,436,3882,0.00,2.45,0.00,0.000,4,0.000,0.058,3087,3577,2248,0,0,0,0,0,0
$GC,3929,0.42,117.3,227.5,9.3,440,3934,0.15,2.40,0.00,0.000,6,0.146,0.043,3055,2068,2246,0,0,0,0,0,0
$GC,4127,0.42,117.3,213.2,6.6,458,4131,0.00,2.40,0.00,0.000,4,0.000,0.052,3064,541,2245,0,0,0,0,0,0
$GC,4160,0.42,117.3,210.8,6.6,460,4167,0.00,2.40,0.00,0.000,6,0.000,0.047,3065,2074,2245,0,0,0,0,0,0
$GC,4359,0.41,117.3,196.7,7.0,479,4363,0.00,2.40,0.00,0.000,4,0.000,0.058,3064,3584,2244,0,0,0,0,0,0
$GC,4404,0.39,117.3,193.3,7.2,482,4412,0.00,2.38,0.00,0.000,6,0.000,0.043,3075,2070,2243,0,0,0,0,0,0
$GC,4602,0.38,117.3,180.2,6.8,501,4607,0.12,2.40,0.00,0.000,4,0.143,0.053,3046,543,2243,0,0,0,0,0,0
$GC,4643,0.38,130.6,177.8,5.6,504,4658,0.00,2.35,10.30,0.640,6,0.000,0.047,3046,2066,2201,0,0,0,0,0,0
$GC,4865,0.38,130.6,164.2,6.5,524,4869,0.00,2.40,0.00,0.000,4,0.000,0.058,3046,3580,2199,0,0,0,0,0,0
$GC,4916,0.38,130.6,160.0,8.0,528,4920,0.00,2.35,0.00,0.000,6,0.000,0.043,3054,2067,2197,0,0,0,0,0,0
$GC,5115,0.38,130.6,147.1,6.3,546,5119,0.00,2.40,0.00,0.000,4,0.000,0.054,3065,545,2198,0,0,0,0,0,0
$GC,5147,0.38,130.6,145.0,6.2,548,5154,0.00,2.38,0.00,0.000,6,0.000,0.047,3065,2073,2197,0,0,0,0,0,0
$GC,5346,0.39,144.9,134.9,5.6,567,5369,0.00,2.45,12.93,0.644,4,0.000,0.058,3065,3576,2143,0,0,0,0,0,0
$GC,5398,0.39,144.9,131.8,6.6,571,5404,0.00,2.38,0.00,0.000,6,0.000,0.044,3074,2063,2142,0,0,0,0,0,0
$GC,5596,0.40,154.7,121.3,5.8,590,5612,0.00,2.42,9.48,0.615,4,0.000,0.054,3083,552,2103,0,0,0,0,0,0
$GC,5682,0.40,154.7,115.4,7.5,597,5690,0.10,2.33,0.00,0.000,6,0.108,0.047,3047,2026,2102,0,0,0,0,0,0
$GC,5882,0.41,154.7,102.6,6.4,616,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2025,2101,0,0,0,0,0,0
$GC,6087,0.45,196.8,92.1,4.6,649,6126,0.00,0.00,34.95,0.651,6,0.000,0.000,3047,2025,1931,0,0,0,0,0,0
$GC,6260,0.52,237.9,83.6,4.7,678,6301,0.12,2.58,34.08,0.636,4,0.084,0.058,3117,3570,1763,0,0,0,0,0,0
$GC,6398,0.52,237.9,73.1,8.1,700,6407,0.12,2.50,0.00,0.000,6,0.141,0.044,3088,2018,1758,0,0,0,0,0,0
$GC,6539,0.54,255.8,65.3,5.5,725,6562,0.00,2.33,14.90,0.601,4,0.000,0.052,3093,548,1690,0,0,0,0,0,0
$GC,6602,0.56,255.8,61.1,6.4,735,6610,0.00,2.33,0.00,0.000,6,0.000,0.047,3093,2014,1688,0,0,0,0,0,0
$GC,6748,0.55,255.8,50.4,11.4,760,6756,0.00,2.50,0.00,0.000,4,0.000,0.057,3093,3577,1685,0,0,0,0,0,0
$GC,6764,0.53,255.8,49.0,11.5,762,6773,0.00,2.55,0.00,0.000,6,0.000,0.045,3093,1960,1685,0,0,0,0,0,0
$GC,6912,0.54,255.8,38.4,6.7,787,6922,0.00,2.25,0.00,0.000,4,0.000,0.055,3093,553,1684,0,0,0,0,0,0
$GC,6971,0.58,282.2,35.1,5.2,796,7002,0.00,2.17,21.55,0.599,6,0.000,0.047,3093,1938,1584,0,0,0,0,0,0
$GC,7133,0.63,286.4,27.2,6.0,824,7148,0.00,2.67,4.57,0.451,4,0.000,0.058,3093,3577,1566,0,0,0,0,0,0
$GC,7272,0.68,286.4,18.2,6.3,848,7281,0.10,2.55,0.00,0.000,6,0.050,0.044,3158,1970,1563,0,0,0,0,0,0
$GC,7412,0.75,362.8,12.0,3.4,873,7481,0.00,2.62,61.83,0.593,4,0.000,0.058,3158,3574,1254,0,0,0,0,0,0
$GC,7515,0.79,379.7,7.1,5.5,887,7537,0.00,2.53,14.18,0.549,6,0.000,0.044,3159,2009,1186,0,0,0,0,0,0
$STATE,7566,end climb,SURFACE_DEPTH_REACHED
$STATE,7566,begin surface coast
$FINISH,0.8,1.010532
$STATE,7645,end surface coast,CONTROL_FINISHED_OK
$STATE,7645,begin surface
$SM_CCo,7723,0.00,0.000,0,0,1178,381.93
$SM_GC,1.59,7.95,0.00,0.00,0.034,0.000,0.000,123,2188,1178,-8.61,0.37,381.93
$IRIDIUM_FIX,4729.30,-12521.83,110711,141454
$TT8_MAMPS,0.026964
$HUMID,39.40
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.40
$XPDR_PINGS,3
$24V_AH,23.9,57.578
$10V_AH,10.0,60.692
$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,20.375,144.475,411.450,0.000,0.000,26.703,29.391,218.652,0.750,0.000,14.207,2258.975,2576.920,519.131,2410.253,368.186,33.374,1438.225,0.000,1991.786,0.000,0.536,0.000
$DEVICE_MAMPS,227.970,98.685,746.640,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.647,1946.162,1305.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297608
$DATA_FILE_SIZE,53473,909
$CAP_FILE_SIZE,124749,0
$CFSIZE,260165632,174403584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,204.5,1
$GPS,110711,201925,4751.373,-12512.754,10,1.2,15,18.7