version: 66.07
glider: 187
mission: 4
dive: 534
start: 7 12 111 0 11 20
data:
$ID,187
$MISSION,4
$DIVE,534
$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,-1585405.5
$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,35
$R_STBD_OVSHOOT,46
$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
$GPS1,120711,000352,4751.321,-12511.887,14,3.6,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-78.4
$GPS2,120711,001022,4751.262,-12511.863,17,3.5,36,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.029,0.198
$KALMAN_X,193953.5,-287.8,-27.4,-199502.0,40.0
$KALMAN_Y,-360127.8,440.1,-310.6,368805.3,-1077.6
$MHEAD_RNG_PITCHd_Wd,9.0,22258,-13.6,-6.111
$D_GRID,189
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.50,-117.3,0.0,0.0,0,76,0.00,0.00,-58.30,0.000,2,0.000,0.000,115,2189,2836,0,0,0,0,0,0
$GC,81,-0.50,-117.3,4.0,-3.4,9,104,10.60,2.47,-7.10,0.000,4,0.229,0.061,2753,656,3216,0,0,0,0,0,0
$GC,217,-0.47,-117.3,28.6,-8.8,33,224,0.00,2.38,0.00,0.000,6,0.000,0.048,2745,2156,3220,0,0,0,0,0,0
$GC,355,-0.44,-117.3,40.1,-8.5,58,364,0.12,2.50,0.00,0.000,4,0.148,0.060,2770,3688,3221,0,0,0,0,0,0
$GC,394,-0.44,-117.3,43.4,-7.9,64,403,0.00,2.38,0.00,0.000,6,0.000,0.043,2771,2182,3221,0,0,0,0,0,0
$GC,530,-0.44,-117.3,52.9,-7.4,89,538,0.00,2.40,0.00,0.000,4,0.000,0.050,2771,664,3222,0,0,0,0,0,0
$GC,559,-0.44,-117.3,54.9,-7.5,93,567,0.00,2.40,0.00,0.000,6,0.000,0.049,2764,2186,3222,0,0,0,0,0,0
$GC,699,-0.43,-117.3,64.1,-6.4,118,706,0.00,2.45,0.00,0.000,4,0.000,0.060,2754,3687,3222,0,0,0,0,0,0
$GC,757,-0.43,-117.3,68.3,-6.9,128,766,0.00,2.38,0.00,0.000,6,0.000,0.043,2753,2176,3222,0,0,0,0,0,0
$GC,896,-0.42,-117.3,77.8,-6.6,153,904,0.10,2.40,0.00,0.000,4,0.155,0.050,2782,670,3222,0,0,0,0,0,0
$GC,970,-0.43,-117.3,81.9,-5.4,166,978,0.00,2.35,0.00,0.000,6,0.000,0.047,2781,2167,3222,0,0,0,0,0,0
$GC,1109,-0.43,-117.3,88.2,-4.6,191,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2167,3223,0,0,0,0,0,0
$GC,1246,-0.43,-117.3,94.6,-4.3,216,1255,0.00,2.35,0.00,0.000,4,0.000,0.050,2781,678,3223,0,0,0,0,0,0
$GC,1285,-0.44,-117.3,96.3,-4.4,222,1293,0.00,2.30,0.00,0.000,6,0.000,0.049,2781,2143,3222,0,0,0,0,0,0
$GC,1423,-0.44,-117.3,102.6,-4.3,242,1428,0.00,2.45,0.00,0.000,4,0.000,0.060,2773,3689,3222,0,0,0,0,0,0
$GC,1478,-0.46,-117.3,104.7,-4.0,246,1483,0.00,2.38,0.00,0.000,6,0.000,0.044,2772,2145,3222,0,0,0,0,0,0
$GC,1677,-0.46,-117.3,114.2,-5.3,264,1681,0.00,2.28,0.00,0.000,4,0.000,0.050,2772,667,3222,0,0,0,0,0,0
$GC,1731,-0.47,-117.3,117.2,-5.9,268,1735,0.00,2.25,0.00,0.000,6,0.000,0.047,2772,2134,3222,0,0,0,0,0,0
$GC,1930,-0.47,-117.3,128.9,-5.7,286,1934,0.00,2.50,0.00,0.000,4,0.000,0.060,2770,3696,3222,0,0,0,0,0,0
$GC,1963,-0.49,-117.3,130.8,-5.4,288,1972,0.00,2.45,0.00,0.000,6,0.000,0.044,2770,2137,3222,0,0,0,0,0,0
$GC,2163,-0.49,-117.3,141.0,-5.4,307,2167,0.00,2.30,0.00,0.000,4,0.000,0.050,2770,657,3222,0,0,0,0,0,0
$GC,2209,-0.50,-117.3,143.7,-5.6,311,2213,0.00,2.28,0.00,0.000,6,0.000,0.050,2769,2122,3222,0,0,0,0,0,0
$GC,2409,-0.50,-117.3,153.4,-5.3,329,2413,0.00,2.50,0.00,0.000,4,0.000,0.061,2768,3693,3222,0,0,0,0,0,0
$GC,2453,-0.52,-117.3,155.8,-4.6,332,2461,0.00,2.42,0.00,0.000,6,0.000,0.044,2767,2118,3222,0,0,0,0,0,0
$GC,2651,-0.52,-117.3,165.2,-5.0,351,2655,0.00,2.25,0.00,0.000,4,0.000,0.052,2766,663,3222,0,0,0,0,0,0
$GC,2692,-0.53,-117.3,167.4,-5.8,354,2697,0.00,2.25,0.00,0.000,6,0.000,0.049,2762,2125,3221,0,0,0,0,0,0
$GC,2890,-0.53,-117.3,178.5,-6.3,372,2895,0.00,2.55,0.00,0.000,4,0.000,0.063,2752,3694,3221,0,0,0,0,0,0
$GC,2932,-0.55,-117.3,181.2,-7.0,375,2936,0.00,2.42,0.00,0.000,6,0.000,0.044,2751,2123,3221,0,0,0,0,0,0
$STATE,3053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3053,begin apogee
$GC,3060,-0.22,0.0,189.7,6.6,386,3157,0.28,0.00,94.12,0.704,6,0.108,0.000,2847,2056,2734,0,0,0,0,0,0
$STATE,3158,end apogee,CONTROL_FINISHED_OK
$STATE,3158,begin climb
$GC,3162,0.50,117.3,193.1,0.0,396,3272,0.65,2.53,97.47,0.682,4,0.074,0.055,3078,3576,2254,0,0,0,0,0,0
$GC,3307,0.47,117.3,187.3,7.5,408,3311,0.00,2.42,0.00,0.000,6,0.000,0.042,3088,2067,2250,0,0,0,0,0,0
$GC,3507,0.45,117.3,173.7,7.0,426,3511,0.00,2.40,0.00,0.000,4,0.000,0.053,3100,546,2247,0,0,0,0,0,0
$GC,3531,0.43,117.3,171.9,7.5,428,3536,0.15,2.38,0.00,0.000,6,0.133,0.046,3056,2070,2247,0,0,0,0,0,0
$GC,3732,0.44,132.5,160.1,5.6,446,3755,0.00,2.47,12.07,0.620,4,0.000,0.057,3056,3577,2193,0,0,0,0,0,0
$GC,3782,0.43,132.5,156.6,6.8,450,3790,0.00,2.40,0.00,0.000,6,0.000,0.044,3064,2074,2191,0,0,0,0,0,0
$GC,3982,0.43,132.5,144.0,6.4,469,3986,0.00,2.42,0.00,0.000,4,0.000,0.054,3074,537,2190,0,0,0,0,0,0
$GC,4015,0.43,132.5,141.3,7.3,471,4023,0.00,2.40,0.00,0.000,6,0.000,0.047,3074,2060,2190,0,0,0,0,0,0
$GC,4215,0.42,132.5,127.4,7.4,490,4219,0.00,2.45,0.00,0.000,4,0.000,0.059,3074,3580,2189,0,0,0,0,0,0
$GC,4258,0.40,132.5,124.1,8.7,493,4263,0.12,2.35,0.00,0.000,6,0.148,0.044,3048,2067,2188,0,0,0,0,0,0
$GC,4462,0.41,158.5,112.7,5.2,511,4489,0.00,0.00,22.23,0.643,6,0.000,0.000,3048,2063,2087,0,0,0,0,0,0
$GC,4684,0.42,158.5,98.7,6.4,533,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2063,2082,0,0,0,0,0,0
$GC,4824,0.44,158.5,89.5,6.3,558,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2063,2081,0,0,0,0,0,0
$GC,4970,0.47,188.1,81.5,5.1,583,5000,0.00,0.00,24.35,0.630,6,0.000,0.000,3048,2063,1968,0,0,0,0,0,0
$GC,5129,0.50,217.6,73.5,5.1,611,5160,0.10,2.47,24.90,0.618,4,0.098,0.054,3111,547,1847,0,0,0,0,0,0
$GC,5219,0.50,217.6,67.8,7.0,625,5226,0.00,2.47,0.00,0.000,6,0.000,0.047,3111,2128,1844,0,0,0,0,0,0
$GC,5357,0.50,217.6,58.2,6.5,650,5365,0.00,2.35,0.00,0.000,4,0.000,0.060,3111,3574,1841,0,0,0,0,0,0
$GC,5388,0.50,217.6,55.8,7.1,655,5397,0.10,2.33,0.00,0.000,6,0.114,0.044,3085,2111,1840,0,0,0,0,0,0
$GC,5530,0.53,244.5,48.5,5.2,680,5560,0.00,2.45,22.00,0.604,4,0.000,0.053,3085,550,1739,0,0,0,0,0,0
$GC,5594,0.57,264.6,44.8,5.4,690,5617,0.00,2.45,17.62,0.589,6,0.000,0.047,3084,2098,1655,0,0,0,0,0,0
$GC,5748,0.61,264.6,34.2,7.4,717,5756,0.10,2.47,0.00,0.000,4,0.099,0.053,3134,545,1649,0,0,0,0,0,0
$GC,5780,0.65,264.6,31.7,7.7,722,5787,0.00,2.35,0.00,0.000,6,0.000,0.047,3135,2034,1648,0,0,0,0,0,0
$GC,5919,0.65,264.6,22.2,6.6,747,5927,0.00,2.50,0.00,0.000,4,0.000,0.059,3134,3573,1648,0,0,0,0,0,0
$GC,5993,0.65,264.6,17.4,6.1,760,6001,0.00,2.40,0.00,0.000,6,0.000,0.044,3139,2061,1647,0,0,0,0,0,0
$GC,6133,0.70,301.3,10.5,4.8,785,6170,0.00,2.40,29.48,0.588,4,0.000,0.052,3139,547,1504,0,0,0,0,0,0
$STATE,6255,end climb,SURFACE_DEPTH_REACHED
$STATE,6255,begin surface coast
$FINISH,1.9,1.023303
$STATE,6293,end surface coast,CONTROL_FINISHED_OK
$STATE,6293,begin surface
$SM_CCo,6314,17.85,0.353,1,0,1409,325.02
$SM_GC,1.62,0.00,0.00,17.85,0.000,0.000,0.353,113,2178,1409,-8.77,0.08,325.02
$IRIDIUM_FIX,4735.69,-12513.98,110711,222206
$TT8_MAMPS,0.027713
$HUMID,39.72
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.0,57.829
$10V_AH,9.9,60.996
$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,20.325,115.550,344.250,17.850,0.000,25.358,31.448,181.061,0.000,0.000,38.424,2015.600,1833.366,487.984,2066.512,325.779,33.369,1274.840,0.000,1805.352,0.000,0.535,0.000
$DEVICE_MAMPS,228.735,118.575,703.800,352.665,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.542,1657.393,1297.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297592
$DATA_FILE_SIZE,46898,813
$CAP_FILE_SIZE,108172,0
$CFSIZE,260165632,174243840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.086,206.8,1
$GPS,120711,015907,4751.526,-12511.681,91,0.9,91,18.7