version: 66.07
glider: 187
mission: 4
dive: 651
start: 8 16 111 11 1 34
data:
$ID,187
$MISSION,4
$DIVE,651
$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,-1585564.8
$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,38
$R_STBD_OVSHOOT,47
$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
$GPS1,160811,105536,4701.816,-12655.939,37,1.0,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-78.0
$GPS2,160811,110037,4701.828,-12655.952,14,1.1,14,18.6
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.199,0.020
$KALMAN_X,358765.5,134.0,484.2,-494832.3,3196.8
$KALMAN_Y,-645509.2,-1571.8,-500.4,564811.2,-2819.1
$MHEAD_RNG_PITCHd_Wd,252.7,6132,-27.7,-6.111
$D_GRID,1000
$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,-0.88,-30.0,0.0,0.0,0,76,0.00,0.00,-57.60,0.000,6,0.000,0.000,108,2190,2858,0,0,0,0,0,0
$GC,79,-0.91,-74.8,2.0,-0.0,1,99,10.15,2.38,-3.47,0.000,4,0.224,0.061,2607,3675,3044,0,0,0,0,0,0
$GC,306,-0.89,-74.8,60.4,-18.9,3,311,0.00,2.33,0.00,0.000,6,0.000,0.040,2606,2170,3049,0,0,0,0,0,0
$GC,508,-0.87,-74.8,96.0,-17.0,5,510,0.12,0.00,0.00,0.000,6,0.177,0.000,2638,2164,3051,0,0,0,0,0,0
$GC,911,-0.86,-74.8,150.5,-14.3,7,915,0.00,2.33,0.00,0.000,4,0.000,0.048,2638,660,3053,0,0,0,0,0,0
$GC,949,-0.86,-74.8,155.5,-12.3,7,953,0.00,2.30,0.00,0.000,6,0.000,0.046,2629,2146,3053,0,0,0,0,0,0
$GC,1544,-0.86,-74.8,232.6,-13.1,9,1548,0.00,2.45,0.00,0.000,4,0.000,0.058,2617,3687,3053,0,0,0,0,0,0
$GC,1582,-0.86,-74.8,238.3,-14.7,9,1586,0.00,2.38,0.00,0.000,6,0.000,0.042,2617,2162,3053,0,0,0,0,0,0
$GC,2169,-0.86,-74.8,321.1,-14.2,11,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2157,3051,0,0,0,0,0,0
$GC,2469,-0.86,-74.8,363.2,-14.1,12,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2157,3050,0,0,0,0,0,0
$GC,2770,-0.86,-74.8,402.8,-13.9,13,2774,0.00,2.38,0.00,0.000,4,0.000,0.051,2616,655,3049,0,0,0,0,0,0
$GC,2802,-0.86,-74.8,407.1,-12.5,13,2807,0.15,2.35,0.00,0.000,6,0.161,0.050,2646,2162,3049,0,0,0,0,0,0
$GC,3400,-0.87,-74.8,474.4,-11.2,15,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2162,3048,0,0,0,0,0,0
$GC,3703,-0.89,-74.8,506.4,-11.0,16,3707,0.00,2.47,0.00,0.000,4,0.000,0.061,2637,3693,3047,0,0,0,0,0,0
$GC,3724,-0.91,-74.8,508.8,-10.2,16,3728,0.00,2.42,0.00,0.000,6,0.000,0.046,2636,2145,3047,0,0,0,0,0,0
$GC,4330,-0.93,-74.8,572.0,-10.4,18,4334,0.00,2.38,0.00,0.000,4,0.000,0.054,2635,665,3045,0,0,0,0,0,0
$GC,4402,-0.94,-74.8,580.1,-10.8,18,4406,0.00,2.35,0.00,0.000,6,0.000,0.050,2625,2162,3044,0,0,0,0,0,0
$GC,4955,-0.95,-74.8,643.5,-11.8,20,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2161,3042,0,0,0,0,0,0
$GC,5256,-0.97,-74.8,679.2,-11.8,21,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2162,3042,0,0,0,0,0,0
$GC,5556,-0.98,-74.8,713.3,-11.7,22,5560,0.00,2.40,0.00,0.000,4,0.000,0.054,2625,662,3042,0,0,0,0,0,0
$GC,5613,-0.99,-74.8,719.8,-11.9,22,5618,0.00,2.35,0.00,0.000,6,0.000,0.052,2614,2155,3041,0,0,0,0,0,0
$GC,6190,-0.99,-74.8,779.7,-10.0,24,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2154,3040,0,0,0,0,0,0
$GC,6492,-1.00,-74.8,811.7,-10.3,25,6496,0.00,2.47,0.00,0.000,4,0.000,0.063,2602,3688,3040,0,0,0,0,0,0
$GC,6525,-1.00,-74.8,815.7,-11.3,25,6529,0.00,2.45,0.00,0.000,6,0.000,0.048,2602,2148,3039,0,0,0,0,0,0
$GC,7125,-1.00,-74.8,885.9,-11.8,27,7129,0.00,2.38,0.00,0.000,4,0.000,0.056,2602,657,3038,0,0,0,0,0,0
$GC,7163,-1.00,-74.8,890.7,-12.2,27,7168,0.00,2.35,0.00,0.000,6,0.000,0.053,2591,2158,3038,0,0,0,0,0,0
$GC,7750,-1.00,-74.8,956.0,-10.7,29,7754,0.00,2.40,0.00,0.000,4,0.000,0.056,2591,664,3036,0,0,0,0,0,0
$GC,7778,-1.00,-74.8,959.0,-10.9,29,7782,0.00,2.35,0.00,0.000,6,0.000,0.054,2580,2152,3036,0,0,0,0,0,0
$STATE,8074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8074,begin apogee
$GC,8080,-0.22,0.0,990.4,10.6,29,8151,0.85,0.00,67.93,1.226,6,0.135,0.000,2843,2048,2735,0,0,0,0,0,0
$STATE,8152,end apogee,CONTROL_FINISHED_OK
$STATE,8152,begin climb
$GC,8155,0.91,74.8,991.4,0.0,30,8231,1.05,0.00,72.72,1.196,6,0.063,0.000,3214,2048,2430,0,0,0,0,0,0
$GC,8389,0.89,87.3,965.1,4.4,31,8408,0.00,2.60,12.38,1.066,4,0.000,0.060,3214,3576,2378,0,0,0,0,0,0
$GC,8453,0.86,87.3,954.1,17.2,31,8458,0.00,2.42,0.00,0.000,6,0.000,0.047,3225,2068,2376,0,0,0,0,0,0
$GC,9019,0.83,87.3,865.7,15.3,33,9023,0.15,2.47,0.00,0.000,4,0.196,0.060,3189,3578,2372,0,0,0,0,0,0
$GC,9108,0.81,87.3,852.4,15.5,33,9112,0.00,2.40,0.00,0.000,6,0.000,0.047,3198,2061,2371,0,0,0,0,0,0
$GC,9650,0.80,87.3,782.0,12.7,35,9653,0.00,2.45,0.00,0.000,4,0.000,0.062,3199,3581,2370,0,0,0,0,0,0
$GC,9774,0.77,87.3,764.0,14.0,35,9779,0.17,2.38,0.00,0.000,6,0.194,0.047,3168,2077,2369,0,0,0,0,0,0
$GC,10283,0.77,87.3,708.6,10.5,37,10287,0.00,2.42,0.00,0.000,4,0.000,0.060,3168,3578,2369,0,0,0,0,0,0
$GC,10334,0.76,87.3,702.6,13.0,37,10338,0.00,2.38,0.00,0.000,6,0.000,0.047,3177,2071,2368,0,0,0,0,0,0
$GC,10911,0.76,87.3,635.7,11.7,39,10915,0.00,2.42,0.00,0.000,4,0.000,0.060,3177,3583,2369,0,0,0,0,0,0
$GC,11000,0.74,87.3,623.6,13.6,39,11004,0.00,2.38,0.00,0.000,6,0.000,0.047,3189,2076,2367,0,0,0,0,0,0
$GC,11544,0.74,87.3,559.7,11.4,41,11549,0.12,2.42,0.00,0.000,4,0.187,0.059,3158,3578,2367,0,0,0,0,0,0
$GC,11639,0.74,87.3,548.6,11.7,41,11643,0.00,2.35,0.00,0.000,6,0.000,0.047,3167,2082,2367,0,0,0,0,0,0
$GC,12170,0.74,87.3,494.5,10.1,43,12174,0.00,2.40,0.00,0.000,4,0.000,0.060,3167,3578,2367,0,0,0,0,0,0
$GC,12283,0.73,87.3,481.7,11.2,43,12287,0.00,2.33,0.00,0.000,6,0.000,0.047,3178,2098,2367,0,0,0,0,0,0
$GC,12803,0.73,87.3,428.4,10.1,45,12807,0.00,2.38,0.00,0.000,4,0.000,0.059,3178,3577,2367,0,0,0,0,0,0
$GC,12870,0.71,87.3,421.0,11.0,45,12874,0.15,2.30,0.00,0.000,6,0.181,0.047,3153,2099,2367,0,0,0,0,0,0
$GC,13428,0.73,87.3,373.8,8.1,47,13432,0.00,2.38,0.00,0.000,4,0.000,0.060,3153,3580,2367,0,0,0,0,0,0
$GC,13536,0.73,87.3,364.3,9.0,47,13540,0.00,2.30,0.00,0.000,6,0.000,0.046,3162,2104,2366,0,0,0,0,0,0
$GC,14068,0.73,87.3,320.7,8.3,49,14072,0.00,2.38,0.00,0.000,4,0.000,0.060,3163,3577,2367,0,0,0,0,0,0
$GC,14106,0.73,87.3,316.9,9.5,49,14110,0.00,2.30,0.00,0.000,6,0.000,0.046,3173,2111,2366,0,0,0,0,0,0
$GC,14696,0.73,87.3,266.2,8.4,51,14700,0.00,2.38,0.00,0.000,4,0.000,0.060,3174,3581,2366,0,0,0,0,0,0
$GC,14796,0.73,87.3,256.6,10.2,51,14801,0.12,2.30,0.00,0.000,6,0.184,0.045,3155,2114,2366,0,0,0,0,0,0
$GC,15321,0.74,87.3,215.4,7.7,53,15325,0.00,2.35,0.00,0.000,4,0.000,0.060,3155,3578,2367,0,0,0,0,0,0
$GC,15388,0.74,87.3,209.3,10.0,53,15392,0.00,2.25,0.00,0.000,6,0.000,0.044,3164,2120,2366,0,0,0,0,0,0
$GC,15959,0.75,87.3,166.4,7.1,55,15963,0.00,2.35,0.00,0.000,4,0.000,0.059,3164,3582,2367,0,0,0,0,0,0
$GC,16066,0.75,87.3,157.6,7.9,55,16070,0.00,2.28,0.00,0.000,6,0.000,0.044,3175,2124,2366,0,0,0,0,0,0
$GC,16587,0.75,88.0,124.6,6.0,57,16591,0.00,2.47,0.00,0.000,4,0.000,0.054,3187,542,2367,0,0,0,0,0,0
$GC,16638,0.75,95.6,121.7,5.1,57,16651,0.00,2.45,6.93,0.578,6,0.000,0.047,3187,2133,2345,0,0,0,0,0,0
$GC,17218,0.76,103.4,89.9,5.1,59,17233,0.00,2.35,8.55,0.588,4,0.000,0.058,3187,3577,2312,0,0,0,0,0,0
$GC,17486,0.78,135.4,82.0,1.7,61,17520,0.00,2.20,28.95,0.637,6,0.000,0.043,3198,2141,2182,0,0,0,0,0,0
$GC,17755,0.80,139.6,68.9,5.5,64,17765,0.00,2.33,4.53,0.471,4,0.000,0.057,3198,3580,2165,0,0,0,0,0,0
$GC,18020,0.80,139.6,49.7,6.9,66,18025,0.12,2.22,0.00,0.000,6,0.176,0.042,3178,2159,2164,0,0,0,0,0,0
$GC,18289,0.83,152.7,37.5,4.3,69,18308,0.00,2.33,12.82,0.581,4,0.000,0.058,3178,3578,2111,0,0,0,0,0,0
$GC,18551,0.86,161.6,24.9,4.9,71,18565,0.00,2.22,8.80,0.544,6,0.000,0.043,3187,2154,2075,0,0,0,0,0,0
$GC,18825,0.93,209.7,23.6,-0.4,74,18871,0.00,2.33,40.33,0.594,4,0.000,0.057,3187,3587,1880,0,0,0,0,0,0
$GC,18933,0.98,209.7,19.6,6.2,75,18937,0.10,2.20,0.00,0.000,6,0.099,0.042,3244,2195,1875,0,0,0,0,0,0
$GC,19138,1.01,221.1,8.9,4.6,77,19153,0.00,2.58,10.18,0.527,4,0.000,0.050,3257,552,1832,0,0,0,0,0,0
$STATE,19219,end climb,SURFACE_DEPTH_REACHED
$STATE,19219,begin surface coast
$FINISH,3.6,NaN
$STATE,19226,end surface coast,CONTROL_FINISHED_OK
$STATE,19226,begin surface
$SM_CCo,19247,63.30,0.539,2,0,1408,325.02
$SM_GC,1.69,0.00,0.00,63.30,0.000,0.000,0.539,111,2183,1408,-8.78,0.23,325.02
$IRIDIUM_FIX,4644.93,-12654.09,160811,040430
$TT8_MAMPS,0.026964
$HUMID,40.66
$INTERNAL_PRESSURE,9.15736
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,22.7,73.523
$10V_AH,9.9,78.607
$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,21.900,137.800,274.100,63.300,0.000,26.251,34.072,111.618,0.000,0.000,15.015,885.326,15278.513,469.656,2635.086,351.733,33.376,1679.744,0.000,2395.829,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,86.445,1225.530,539.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297664
$DATA_FILE_SIZE,3676,77
$CAP_FILE_SIZE,156557,0
$CFSIZE,260165632,161423360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.170,233.3,1
$GPS,160811,162455,4700.762,-12658.049,39,1.8,39,18.6