version: 66.12
glider: 187
mission: 4
dive: 38
start: 6 27 114 3 48 28
data:
$ID,187
$MISSION,4
$DIVE,38
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,330
$T_MISSION,370
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0016
$HD_B,0.0099999998
$HD_C,1.4e-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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-1593228.6
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3360
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2892
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367308
$SEABIRD_T_I,2.3111006e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,270614,034105,4751.688,-12512.281,13,1.6,17,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.0
$GPS2,270614,034755,4751.710,-12512.277,34,1.5,34,18.7
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,208.6,166384,-15.7,-10.000,-22.91,1951
$D_GRID,249
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.85,-136.3,396,2405,1584,1345,0.0,0.0,0,92,0.00,0.00,-60.40,0.000,16386,0.000,0.000,396,2403,3034,3068,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.85,-136.3,396,2406,3069,3001,3.1,-3.8,6,129,12.80,2.53,-7.05,0.000,18948,0.428,0.130,3079,982,3451,3469,3433,0,0,0,0,0,0,14.25,14.39,14.62
$GC,287,-0.82,-136.3,3079,982,3470,3437,49.3,-18.3,40,295,0.00,2.47,0.00,0.000,1030,0.000,0.099,3079,2402,3452,3467,3437,0,0,0,0,0,0,28.83,14.45,28.83
$GC,486,-0.80,-136.3,3079,2402,3472,3440,80.9,-16.6,60,495,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2402,3454,3471,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,677,-0.78,-136.3,3079,2402,3472,3438,106.1,-11.6,79,686,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2402,3455,3473,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,866,-0.77,-136.3,3079,2402,3472,3438,128.8,-11.6,98,877,0.12,2.50,0.00,0.000,2564,0.302,0.109,3113,982,3454,3472,3437,0,0,0,0,0,0,14.45,14.51,28.83
$GC,960,-0.77,-136.3,3114,982,3473,3436,138.8,-11.0,114,971,0.00,2.47,0.00,0.000,1030,0.000,0.100,3113,2407,3455,3473,3438,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1162,-0.77,-136.3,3113,2404,3472,3438,159.1,-9.8,134,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2406,3455,3472,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-0.77,-136.3,3114,2405,3472,3438,178.0,-10.1,153,1361,0.00,2.47,0.00,0.000,260,0.000,0.117,3116,3810,3455,3472,3438,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1424,-0.77,-136.3,3113,3810,3472,3438,185.8,-11.1,165,1434,0.00,2.50,0.00,0.000,1030,0.000,0.105,3111,2391,3455,3472,3438,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1624,-0.77,-136.3,3112,2390,3473,3438,205.5,-10.0,185,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2389,3452,3467,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1814,-0.77,-136.3,3117,2390,3471,3438,224.0,-9.6,204,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2387,3455,3472,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,-0.77,-136.3,3112,2390,3478,3438,242.2,-9.4,223,2014,0.00,2.47,0.00,0.000,516,0.000,0.127,3113,993,3455,3472,3438,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2069,-0.77,-136.3,3114,993,3472,3437,248.5,-9.9,234,2081,0.00,2.47,0.00,0.000,1030,0.000,0.110,3113,2404,3455,3473,3438,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,2088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2088,begin apogee
$GC,2096,-0.32,0.0,3113,2698,3472,3437,250.5,-9.5,236,2212,0.47,0.00,104.62,0.996,10246,0.212,0.000,3251,2698,2890,2956,2824,0,0,0,0,0,0,14.52,28.83,13.74
$STATE,2215,end apogee,CONTROL_FINISHED_OK
$STATE,2215,begin climb
$GC,2219,0.85,136.3,3251,2698,2956,2821,254.8,0.0,240,2342,1.20,0.00,107.32,0.965,10502,0.156,0.000,3626,2698,2332,2477,2187,0,0,0,0,0,0,14.11,28.83,13.54
$GC,2642,0.80,136.3,3626,2698,2477,2188,209.3,13.3,288,2653,0.00,2.60,0.00,0.000,516,0.000,0.132,3630,1289,2329,2477,2182,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2704,0.76,136.3,3630,1289,2476,2180,201.1,13.6,298,2717,0.00,2.55,0.00,0.000,1030,0.000,0.114,3630,2700,2329,2477,2181,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2908,0.71,136.3,3630,2700,2476,2180,173.4,13.0,318,2921,0.15,2.62,0.00,0.000,4612,0.303,0.144,3603,1300,2328,2477,2180,0,0,0,0,0,0,14.33,14.40,28.83
$GC,2965,0.68,136.3,3605,1296,2476,2180,167.1,10.9,326,2977,0.00,2.53,0.00,0.000,1030,0.000,0.118,3603,2699,2329,2478,2180,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3168,0.64,136.3,3603,2699,2475,2175,143.4,11.4,346,3181,0.15,2.35,0.00,0.000,4356,0.300,0.128,3567,4008,2327,2475,2179,0,0,0,0,0,0,14.39,14.45,28.83
$GC,3255,0.60,136.3,3567,4008,2474,2178,134.0,10.8,360,3265,0.00,2.38,0.00,0.000,1030,0.000,0.134,3574,2704,2326,2474,2179,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3456,0.58,142.6,3574,2705,2474,2178,114.6,9.7,380,3475,0.00,2.72,3.78,0.701,8708,0.000,0.164,3580,1292,2311,2459,2164,0,0,0,0,0,0,28.83,14.42,14.05
$GC,3657,0.57,157.5,3586,1293,2458,2166,95.6,9.2,416,3683,0.15,2.53,13.90,0.848,13318,0.280,0.115,3547,2701,2250,2403,2097,0,0,0,0,0,0,14.45,14.52,14.13
$GC,3874,0.58,184.0,3547,2701,2403,2094,77.7,8.6,438,3904,0.00,0.00,22.12,0.816,8198,0.000,0.000,3547,2701,2139,2297,1982,0,0,0,0,0,0,28.83,28.83,14.11
$GC,4086,0.63,235.3,3547,2701,2297,1980,60.6,7.3,459,4138,0.00,2.62,39.85,0.776,8708,0.000,0.139,3548,1280,1928,2080,1777,0,0,0,0,0,0,28.83,14.25,14.01
$GC,4276,0.67,272.6,3548,1280,2080,1776,43.8,8.0,491,4319,0.00,2.58,28.58,0.757,9222,0.000,0.109,3548,2713,1776,1938,1614,0,0,0,0,0,0,28.83,14.36,14.00
$GC,4501,0.72,321.6,3548,2713,1938,1613,24.5,7.4,515,4546,0.12,2.72,33.33,0.725,10756,0.164,0.133,3601,1283,1579,1741,1417,0,0,0,0,0,0,14.41,14.22,14.00
$STATE,4723,end climb,SURFACE_DEPTH_REACHED
$STATE,4723,begin surface coast
$FINISH,0.3,1.023115
$STATE,4771,end surface coast,CONTROL_FINISHED_OK
$STATE,4772,begin surface
$SM_CCo,4799,11.15,0.106,0,0,1465,350.04
$SM_GC,2.69,9.38,2.03,11.15,0.090,0.106,0.106,394,2402,1465,-9.22,-0.51,350.04,0,0,0,0,0,0,14.41,14.40,14.40
$IRIDIUM_FIX,4732.49,-12516.60,230407,151539
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.09
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3925856
$PM_FREEKB,61896288
$24V_AH,13.5,6.521
$10V_AH,13.1,0.000
$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,24.550,50.675,353.500,11.150,0.000,0.000,0.000,192.775,0.000,0.000,35.085,1671.936,1542.206,501.808,1193.305,319.243,0.000,1262.451,0.000,865.321,0.000,0.535,0.000
$DEVICE_MAMPS,427.635,164.475,996.030,106.335,0.000,0.000,0.000,156.825,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4777.000,2235.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.134,4.177,0.000,0.000
$MEM,290820
$DATA_FILE_SIZE,20074,562
$CAP_FILE_SIZE,94183,0
$CFSIZE,260034560,254529536
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4517.10,0x2378ba,7,5
$INTR,1,2267.34,0x234486,1,24
$EKF,4908,2871.416504,-7512.768066,0.313798,-0.010895,-0.018219,0.002779,0.001322,0.002936,0.001939,0.063018,0.063018,0.000121
$CURRENT,0.103,268.9,1
$GPS,270614,051013,4751.411,-12513.179,45,1.9,45,18.7