version: 66.12
glider: 187
mission: 4
dive: 39
start: 6 27 114 5 20 3
data:
$ID,187
$MISSION,4
$DIVE,39
$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,-1593229.9
$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,11
$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
$GPS1,270614,051013,4751.411,-12513.179,45,1.9,45,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.2
$GPS2,270614,051931,4751.418,-12513.147,13,1.9,13,18.7
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,202.0,165175,-15.7,-10.000,-22.91,1951
$D_GRID,312
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.85,-136.3,395,2403,1585,1345,0.0,0.0,0,92,0.00,0.00,-61.03,0.000,16386,0.000,0.000,394,2400,3063,3097,3030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.85,-136.3,394,2403,3097,3030,3.3,-4.5,6,128,12.73,2.55,-6.55,0.000,18948,0.425,0.135,3073,977,3450,3470,3431,0,0,0,0,0,0,14.21,14.36,14.59
$GC,167,-0.81,-136.3,3073,976,3471,3428,25.2,-19.5,16,177,0.00,2.50,0.00,0.000,1030,0.000,0.099,3074,2403,3452,3471,3434,0,0,0,0,0,0,28.83,14.38,28.83
$GC,367,-0.79,-136.3,3074,2403,3472,3436,59.4,-16.0,36,379,0.12,0.00,0.00,0.000,2054,0.298,0.000,3106,2403,3454,3473,3436,0,0,0,0,0,0,14.37,28.83,28.83
$GC,560,-0.78,-136.3,3107,2403,3473,3436,87.5,-12.9,55,569,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3454,3473,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,749,-0.78,-136.3,3106,2403,3474,3436,110.6,-12.3,74,758,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2403,3453,3474,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,942,-0.78,-136.3,3108,2403,3475,3442,133.2,-11.6,93,951,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3455,3474,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1131,-0.78,-136.3,3106,2403,3480,3436,154.6,-10.9,112,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3455,3474,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1322,-0.78,-136.3,3106,2404,3474,3436,175.0,-10.8,131,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3455,3474,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1512,-0.78,-136.3,3107,2403,3473,3433,194.3,-10.0,150,1521,0.00,2.50,0.00,0.000,516,0.000,0.112,3107,978,3455,3474,3436,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1615,-0.78,-136.3,3107,977,3474,3436,205.2,-11.3,168,1626,0.00,2.47,0.00,0.000,1030,0.000,0.102,3107,2404,3455,3474,3436,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1816,-0.78,-136.3,3107,2403,3473,3436,226.8,-10.3,188,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3454,3473,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2008,-0.78,-136.3,3106,2403,3473,3436,247.0,-10.8,207,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3455,3474,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,-0.78,-136.3,3106,2403,3473,3435,269.3,-10.5,216,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3454,3473,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-0.78,-136.3,3107,2401,3473,3439,299.2,-9.9,226,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3453,3474,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2673,-0.32,0.0,3107,2701,3480,3432,313.7,-9.6,231,2788,0.50,0.00,106.07,1.073,10246,0.230,0.000,3249,2701,2890,2958,2823,0,0,0,0,0,0,14.54,28.83,13.69
$STATE,2791,end apogee,CONTROL_FINISHED_OK
$STATE,2791,begin climb
$GC,2795,0.85,136.3,3250,2701,2957,2820,318.2,0.0,235,2923,1.20,2.47,108.25,1.047,10500,0.160,0.123,3622,3991,2331,2477,2186,0,0,0,0,0,0,14.09,13.84,13.49
$GC,2990,0.79,136.3,3623,3991,2475,2186,300.1,16.1,266,3000,0.00,2.38,0.00,0.000,1030,0.000,0.112,3629,2700,2330,2475,2185,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3329,0.74,136.3,3627,2698,2475,2180,254.4,13.5,281,3340,0.12,2.60,0.00,0.000,4612,0.320,0.134,3601,1281,2327,2471,2184,0,0,0,0,0,0,14.28,14.36,28.83
$GC,3399,0.71,136.3,3601,1281,2475,2180,245.6,12.0,292,3413,0.00,2.58,0.00,0.000,1030,0.000,0.116,3601,2700,2327,2475,2180,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3594,0.67,136.3,3602,2700,2474,2178,221.7,12.1,311,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,2700,2327,2475,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3785,0.63,136.3,3602,2699,2474,2177,198.9,11.4,330,3797,0.15,2.62,0.00,0.000,4612,0.304,0.147,3572,1288,2326,2475,2177,0,0,0,0,0,0,14.41,14.44,28.83
$GC,3896,0.61,136.3,3573,1288,2475,2177,187.1,11.0,349,3908,0.00,2.55,0.00,0.000,1030,0.000,0.118,3572,2711,2325,2474,2176,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4088,0.58,136.3,3572,2711,2474,2176,164.4,12.2,368,4101,0.00,2.65,0.00,0.000,516,0.000,0.153,3580,1290,2323,2474,2173,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4160,0.55,136.3,3580,1290,2474,2175,156.6,10.6,379,4173,0.17,2.55,0.00,0.000,5126,0.288,0.121,3540,2697,2325,2474,2176,0,0,0,0,0,0,14.44,14.49,28.83
$GC,4354,0.58,181.5,3540,2697,2474,2175,140.1,7.6,398,4399,0.00,2.72,34.55,0.884,8708,0.000,0.154,3544,1290,2149,2307,1992,0,0,0,0,0,0,28.83,14.32,14.06
$GC,4482,0.62,214.9,3548,1290,2307,1992,130.0,8.2,419,4521,0.00,2.58,26.88,0.868,9222,0.000,0.119,3548,2715,2013,2173,1853,0,0,0,0,0,0,28.83,14.38,13.97
$GC,4702,0.62,222.8,3547,2714,2172,1851,109.8,9.6,442,4721,0.00,2.80,7.75,0.851,8708,0.000,0.158,3548,1284,1979,2140,1819,0,0,0,0,0,0,28.83,14.29,14.02
$GC,4830,0.62,222.8,3548,1283,2140,1819,97.1,10.2,464,4843,0.00,2.58,0.00,0.000,1030,0.000,0.117,3548,2709,1979,2140,1819,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5034,0.63,233.7,3548,2714,2140,1817,76.3,9.4,484,5048,0.00,0.00,8.77,0.832,8198,0.000,0.000,3548,2709,1942,2097,1787,0,0,0,0,0,0,28.83,28.83,14.10
$GC,5229,0.63,233.7,3548,2709,2092,1785,56.8,10.0,503,5239,0.00,2.62,0.00,0.000,516,0.000,0.142,3548,1281,1938,2092,1785,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5325,0.67,273.6,3548,1281,2091,1785,48.9,7.9,519,5371,0.00,2.53,31.02,0.776,9222,0.000,0.112,3548,2697,1770,1935,1605,0,0,0,0,0,0,28.83,14.50,14.05
$GC,5551,0.70,295.4,3548,2697,1935,1610,28.4,8.9,543,5578,0.12,2.72,15.93,0.765,10756,0.167,0.148,3603,1284,1684,1853,1516,0,0,0,0,0,0,14.48,14.28,14.08
$GC,5745,0.73,330.4,3604,1284,1854,1512,8.2,8.2,576,5772,0.00,2.55,14.62,0.131,9222,0.000,0.112,3604,2708,1548,1711,1385,0,0,0,0,0,0,28.83,14.42,14.41
$STATE,5791,end climb,SURFACE_DEPTH_REACHED
$STATE,5791,begin surface coast
$FINISH,0.4,1.023727
$STATE,5831,end surface coast,CONTROL_FINISHED_OK
$STATE,5831,begin surface
$SM_CCo,5857,8.70,0.107,0,0,1465,350.04
$SM_GC,3.07,9.27,0.60,8.70,0.084,0.119,0.107,397,2390,1465,-9.21,0.31,350.04,0,0,0,0,0,0,14.45,14.44,14.45
$IRIDIUM_FIX,4732.49,-12521.83,230407,181848
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.93
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3925536
$PM_FREEKB,61880000
$24V_AH,13.5,6.674
$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,24.400,52.675,353.850,8.700,0.000,0.000,0.000,297.500,0.000,0.000,14.102,1772.656,2451.301,517.077,1324.913,364.117,0.000,1427.907,0.000,901.989,0.000,0.537,0.000
$DEVICE_MAMPS,424.575,158.355,1072.530,107.100,0.000,0.000,0.000,162.945,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5838.000,2821.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.540,4.144,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,20046,585
$CAP_FILE_SIZE,104140,0
$CFSIZE,260034560,254455808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5494.06,0x2378ba,7,5
$EKF,5975,2870.932129,-7513.761230,0.393224,-0.008580,-0.011236,-0.060880,0.002727,0.006056,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.065,288.0,1
$GPS,270614,065935,4750.997,-12514.063,51,1.0,56,18.7