version: 66.12
glider: 187
mission: 4
dive: 43
start: 6 27 114 14 24 54
data:
$ID,187
$MISSION,4
$DIVE,43
$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,-1593240.2
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,12
$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
$GPS1,270614,141657,4749.386,-12518.604,80,2.8,101,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.7
$GPS2,270614,142421,4749.417,-12518.457,11,2.7,31,18.7
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,203.5,157560,-15.7,-10.000,-22.91,1951
$D_GRID,519
$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,-136.3,394,2386,1587,1310,0.0,0.0,0,91,0.00,0.00,-60.30,0.000,16386,0.000,0.000,394,2387,2996,3037,2956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.85,-136.3,394,2387,3037,2957,3.1,-3.7,6,128,12.82,2.60,-7.97,0.000,18692,0.428,0.141,3083,3824,3452,3474,3430,0,0,0,0,0,0,14.23,14.38,14.60
$GC,212,-0.82,-136.3,3080,3823,3474,3433,33.6,-18.7,25,221,0.00,2.47,0.00,0.000,1030,0.000,0.091,3080,2403,3454,3474,3434,0,0,0,0,0,0,28.83,14.42,28.83
$GC,412,-0.79,-136.3,3085,2401,3475,3436,68.4,-17.9,45,420,0.00,2.47,0.00,0.000,516,0.000,0.109,3080,988,3455,3475,3436,0,0,0,0,0,0,28.83,14.45,28.83
$GC,451,-0.76,-136.3,3080,988,3475,3436,74.8,-17.6,51,462,0.12,2.47,0.00,0.000,3078,0.295,0.100,3109,2403,3455,3475,3436,0,0,0,0,0,0,14.38,14.44,28.83
$GC,653,-0.75,-136.3,3110,2402,3475,3435,101.4,-13.4,71,663,0.00,2.50,0.00,0.000,260,0.000,0.116,3108,3821,3455,3475,3436,0,0,0,0,0,0,28.83,14.47,28.83
$GC,765,-0.75,-136.3,3109,3821,3475,3438,116.2,-12.9,91,776,0.00,2.53,0.00,0.000,1030,0.000,0.110,3109,2402,3456,3475,3437,0,0,0,0,0,0,28.83,14.50,28.83
$GC,966,-0.75,-136.3,3110,2402,3475,3437,140.1,-11.9,111,977,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3456,3475,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1158,-0.75,-136.3,3109,2402,3475,3437,159.2,-8.8,130,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3456,3475,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1348,-0.75,-136.3,3109,2402,3475,3437,174.4,-8.0,149,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3456,3475,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1539,-0.75,-136.3,3109,2402,3476,3436,193.1,-10.6,168,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3455,3475,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1729,-0.75,-136.3,3106,2402,3475,3435,213.8,-10.9,187,1739,0.00,2.50,0.00,0.000,516,0.000,0.112,3109,977,3454,3476,3433,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1785,-0.75,-136.3,3109,977,3476,3433,220.3,-11.7,196,1795,0.00,2.47,0.00,0.000,1030,0.000,0.101,3110,2403,3457,3475,3440,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1976,-0.75,-136.3,3109,2402,3475,3436,240.5,-10.1,215,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3457,3474,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2172,-0.75,-136.3,3109,2403,3475,3436,259.3,-9.7,228,2180,0.00,2.50,0.00,0.000,516,0.000,0.117,3109,987,3457,3479,3436,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2221,-0.75,-136.3,3109,982,3475,3436,264.7,-10.3,236,2230,0.00,2.47,0.00,0.000,1030,0.000,0.102,3110,2407,3455,3474,3436,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2553,-0.75,-136.3,3109,2403,3475,3435,298.3,-10.4,250,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2403,3455,3475,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.75,-136.3,3109,2403,3475,3433,329.2,-10.0,260,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2403,3454,3475,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-0.75,-136.3,3109,2408,3475,3432,357.3,-9.3,270,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3453,3475,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3452,-0.75,-136.3,3109,2403,3475,3431,385.0,-9.5,280,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2404,3453,3475,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3751,-0.75,-136.3,3115,2403,3475,3430,414.1,-9.8,290,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2404,3452,3475,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4051,-0.75,-136.3,3109,2408,3481,3429,442.3,-9.4,300,4059,0.00,2.50,0.00,0.000,516,0.000,0.118,3109,982,3452,3475,3429,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4105,-0.75,-136.3,3109,982,3476,3429,447.8,-10.1,309,4114,0.00,2.47,0.00,0.000,1030,0.000,0.106,3112,2401,3452,3475,3429,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4432,-0.75,-136.3,3109,2402,3475,3428,478.1,-9.2,322,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3452,3475,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4730,-0.75,-136.3,3109,2401,3475,3428,504.6,-8.5,332,4739,0.00,2.50,0.00,0.000,260,0.000,0.122,3109,3818,3451,3475,3428,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4784,-0.75,-136.3,3105,3818,3475,3428,509.8,-9.1,341,4792,0.00,2.50,0.00,0.000,1030,0.000,0.108,3109,2394,3451,3475,3428,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,4894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4894,begin apogee
$GC,4903,-0.32,0.0,3109,2499,3475,3427,520.9,-9.8,347,5018,0.47,0.00,109.60,1.348,10246,0.219,0.000,3250,2497,2890,2957,2824,0,0,0,0,0,0,14.54,28.83,13.50
$STATE,5022,end apogee,CONTROL_FINISHED_OK
$STATE,5022,begin climb
$GC,5026,0.85,136.3,3250,2499,2959,2821,525.1,0.0,351,5150,1.23,0.00,114.38,1.310,10502,0.159,0.000,3626,2499,2335,2482,2188,0,0,0,0,0,0,13.96,28.83,13.28
$GC,5438,0.80,136.3,3626,2499,2474,2179,480.8,13.1,375,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,2499,2329,2479,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5741,0.75,136.3,3626,2499,2474,2176,440.8,13.7,385,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2499,2326,2477,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6041,0.70,136.3,3626,2498,2476,2175,398.2,14.6,395,6051,0.17,0.00,0.00,0.000,4102,0.313,0.000,3589,2499,2325,2476,2175,0,0,0,0,0,0,14.38,28.83,28.83
$GC,6341,0.67,136.3,3589,2499,2471,2174,362.3,11.5,405,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2499,2325,2476,2174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6641,0.64,136.3,3585,2499,2474,2174,328.7,10.9,415,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2499,2324,2475,2173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6941,0.60,136.3,3589,2499,2475,2173,296.9,10.7,425,6951,0.15,0.00,0.00,0.000,4102,0.302,0.000,3555,2498,2324,2475,2173,0,0,0,0,0,0,14.50,28.83,28.83
$GC,7241,0.59,145.7,3555,2498,2475,2172,268.8,9.5,435,7260,0.00,2.53,7.68,1.009,8708,0.000,0.122,3562,1088,2296,2448,2145,0,0,0,0,0,0,28.83,14.52,14.13
$GC,7424,0.57,145.7,3562,1088,2447,2137,250.3,10.1,468,7434,0.00,2.50,0.00,0.000,1030,0.000,0.111,3567,2508,2294,2447,2141,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7746,0.57,161.1,3562,2507,2447,2140,219.5,9.2,500,7769,0.00,2.65,13.38,1.002,8708,0.000,0.130,3563,1085,2233,2390,2077,0,0,0,0,0,0,28.83,14.47,14.12
$GC,7830,0.56,168.6,3566,1085,2390,2076,211.0,9.6,513,7849,0.00,2.53,7.45,0.965,9222,0.000,0.113,3562,2505,2207,2363,2051,0,0,0,0,0,0,28.83,14.50,14.07
$GC,8039,0.54,168.6,3562,2505,2362,2044,190.4,10.4,534,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2505,2202,2362,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8231,0.52,168.6,3562,2505,2362,2043,170.2,11.0,553,8244,0.12,2.58,0.00,0.000,4612,0.285,0.138,3533,1094,2202,2362,2043,0,0,0,0,0,0,14.45,14.46,28.83
$GC,8292,0.53,174.1,3535,1094,2362,2049,164.3,9.7,562,8312,0.00,2.50,5.22,0.895,9222,0.000,0.112,3536,2509,2182,2343,2022,0,0,0,0,0,0,28.83,14.51,14.11
$GC,8502,0.54,187.6,3535,2509,2344,2022,144.4,9.3,583,8524,0.00,0.00,12.60,0.921,8198,0.000,0.000,3535,2508,2127,2288,1966,0,0,0,0,0,0,28.83,28.83,14.11
$GC,8705,0.56,208.0,3535,2509,2287,1965,125.9,8.9,603,8737,0.00,2.70,17.58,0.890,8708,0.000,0.145,3535,1091,2043,2207,1880,0,0,0,0,0,0,28.83,14.35,14.08
$GC,8786,0.58,231.1,3535,1091,2207,1879,118.9,8.8,615,8818,0.00,2.50,19.02,0.872,9222,0.000,0.111,3535,2497,1949,2105,1793,0,0,0,0,0,0,28.83,14.40,14.00
$GC,8999,0.59,237.5,3535,2498,2106,1793,99.1,9.7,637,9012,0.00,0.00,6.80,0.848,8198,0.000,0.000,3535,2497,1925,2078,1772,0,0,0,0,0,0,28.83,28.83,14.04
$GC,9193,0.62,263.8,3532,2498,2074,1760,80.9,8.6,656,9225,0.00,0.00,20.77,0.829,8454,0.000,0.000,3535,2497,1814,1976,1652,0,0,0,0,0,0,28.83,28.83,14.03
$GC,9406,0.63,277.4,3535,2497,1976,1652,61.7,9.3,678,9427,0.00,0.00,11.80,0.816,8198,0.000,0.000,3537,2497,1757,1925,1590,0,0,0,0,0,0,28.83,28.83,14.06
$GC,9608,0.69,325.9,3535,2497,1924,1592,45.5,7.4,698,9656,0.12,2.65,36.50,0.772,10756,0.164,0.125,3590,1088,1559,1723,1396,0,0,0,0,0,0,14.44,14.27,14.00
$GC,9721,0.69,325.9,3590,1088,1723,1396,34.4,10.5,715,9735,0.00,2.53,0.00,0.000,1030,0.000,0.106,3589,2505,1559,1723,1396,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9916,0.71,339.1,3590,2505,1723,1393,14.2,9.3,734,9936,0.00,2.55,5.97,0.167,8452,0.000,0.122,3590,3920,1509,1674,1345,0,0,0,0,0,0,28.83,14.37,14.35
$STATE,10031,end climb,SURFACE_DEPTH_REACHED
$STATE,10031,begin surface coast
$FINISH,0.5,1.024005
$STATE,10073,end surface coast,CONTROL_FINISHED_OK
$STATE,10073,begin surface
$SM_CCo,10101,4.57,0.109,0,0,1465,350.04
$SM_GC,2.86,9.35,2.78,4.57,0.093,0.110,0.109,401,2406,1465,-9.21,0.48,350.04,0,0,0,0,0,0,14.40,14.42,14.43
$IRIDIUM_FIX,4732.49,-12507.66,240407,010101
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.48
$INTERNAL_PRESSURE,8.92297
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3924256
$PM_FREEKB,61778368
$24V_AH,13.3,7.387
$10V_AH,13.0,0.000
$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,24.575,66.150,388.750,4.575,0.000,0.000,0.000,217.700,0.000,0.000,34.786,2369.527,5559.286,569.136,1619.450,435.113,0.000,1602.369,0.000,1160.942,0.000,0.536,0.000
$DEVICE_MAMPS,428.400,155.295,1347.930,108.630,0.000,0.000,0.000,159.885,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10083.000,5093.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.657,4.085,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,26681,762
$CAP_FILE_SIZE,137582,0
$CFSIZE,260034560,254124032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9568.85,0x2378ba,7,5
$EKF,10233,2868.689941,-7519.441406,0.419677,-0.156510,-0.068061,-0.063173,0.008978,0.019911,0.001939,0.044900,0.044900,0.000121
$CURRENT,0.146,265.4,1
$GPS,270614,171524,4748.611,-12520.654,73,1.0,74,18.7