version: 66.12
glider: 187
mission: 4
dive: 121
start: 7 14 114 23 31 34
data:
$ID,187
$MISSION,4
$DIVE,121
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-06
$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,375
$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,-1593357.8
$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,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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,0.00062367303
$SEABIRD_T_I,2.3110064e-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,2.0
$PM_MOTORS,1.0
$GPS1,140714,232336,4752.370,-12514.280,41,1.6,41,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-67.8
$GPS2,140714,233107,4752.384,-12514.358,14,1.8,14,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,172.2,164972,-14.0,-7.333,-18.81,2445
$D_GRID,318
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.59,-116.8,397,2425,524,418,0.0,0.0,0,130,0.00,0.00,-98.35,0.000,16386,0.000,0.000,392,2426,3160,3198,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-0.59,-116.8,397,2425,3199,3124,4.6,-5.8,10,160,12.90,2.58,-2.70,0.000,18692,0.421,0.122,3121,3842,3337,3380,3295,0,0,0,0,0,0,14.17,14.38,14.60
$GC,390,-0.59,-116.8,3118,3842,3385,3296,55.7,-13.6,36,401,0.00,2.42,0.00,0.000,1030,0.000,0.071,3122,2410,3340,3385,3296,0,0,0,0,0,0,28.83,14.46,28.83
$GC,640,-0.59,-116.8,3121,2407,3387,3296,89.6,-12.0,61,652,0.00,2.50,0.00,0.000,260,0.000,0.099,3121,3839,3340,3384,3296,0,0,0,0,0,0,28.83,14.48,28.83
$GC,881,-0.59,-116.8,3121,3840,3387,3296,112.9,-8.1,85,893,0.00,2.40,0.00,0.000,1030,0.000,0.071,3121,2423,3341,3387,3296,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1134,-0.59,-116.8,3121,2423,3387,3296,141.1,-12.0,110,1144,0.00,2.47,0.00,0.000,260,0.000,0.101,3121,3844,3342,3388,3296,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1374,-0.59,-116.8,3121,3845,3385,3293,165.5,-9.6,134,1385,0.00,2.42,0.00,0.000,1030,0.000,0.073,3122,2416,3341,3387,3295,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1625,-0.59,-116.8,3120,2416,3387,3295,189.4,-9.1,159,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2416,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1875,-0.59,-116.8,3121,2416,3387,3294,212.4,-9.1,184,1886,0.00,2.38,0.00,0.000,516,0.000,0.089,3121,1023,3340,3387,3294,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1946,-0.59,-116.8,3122,1024,3386,3294,218.9,-9.5,191,1957,0.00,2.40,0.00,0.000,1030,0.000,0.085,3122,2422,3340,3387,3293,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2196,-0.59,-116.8,3122,2421,3386,3289,241.7,-9.4,216,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2422,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2466,-0.59,-116.8,3121,2421,3387,3292,268.6,-9.9,231,2476,0.00,2.45,0.00,0.000,260,0.000,0.103,3121,3834,3339,3387,3292,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2576,-0.59,-116.8,3122,3834,3386,3292,279.6,-10.0,242,2587,0.00,2.40,0.00,0.000,1030,0.000,0.076,3122,2428,3338,3384,3292,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2889,-0.59,-116.8,3122,2428,3385,3290,309.2,-9.1,253,2899,0.00,2.40,0.00,0.000,516,0.000,0.087,3125,1020,3340,3386,3295,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,2984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2985,begin apogee
$GC,2995,-0.25,0.0,3122,2340,3385,3289,318.6,-9.2,263,3092,0.40,0.00,89.30,1.087,10246,0.210,0.000,3233,2343,2857,2937,2778,0,0,0,0,0,0,14.52,28.83,13.75
$STATE,3094,end apogee,CONTROL_FINISHED_OK
$STATE,3094,begin climb
$GC,3098,0.59,116.8,3237,2344,2935,2774,323.2,0.0,266,3201,0.88,0.00,92.95,1.058,10246,0.157,0.000,3512,2344,2377,2530,2225,0,0,0,0,0,0,14.15,28.83,13.57
$GC,3499,0.59,116.8,3512,2344,2529,2223,299.0,7.2,280,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2344,2374,2525,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3803,0.62,116.8,3512,2344,2533,2221,281.0,5.7,290,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2344,2372,2524,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4102,0.64,116.8,3512,2344,2527,2221,262.8,6.3,300,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2344,2375,2528,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4400,0.64,116.8,3512,2344,2522,2221,243.8,7.5,314,4410,0.00,2.45,0.00,0.000,260,0.000,0.102,3512,3743,2370,2520,2220,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4580,0.64,116.8,3512,3742,2524,2221,226.3,10.2,332,4590,0.00,2.42,0.00,0.000,1030,0.000,0.079,3519,2322,2372,2523,2221,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4830,0.64,116.8,3518,2322,2523,2223,201.5,9.9,357,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2322,2371,2523,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5081,0.64,116.8,3519,2322,2522,2219,180.0,8.3,382,5092,0.00,2.42,0.00,0.000,516,0.000,0.096,3519,920,2371,2523,2219,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5184,0.64,116.8,3519,919,2522,2219,172.4,7.3,392,5195,0.00,2.42,0.00,0.000,1030,0.000,0.085,3520,2331,2370,2522,2219,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5435,0.66,116.8,3519,2330,2522,2218,155.2,6.7,417,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2330,2370,2522,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5686,0.66,116.8,3519,2330,2522,2218,137.5,7.2,442,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2330,2370,2522,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5936,0.69,116.8,3520,2330,2522,2217,122.9,5.7,467,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2331,2367,2517,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6186,0.71,116.8,3519,2330,2522,2217,106.5,6.3,492,6197,0.10,2.45,0.00,0.000,2308,0.181,0.097,3558,3736,2369,2522,2217,0,0,0,0,0,0,14.60,14.57,28.83
$GC,6427,0.71,116.8,3559,3736,2521,2221,88.8,7.4,516,6438,0.00,2.40,0.00,0.000,1030,0.000,0.077,3561,2330,2372,2521,2223,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6678,0.74,116.8,3562,2329,2521,2217,75.3,5.9,541,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2329,2368,2520,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,0.81,213.2,3561,2329,2520,2217,64.2,3.3,566,7011,0.00,2.58,71.22,0.773,8708,0.000,0.095,3562,913,1984,2154,1814,0,0,0,0,0,0,28.83,14.34,14.00
$GC,7212,0.81,213.2,3562,912,2152,1816,42.7,8.3,594,7222,0.00,2.45,0.00,0.000,1030,0.000,0.081,3562,2330,1984,2152,1816,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7463,0.83,213.2,3562,2329,2152,1819,25.4,6.3,619,7473,0.00,2.45,0.00,0.000,260,0.000,0.098,3562,3738,1984,2152,1816,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,7700,end climb,SURFACE_DEPTH_REACHED
$STATE,7700,begin surface coast
$FINISH,1.8,1.023650
$STATE,7764,end surface coast,CONTROL_FINISHED_OK
$STATE,7764,begin surface
$SM_CCo,7791,68.62,0.106,0,0,1329,375.06
$SM_GC,2.19,9.52,2.33,68.62,0.120,0.079,0.106,404,2415,1329,-9.10,0.54,375.06,0,0,0,0,0,0,14.45,14.54,14.48
$IRIDIUM_FIX,4735.69,-12525.55,140714,212142
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.83
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3899296
$PM_FREEKB,59326272
$24V_AH,13.6,27.679
$10V_AH,13.8,0.000
$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,23.800,53.525,253.475,68.625,0.000,0.000,0.000,237.075,0.000,0.000,15.723,1566.337,4452.768,508.383,1407.986,374.721,0.000,1411.416,0.000,1014.422,0.000,0.535,0.000
$DEVICE_MAMPS,420.750,122.400,1087.065,105.570,0.000,0.000,0.000,157.590,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7774.000,101.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.545,5.160,0.000,0.000
$MEM,290912
$DATA_FILE_SIZE,23403,649
$CAP_FILE_SIZE,114377,0
$CFSIZE,260034560,246730752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8151.23,0x2378ba,7,5
$CURRENT,0.062,306.5,1
$GPS,150714,014357,4751.904,-12515.051,13,2.9,33,18.7