version: 66.12
glider: 187
mission: 4
dive: 122
start: 7 15 114 1 51 24
data:
$ID,187
$MISSION,4
$DIVE,122
$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,-1593359
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,150714,014357,4751.904,-12515.051,13,2.9,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-73.0
$GPS2,150714,015057,4751.932,-12515.066,15,3.8,35,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,199.3,163757,-14.0,-7.333,-18.81,2445
$D_GRID,360
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,403,2408,1448,1217,0.0,0.0,0,89,0.00,0.00,-58.22,0.000,16386,0.000,0.000,409,2402,2863,2921,2806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,404,2409,2924,2805,3.5,-3.5,6,130,12.85,2.60,-8.80,0.000,18692,0.417,0.123,3127,3828,3337,3384,3290,0,0,0,0,0,0,14.21,14.39,14.62
$GC,360,-0.59,-116.8,3127,3828,3386,3293,51.2,-14.7,33,369,0.00,2.40,0.00,0.000,1030,0.000,0.073,3127,2420,3339,3386,3293,0,0,0,0,0,0,28.83,14.47,28.83
$GC,610,-0.59,-116.8,3127,2422,3388,3294,79.8,-14.1,58,619,0.00,2.40,0.00,0.000,516,0.000,0.085,3127,1022,3343,3388,3299,0,0,0,0,0,0,28.83,14.48,28.83
$GC,670,-0.59,-116.8,3131,1022,3388,3294,89.4,-16.2,64,679,0.00,2.42,0.00,0.000,1030,0.000,0.082,3127,2429,3341,3388,3294,0,0,0,0,0,0,28.83,14.48,28.83
$GC,921,-0.59,-116.8,3127,2429,3384,3294,116.4,-10.7,89,929,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2429,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1170,-0.59,-116.8,3127,2429,3388,3300,138.3,-8.6,114,1179,0.00,2.45,0.00,0.000,260,0.000,0.102,3127,3834,3341,3388,3294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1304,-0.59,-116.8,3127,3832,3388,3294,150.3,-9.2,127,1314,0.00,2.40,0.00,0.000,1030,0.000,0.074,3127,2419,3344,3395,3294,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1553,-0.59,-116.8,3127,2412,3388,3294,171.8,-8.1,152,1562,0.00,2.40,0.00,0.000,516,0.000,0.088,3128,1012,3341,3388,3294,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1653,-0.59,-116.8,3127,1012,3388,3294,180.2,-8.5,162,1662,0.00,2.45,0.00,0.000,1030,0.000,0.083,3126,2436,3341,3388,3294,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1904,-0.59,-116.8,3127,2436,3388,3294,202.8,-9.6,187,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2436,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2153,-0.59,-116.8,3127,2436,3389,3300,225.7,-9.1,212,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2436,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2404,-0.59,-116.8,3127,2436,3387,3293,248.5,-8.7,237,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2436,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,-0.59,-116.8,3127,2434,3388,3293,272.8,-9.7,247,2671,0.00,2.45,0.00,0.000,516,0.000,0.087,3127,1009,3340,3388,3293,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2723,-0.59,-116.8,3127,1009,3387,3293,279.1,-10.6,253,2731,0.00,2.45,0.00,0.000,1030,0.000,0.085,3127,2427,3341,3390,3292,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3056,-0.59,-116.8,3128,2428,3388,3291,313.1,-10.6,266,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2428,3339,3388,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3353,-0.59,-116.8,3127,2428,3387,3297,343.0,-9.5,276,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2428,3339,3388,3291,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3560,begin apogee
$GC,3569,-0.25,0.0,3127,2326,3388,3290,360.3,-7.8,283,3665,0.38,0.00,90.50,1.131,10246,0.213,0.000,3236,2326,2856,2934,2779,0,0,0,0,0,0,14.50,28.83,13.72
$STATE,3668,end apogee,CONTROL_FINISHED_OK
$STATE,3668,begin climb
$GC,3672,0.59,116.8,3236,2326,2933,2776,362.4,0.0,286,3774,0.88,0.00,92.72,1.102,10246,0.158,0.000,3509,2326,2378,2527,2229,0,0,0,0,0,0,14.13,28.83,13.54
$GC,4074,0.59,116.8,3509,2326,2523,2231,328.3,9.1,300,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2326,2377,2523,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4377,0.61,116.8,3509,2326,2522,2230,306.4,6.4,310,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2326,2376,2523,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4677,0.65,116.8,3509,2326,2522,2228,290.0,5.5,320,4687,0.00,2.50,0.00,0.000,260,0.000,0.103,3509,3744,2375,2522,2228,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4776,0.66,116.8,3509,3744,2521,2228,283.3,6.5,330,4786,0.00,2.42,0.00,0.000,1030,0.000,0.080,3509,2337,2374,2521,2228,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5097,0.70,116.8,3509,2335,2521,2227,264.4,5.6,342,5108,0.12,2.47,0.00,0.000,2564,0.159,0.094,3562,912,2374,2521,2227,0,0,0,0,0,0,14.56,14.53,28.83
$GC,5267,0.70,116.8,3563,911,2522,2227,251.7,7.6,359,5278,0.00,2.45,0.00,0.000,1030,0.000,0.085,3562,2337,2373,2520,2227,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5578,0.70,116.8,3562,2335,2520,2227,224.2,8.8,388,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2337,2373,2520,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5828,0.70,116.8,3562,2336,2520,2229,201.2,8.7,413,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2333,2373,2519,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6078,0.70,116.8,3562,2336,2520,2227,179.3,8.5,438,6088,0.00,2.45,0.00,0.000,260,0.000,0.103,3562,3739,2372,2519,2226,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6311,0.70,116.8,3562,3739,2518,2226,156.6,9.0,461,6322,0.00,2.42,0.00,0.000,1030,0.000,0.080,3562,2322,2372,2518,2226,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6561,0.72,116.8,3562,2321,2518,2226,138.4,6.3,486,6572,0.00,2.42,0.00,0.000,516,0.000,0.096,3567,918,2372,2518,2226,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6642,0.72,116.8,3567,918,2518,2226,132.9,7.2,494,6653,0.00,2.42,0.00,0.000,1030,0.000,0.085,3567,2333,2373,2518,2228,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6893,0.72,116.8,3567,2332,2518,2226,113.2,7.9,519,6904,0.00,2.45,0.00,0.000,260,0.000,0.101,3566,3735,2372,2518,2226,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6985,0.72,116.8,3567,3735,2517,2226,105.2,8.9,528,6995,0.00,2.40,0.00,0.000,1030,0.000,0.081,3576,2335,2371,2516,2226,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7237,0.74,116.8,3574,2334,2517,2226,87.5,6.2,553,7247,0.00,2.47,0.00,0.000,260,0.000,0.101,3575,3737,2371,2517,2226,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7277,0.74,116.8,3575,3740,2517,2225,84.5,7.1,557,7288,0.00,2.42,0.00,0.000,1030,0.000,0.080,3575,2326,2371,2517,2226,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7528,0.79,180.3,3575,2325,2516,2226,69.6,4.7,582,7589,0.00,2.53,47.17,0.792,8708,0.000,0.099,3584,925,2121,2282,1960,0,0,0,0,0,0,28.83,14.36,14.05
$GC,7822,0.79,180.3,3585,925,2281,1962,44.2,7.4,611,7833,0.00,2.45,0.00,0.000,1030,0.000,0.084,3585,2333,2121,2282,1961,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8074,0.82,180.3,3585,2333,2281,1961,28.4,5.9,636,8084,0.00,2.45,0.00,0.000,260,0.000,0.099,3585,3742,2121,2281,1961,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8244,0.84,180.3,3585,3741,2281,1962,17.7,6.2,653,8255,0.00,2.42,0.00,0.000,1030,0.000,0.080,3587,2331,2121,2282,1961,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8495,0.93,305.2,3587,2331,2281,1961,7.1,2.1,678,8565,0.10,2.53,54.62,0.119,10756,0.182,0.095,3631,919,1612,1773,1452,0,0,0,0,0,0,14.54,14.48,14.48
$STATE,8581,end climb,SURFACE_DEPTH_REACHED
$STATE,8581,begin surface coast
$FINISH,1.4,1.023718
$STATE,8612,end surface coast,CONTROL_FINISHED_OK
$STATE,8612,begin surface
$SM_CCo,8640,29.90,0.104,0,0,1328,375.06
$SM_GC,1.99,9.40,2.65,29.90,0.090,0.079,0.104,400,2426,1328,-9.10,-0.59,375.06,0,0,0,0,0,0,14.48,14.51,14.49
$IRIDIUM_FIX,4735.69,-12239.10,140714,232318
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.34
$INTERNAL_PRESSURE,8.92297
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3898976
$PM_FREEKB,59305440
$24V_AH,13.5,27.814
$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,23.725,68.950,285.025,29.900,0.000,0.000,0.000,210.150,0.000,0.000,36.728,1667.875,5090.492,496.699,1467.341,366.679,0.000,1400.760,0.000,1057.301,0.000,0.536,0.000
$DEVICE_MAMPS,416.925,143.820,1130.670,104.040,0.000,0.000,0.000,156.060,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8622.000,3709.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.339,4.094,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,23415,690
$CAP_FILE_SIZE,121568,0
$CFSIZE,260034560,246661120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8388.91,0x2378ba,7,5
$CURRENT,0.128,258.4,1
$GPS,150714,041729,4751.105,-12516.835,44,2.0,45,18.7