version: 66.12
glider: 187
mission: 4
dive: 123
start: 7 15 114 4 25 5
data:
$ID,187
$MISSION,4
$DIVE,123
$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,-1593360.4
$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,24
$R_STBD_OVSHOOT,18
$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
$GPS1,150714,041729,4751.105,-12516.835,44,2.0,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-72.6
$GPS2,150714,042436,4751.062,-12516.822,11,1.9,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,200.9,161016,-14.0,-7.333,-18.81,2445
$D_GRID,424
$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,-116.8,399,2427,1445,1214,0.0,0.0,0,90,0.00,0.00,-58.03,0.000,16386,0.000,0.000,399,2423,2859,2916,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,399,2427,2917,2803,3.6,-3.8,6,130,12.60,2.55,-8.88,0.000,18692,0.407,0.122,3122,3834,3340,3392,3289,0,0,0,0,0,0,14.21,14.38,14.62
$GC,360,-0.59,-116.8,3124,3831,3388,3298,51.3,-13.6,33,371,0.00,2.42,0.00,0.000,1030,0.000,0.073,3124,2421,3340,3387,3293,0,0,0,0,0,0,28.83,14.47,28.83
$GC,611,-0.59,-116.8,3124,2421,3388,3293,79.8,-11.9,58,622,0.00,2.47,0.00,0.000,260,0.000,0.101,3124,3837,3344,3389,3299,0,0,0,0,0,0,28.83,14.50,28.83
$GC,642,-0.59,-116.8,3124,3837,3388,3294,83.5,-11.9,61,652,0.00,2.40,0.00,0.000,1030,0.000,0.073,3124,2423,3341,3388,3294,0,0,0,0,0,0,28.83,14.51,28.83
$GC,892,-0.59,-116.8,3124,2422,3389,3294,109.0,-11.2,86,903,0.00,2.40,0.00,0.000,516,0.000,0.086,3124,1021,3341,3389,3294,0,0,0,0,0,0,28.83,14.53,28.83
$GC,982,-0.59,-116.8,3124,1020,3389,3294,118.7,-10.0,95,993,0.00,2.42,0.00,0.000,1030,0.000,0.082,3124,2434,3341,3389,3294,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1233,-0.59,-116.8,3124,2434,3389,3294,143.5,-10.5,120,1244,0.00,2.45,0.00,0.000,260,0.000,0.102,3125,3846,3341,3388,3294,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1285,-0.59,-116.8,3124,3846,3388,3294,148.7,-10.2,125,1296,0.00,2.42,0.00,0.000,1030,0.000,0.075,3124,2409,3344,3395,3294,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1536,-0.59,-116.8,3124,2410,3388,3294,175.1,-11.1,150,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2410,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1786,-0.59,-116.8,3124,2410,3388,3293,198.8,-9.2,175,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2410,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2036,-0.59,-116.8,3125,2410,3388,3294,222.7,-10.0,200,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2410,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,-0.59,-116.8,3124,2410,3388,3294,247.5,-10.2,225,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2410,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2556,-0.59,-116.8,3124,2409,3388,3293,274.1,-9.7,236,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2410,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2856,-0.59,-116.8,3124,2410,3388,3293,299.4,-8.0,246,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2410,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3156,-0.59,-116.8,3124,2410,3388,3292,321.4,-7.6,256,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2410,3341,3390,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3456,-0.59,-116.8,3122,2406,3395,3291,350.1,-10.1,266,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2410,3339,3388,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3756,-0.59,-116.8,3124,2409,3388,3290,379.1,-9.2,276,3767,0.00,2.38,0.00,0.000,516,0.000,0.091,3124,1027,3338,3388,3289,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3855,-0.59,-116.8,3124,1027,3388,3289,389.0,-10.0,286,3865,0.00,2.40,0.00,0.000,1030,0.000,0.085,3124,2423,3338,3388,3289,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4177,-0.59,-116.8,3124,2428,3388,3289,417.5,-8.8,298,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2422,3338,3388,3288,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4263,begin apogee
$GC,4272,-0.25,0.0,3125,2338,3388,3288,425.5,-9.0,301,4369,0.40,0.00,90.15,1.224,10246,0.209,0.000,3240,2335,2857,2935,2780,0,0,0,0,0,0,14.54,28.83,13.69
$STATE,4371,end apogee,CONTROL_FINISHED_OK
$STATE,4372,begin climb
$GC,4375,0.59,116.8,3240,2335,2934,2776,429.8,0.0,304,4481,0.85,2.67,93.70,1.191,10500,0.153,0.098,3507,3750,2379,2524,2234,0,0,0,0,0,0,14.12,13.91,13.49
$GC,4531,0.59,116.8,3507,3750,2522,2234,423.6,7.5,315,4541,0.00,2.50,0.00,0.000,1030,0.000,0.078,3507,2340,2378,2522,2234,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4861,0.60,116.8,3507,2339,2522,2231,401.5,6.7,328,4871,0.00,2.50,0.00,0.000,516,0.000,0.097,3508,914,2376,2522,2231,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4993,0.63,116.8,3508,915,2522,2231,393.4,6.1,341,5003,0.00,2.47,0.00,0.000,1030,0.000,0.082,3508,2337,2376,2521,2231,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5316,0.63,116.8,3508,2340,2521,2230,372.4,7.0,353,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2336,2375,2521,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5613,0.63,116.8,3509,2339,2521,2229,347.8,8.8,363,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2340,2372,2521,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5913,0.63,116.8,3508,2339,2520,2228,320.3,8.7,373,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2339,2374,2520,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6213,0.63,116.8,3509,2339,2520,2228,294.1,8.8,383,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2339,2373,2520,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6513,0.63,116.8,3508,2340,2520,2227,270.3,7.3,393,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2339,2372,2519,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6816,0.64,116.8,3505,2337,2519,2227,249.8,6.5,403,6827,0.00,2.45,0.00,0.000,260,0.000,0.102,3508,3747,2372,2519,2226,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6867,0.64,116.8,3508,3747,2517,2226,246.1,6.8,408,6877,0.00,2.42,0.00,0.000,1030,0.000,0.080,3508,2326,2372,2518,2227,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7118,0.66,116.8,3508,2325,2518,2227,229.9,6.3,433,7130,0.00,2.45,0.00,0.000,516,0.000,0.100,3508,915,2373,2519,2227,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7189,0.69,116.8,3508,915,2520,2227,225.4,6.2,440,7201,0.12,2.42,0.00,0.000,3078,0.158,0.083,3552,2334,2372,2518,2227,0,0,0,0,0,0,14.60,14.59,28.83
$GC,7440,0.69,116.8,3555,2333,2518,2224,206.0,8.4,465,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2333,2372,2517,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7691,0.69,116.8,3555,2333,2518,2227,185.1,8.3,490,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2333,2370,2517,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7940,0.69,116.8,3555,2334,2517,2227,166.4,7.2,515,7951,0.00,2.47,0.00,0.000,516,0.000,0.093,3561,917,2372,2517,2227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8021,0.69,116.8,3562,914,2517,2227,159.8,8.4,523,8032,0.00,2.42,0.00,0.000,1030,0.000,0.083,3562,2334,2372,2517,2227,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8272,0.69,116.8,3562,2333,2517,2229,141.3,7.6,548,8283,0.00,2.45,0.00,0.000,260,0.000,0.099,3558,3733,2372,2517,2227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8344,0.69,116.8,3561,3733,2516,2226,135.1,9.3,555,8355,0.00,2.40,0.00,0.000,1030,0.000,0.078,3561,2331,2371,2516,2227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8595,0.72,164.8,3562,2331,2516,2222,118.4,5.3,580,8645,0.00,2.55,36.65,0.858,8452,0.000,0.100,3562,3729,2186,2349,2024,0,0,0,0,0,0,28.83,14.40,14.06
$GC,8855,0.72,164.8,3562,3732,2343,2024,92.1,10.6,606,8866,0.00,2.45,0.00,0.000,1030,0.000,0.080,3561,2319,2183,2343,2023,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9106,0.72,164.8,3562,2318,2343,2024,71.6,7.5,631,9117,0.00,2.42,0.00,0.000,516,0.000,0.094,3562,914,2183,2343,2024,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9286,0.72,164.8,3562,919,2348,2024,58.4,7.0,649,9298,0.00,2.42,0.00,0.000,1030,0.000,0.080,3562,2333,2183,2343,2024,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9538,0.75,212.7,3562,2332,2343,2024,44.5,5.3,674,9586,0.00,0.00,37.53,0.765,8710,0.000,0.000,3562,2332,1986,2150,1823,0,0,0,0,0,0,28.83,28.83,14.06
$GC,9828,0.77,212.7,3562,2332,2150,1823,23.2,6.4,703,9839,0.00,2.45,0.00,0.000,260,0.000,0.096,3562,3737,1986,2150,1823,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10069,0.85,324.1,3562,3737,2149,1823,8.4,2.7,727,10131,0.12,2.42,48.47,0.128,11270,0.158,0.076,3607,2317,1539,1700,1379,0,0,0,0,0,0,14.50,14.50,14.47
$STATE,10178,end climb,SURFACE_DEPTH_REACHED
$STATE,10178,begin surface coast
$FINISH,0.9,1.023576
$STATE,10239,end surface coast,CONTROL_FINISHED_OK
$STATE,10239,begin surface
$SM_CCo,10265,22.23,0.106,0,0,1328,375.06
$SM_GC,1.80,9.32,0.20,22.23,0.086,0.128,0.106,398,2434,1328,-9.10,-0.59,375.06,0,0,0,0,0,0,14.47,14.50,14.47
$IRIDIUM_FIX,4732.49,-12526.30,150714,010107
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.34
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3898656
$PM_FREEKB,59305408
$24V_AH,13.5,27.961
$10V_AH,13.7,0.000
$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,23.425,69.050,306.500,22.225,0.000,0.000,0.000,210.500,0.000,0.000,17.520,1801.272,6364.043,503.467,1635.184,413.153,0.000,1556.507,0.000,1161.526,0.000,0.536,0.000
$DEVICE_MAMPS,406.980,168.300,1224.000,106.335,0.000,0.000,0.000,159.120,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10252.000,165.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.939,5.396,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,26710,744
$CAP_FILE_SIZE,139464,0
$CFSIZE,260034560,246562816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9220.46,0x2378ba,7,5
$CURRENT,0.170,279.5,1
$GPS,150714,071805,4750.333,-12519.312,41,1.3,42,18.7