version: 66.12
glider: 187
mission: 4
dive: 677
start: 12 8 114 2 5 24
data:
$ID,187
$MISSION,4
$DIVE,677
$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,-1595292.6
$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,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,30
$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
$GPS1,081214,015351,4755.567,-12518.924,10,2.7,31,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-67.3
$GPS2,081214,020453,4755.692,-12519.105,97,1.1,97,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,178.3,163946,-14.0,-7.333,-18.81,2445
$D_GRID,375
$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,28,-0.59,-116.8,395,2378,1443,1217,0.0,0.0,0,91,0.00,0.00,-57.17,0.000,16386,0.000,0.000,395,2380,2780,2840,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.59,-116.8,395,2380,2845,2723,3.2,-1.9,6,132,12.32,2.53,-11.05,0.000,18948,0.354,0.097,3122,999,3337,3382,3292,0,0,0,0,0,0,13.70,14.16,14.52
$GC,233,-0.59,-116.8,3126,995,3382,3293,25.0,-12.9,20,245,0.00,2.50,0.00,0.000,1030,0.000,0.070,3126,2394,3337,3382,3293,0,0,0,0,0,0,28.83,14.08,28.83
$GC,487,-0.59,-116.8,3125,2393,3382,3297,59.6,-13.8,45,497,0.00,2.55,0.00,0.000,260,0.000,0.083,3125,3820,3338,3382,3294,0,0,0,0,0,0,28.83,14.01,28.83
$GC,518,-0.59,-116.8,3126,3820,3382,3296,64.1,-13.8,48,530,0.00,2.47,0.00,0.000,1030,0.000,0.058,3126,2402,3338,3382,3294,0,0,0,0,0,0,28.83,14.12,28.83
$GC,771,-0.59,-116.8,3126,2396,3382,3294,92.5,-8.6,73,781,0.00,2.58,0.00,0.000,260,0.000,0.084,3126,3816,3338,3382,3294,0,0,0,0,0,0,28.83,13.94,28.83
$GC,862,-0.59,-116.8,3123,3815,3386,3294,101.3,-9.6,82,873,0.00,2.47,0.00,0.000,1030,0.000,0.057,3126,2394,3337,3382,3292,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1113,-0.59,-116.8,3126,2385,3382,3294,123.5,-8.5,107,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1364,-0.59,-116.8,3125,2384,3388,3294,145.7,-9.3,132,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2385,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1615,-0.59,-116.8,3128,2385,3383,3295,166.1,-7.4,157,1626,0.00,2.60,0.00,0.000,260,0.000,0.083,3125,3815,3339,3383,3295,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1737,-0.59,-116.8,3125,3815,3382,3295,174.8,-6.8,169,1748,0.00,2.47,0.00,0.000,1030,0.000,0.059,3125,2400,3338,3382,3294,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1989,-0.59,-116.8,3126,2394,3383,3294,195.0,-8.6,194,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2394,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,-0.59,-116.8,3126,2390,3383,3294,217.9,-9.0,219,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2391,3336,3382,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2490,-0.59,-116.8,3126,2394,3382,3293,239.0,-8.4,244,2501,0.00,2.47,0.00,0.000,516,0.000,0.071,3126,991,3340,3383,3298,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2542,-0.59,-116.8,3125,990,3383,3294,243.8,-9.3,249,2553,0.00,2.50,0.00,0.000,1030,0.000,0.068,3125,2402,3338,3383,3294,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2793,-0.59,-116.8,3126,2398,3383,3294,266.9,-9.4,262,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3339,3384,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3095,-0.59,-116.8,3125,2397,3379,3294,294.3,-8.8,272,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3393,-0.59,-116.8,3122,2398,3378,3294,318.3,-8.4,282,3404,0.00,2.55,0.00,0.000,260,0.000,0.085,3125,3810,3339,3383,3296,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3465,-0.59,-116.8,3126,3809,3382,3293,324.6,-8.7,289,3475,0.00,2.47,0.00,0.000,1030,0.000,0.060,3125,2397,3340,3383,3297,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3786,-0.59,-116.8,3126,2391,3384,3292,351.3,-8.2,301,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3337,3383,3292,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4086,begin apogee
$GC,4097,-0.25,0.0,3125,2327,3382,3291,376.1,-8.0,311,4205,0.40,0.00,96.25,1.134,10246,0.167,0.000,3244,2327,2856,2930,2782,0,0,0,0,0,0,13.82,28.83,13.21
$STATE,4207,end apogee,CONTROL_FINISHED_OK
$STATE,4208,begin climb
$GC,4212,0.59,116.8,3243,2327,2930,2781,381.5,0.0,315,4331,0.80,2.65,97.10,1.117,10500,0.119,0.084,3509,3741,2378,2506,2250,0,0,0,0,0,0,14.02,14.00,13.18
$GC,4362,0.64,180.5,3509,3741,2506,2250,378.2,4.7,330,4425,0.00,2.47,52.70,1.105,9222,0.000,0.063,3509,2335,2120,2266,1975,0,0,0,0,0,0,28.83,14.08,13.19
$GC,4747,0.64,180.5,3509,2334,2262,1974,350.1,8.1,348,4757,0.00,2.50,0.00,0.000,516,0.000,0.077,3509,917,2118,2263,1974,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4877,0.64,180.5,3509,917,2265,1974,339.2,8.3,361,4887,0.00,2.50,0.00,0.000,1030,0.000,0.070,3509,2331,2121,2265,1978,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5202,0.64,180.5,3509,2333,2264,1975,313.9,7.6,373,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2331,2123,2272,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,0.66,180.5,3509,2330,2265,1975,293.8,6.4,383,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2331,2119,2265,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5804,0.68,180.5,3505,2330,2265,1975,275.9,6.2,393,5814,0.12,0.00,0.00,0.000,2054,0.135,0.000,3572,2331,2119,2264,1974,0,0,0,0,0,0,14.31,28.83,28.83
$GC,6103,0.68,180.5,3572,2330,2264,1974,251.6,8.2,403,6113,0.00,2.50,0.00,0.000,516,0.000,0.076,3574,921,2117,2264,1971,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6228,0.68,180.5,3574,921,2261,1974,241.1,8.3,415,6239,0.00,2.50,0.00,0.000,1030,0.000,0.071,3574,2331,2119,2265,1974,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6481,0.68,180.5,3574,2331,2264,1974,217.6,10.0,440,6492,0.12,0.00,0.00,0.000,4102,0.240,0.000,3541,2330,2120,2265,1975,0,0,0,0,0,0,13.94,28.83,28.83
$GC,6734,0.68,180.5,3542,2330,2264,1974,197.3,7.2,465,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2330,2118,2265,1971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,0.68,180.5,3542,2330,2265,1974,179.6,7.0,490,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2330,2119,2264,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7237,0.69,180.5,3542,2330,2264,1974,162.5,6.7,515,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2330,2119,2265,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,0.71,180.5,3542,2330,2264,1975,145.3,6.4,540,7499,0.00,2.53,0.00,0.000,516,0.000,0.075,3548,917,2120,2266,1974,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7541,0.73,180.5,3546,917,2265,1977,141.7,6.4,545,7552,0.00,2.53,0.00,0.000,1030,0.000,0.070,3548,2331,2119,2265,1974,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7794,0.73,180.5,3548,2330,2264,1974,123.7,7.0,570,7805,0.00,2.55,0.00,0.000,260,0.000,0.085,3547,3740,2119,2264,1974,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7955,0.73,180.5,3548,3740,2265,1975,111.0,8.2,586,7966,0.00,2.50,0.00,0.000,1030,0.000,0.063,3548,2318,2119,2264,1974,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8206,0.73,180.5,3549,2321,2264,1974,91.3,8.0,611,8217,0.00,2.47,0.00,0.000,516,0.000,0.076,3550,935,2119,2264,1974,0,0,0,0,0,0,28.83,13.96,28.83
$GC,8249,0.73,180.5,3549,935,2265,1974,88.4,7.0,615,8260,0.00,2.47,0.00,0.000,1030,0.000,0.068,3548,2331,2116,2259,1974,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8500,0.75,180.5,3549,2331,2264,1973,76.3,6.2,640,8512,0.00,2.53,0.00,0.000,516,0.000,0.075,3553,931,2119,2264,1974,0,0,0,0,0,0,28.83,13.96,28.83
$GC,8693,0.84,305.8,3548,930,2264,1974,66.0,2.1,659,8808,0.15,2.50,94.47,0.753,11270,0.121,0.069,3611,2339,1607,1753,1462,0,0,0,0,0,0,13.95,13.92,13.45
$GC,9048,0.84,305.8,3611,2339,1751,1462,44.1,7.5,694,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2339,1607,1752,1462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9298,0.84,305.8,3617,2339,1752,1461,20.2,11.8,719,9309,0.00,2.53,0.00,0.000,516,0.000,0.075,3614,932,1607,1752,1462,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9362,0.88,367.8,3614,932,1752,1462,15.9,4.7,725,9401,0.00,2.47,29.50,0.150,9222,0.000,0.069,3614,2329,1359,1505,1213,0,0,0,0,0,0,28.83,14.09,13.97
$STATE,9467,end climb,SURFACE_DEPTH_REACHED
$STATE,9467,begin surface coast
$FINISH,1.4,1.012868
$STATE,9499,end surface coast,CONTROL_FINISHED_OK
$STATE,9500,begin surface
$SM_CCo,9529,3.60,0.093,0,0,1328,375.06
$SM_GC,3.03,9.18,0.12,3.60,0.054,0.147,0.093,387,2411,1328,-9.11,-0.68,375.06,0,0,0,0,0,0,14.21,14.27,14.08
$IRIDIUM_FIX,4738.89,-12519.55,071214,232336
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.39
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3721376
$PM_FREEKB,42299328
$24V_AH,13.2,167.355
$10V_AH,12.6,0.000
$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,23.100,70.600,370.025,3.600,0.000,0.000,0.000,279.450,0.000,0.000,98.140,1752.826,5522.792,538.269,1723.506,651.562,0.000,1646.672,0.000,1175.498,0.000,0.538,0.000
$DEVICE_MAMPS,354.195,168.300,1133.730,92.565,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9528.000,147.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.213,5.502,0.000,0.000
$MEM,290928
$DATA_FILE_SIZE,26699,739
$CAP_FILE_SIZE,137009,0
$CFSIZE,260034560,188628992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10089.67,0x2378ba,7,5
$CURRENT,0.165,295.8,1
$GPS,081214,044545,4755.050,-12520.823,12,3.0,33,18.8