version: 66.12
glider: 187
mission: 4
dive: 42
start: 6 27 114 11 45 24
data:
$ID,187
$MISSION,4
$DIVE,42
$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,-1593236.4
$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,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,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,14
$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
$GPS1,270614,113715,4750.167,-12516.905,36,5.5,56,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.7
$GPS2,270614,114451,4750.270,-12516.932,13,6.7,33,18.7
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,194.3,160046,-15.7,-10.000,-22.91,1951
$D_GRID,471
$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,-136.3,400,2386,1589,1335,0.0,0.0,0,91,0.00,0.00,-60.35,0.000,16386,0.000,0.000,401,2386,3039,3074,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.85,-136.3,401,2386,3076,3004,3.6,-4.9,6,128,12.57,2.50,-7.10,0.000,18948,0.419,0.132,3076,980,3452,3475,3430,0,0,0,0,0,0,14.24,14.35,14.59
$GC,264,-0.82,-136.3,3074,981,3472,3434,44.0,-18.1,34,273,0.00,2.53,0.00,0.000,1030,0.000,0.098,3077,2409,3453,3473,3434,0,0,0,0,0,0,28.83,14.40,28.83
$GC,463,-0.79,-136.3,3076,2409,3473,3435,79.5,-15.4,54,472,0.00,2.50,0.00,0.000,260,0.000,0.116,3073,3821,3454,3473,3436,0,0,0,0,0,0,28.83,14.44,28.83
$GC,494,-0.76,-136.3,3076,3821,3473,3436,84.1,-15.7,58,503,0.15,2.50,0.00,0.000,3078,0.287,0.101,3111,2402,3454,3473,3436,0,0,0,0,0,0,14.38,14.45,28.83
$GC,693,-0.76,-136.3,3109,2401,3473,3436,109.2,-13.7,78,702,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3455,3474,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,883,-0.76,-136.3,3112,2403,3474,3434,132.5,-11.4,97,892,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3454,3474,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1074,-0.76,-136.3,3112,2401,3474,3435,154.0,-11.0,116,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3455,3474,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1263,-0.76,-136.3,3112,2400,3474,3437,174.1,-10.6,135,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2401,3455,3474,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1454,-0.76,-136.3,3112,2401,3474,3436,194.7,-11.0,154,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3454,3474,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1644,-0.76,-136.3,3112,2401,3474,3436,214.8,-10.4,173,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3455,3474,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1836,-0.76,-136.3,3112,2398,3474,3436,234.5,-10.4,192,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3455,3474,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2046,-0.76,-136.3,3112,2399,3480,3437,253.6,-8.9,211,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3456,3474,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2346,-0.76,-136.3,3113,2401,3474,3436,281.4,-9.5,221,2354,0.00,2.50,0.00,0.000,516,0.000,0.116,3112,978,3455,3474,3436,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2452,-0.76,-136.3,3112,978,3474,3435,292.0,-10.1,240,2461,0.00,2.47,0.00,0.000,1030,0.000,0.104,3112,2403,3454,3474,3435,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2789,-0.76,-136.3,3112,2403,3470,3434,327.6,-11.0,255,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2404,3454,3474,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3087,-0.76,-136.3,3112,2403,3479,3432,358.8,-9.8,265,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3453,3474,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3386,-0.76,-136.3,3112,2404,3470,3429,388.1,-10.4,275,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2404,3452,3474,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3686,-0.76,-136.3,3112,2404,3473,3431,420.1,-10.7,285,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2404,3452,3474,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3986,-0.76,-136.3,3112,2403,3474,3430,450.8,-10.2,295,3997,0.00,2.53,0.00,0.000,516,0.000,0.122,3113,983,3452,3474,3430,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4053,-0.76,-136.3,3112,979,3474,3430,458.0,-10.8,306,4063,0.00,2.50,0.00,0.000,1030,0.000,0.108,3112,2405,3454,3479,3429,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,4206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4206,begin apogee
$GC,4214,-0.32,0.0,3112,2702,3473,3429,473.4,-9.9,312,4330,0.47,0.00,108.85,1.288,10246,0.217,0.000,3250,2702,2889,2957,2822,0,0,0,0,0,0,14.54,28.83,13.54
$STATE,4334,end apogee,CONTROL_FINISHED_OK
$STATE,4334,begin climb
$GC,4337,0.85,136.3,3250,2703,2956,2819,479.0,0.0,316,4459,1.23,0.00,112.50,1.252,10502,0.158,0.000,3628,2704,2337,2483,2191,0,0,0,0,0,0,13.99,28.83,13.33
$GC,4750,0.80,136.3,3628,2703,2479,2182,435.2,13.6,340,4761,0.00,2.62,0.00,0.000,516,0.000,0.129,3629,1280,2331,2479,2183,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4827,0.75,136.3,3630,1280,2478,2182,424.9,12.8,353,4838,0.00,2.60,0.00,0.000,1030,0.000,0.113,3630,2704,2330,2478,2182,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5166,0.70,136.3,3630,2706,2477,2179,378.6,13.9,368,5176,0.20,0.00,0.00,0.000,4102,0.306,0.000,3586,2711,2328,2477,2180,0,0,0,0,0,0,14.34,28.83,28.83
$GC,5467,0.67,136.3,3586,2706,2476,2180,342.3,12.1,378,5478,0.00,2.60,0.00,0.000,516,0.000,0.136,3593,1288,2328,2480,2177,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5531,0.64,136.3,3593,1288,2477,2177,334.7,11.2,388,5541,0.00,2.55,0.00,0.000,1030,0.000,0.117,3593,2708,2328,2476,2180,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5856,0.60,136.3,3594,2708,2475,2176,297.1,11.6,400,5866,0.17,0.00,0.00,0.000,4102,0.304,0.000,3551,2708,2326,2476,2176,0,0,0,0,0,0,14.46,28.83,28.83
$GC,6155,0.58,136.3,3555,2708,2475,2176,264.7,11.1,410,6166,0.00,2.58,0.00,0.000,516,0.000,0.129,3562,1277,2325,2475,2175,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6393,0.56,136.3,3562,1281,2475,2175,237.7,10.7,453,6405,0.00,2.53,0.00,0.000,1030,0.000,0.112,3562,2704,2325,2475,2176,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6587,0.54,148.1,3562,2703,2469,2175,218.2,9.4,472,6606,0.00,2.67,8.80,0.978,8708,0.000,0.143,3562,1291,2287,2442,2132,0,0,0,0,0,0,28.83,14.47,14.12
$GC,6701,0.55,170.6,3562,1291,2442,2136,208.3,8.8,490,6733,0.00,2.53,19.55,0.988,9222,0.000,0.117,3562,2699,2196,2354,2038,0,0,0,0,0,0,28.83,14.52,14.07
$GC,6915,0.53,170.6,3562,2699,2353,2037,186.6,11.2,512,6927,0.12,0.00,0.00,0.000,4102,0.288,0.000,3532,2699,2195,2353,2037,0,0,0,0,0,0,14.38,28.83,28.83
$GC,7107,0.54,181.2,3531,2699,2353,2037,167.6,9.4,531,7128,0.00,2.72,10.00,0.938,8708,0.000,0.151,3532,1283,2153,2310,1996,0,0,0,0,0,0,28.83,14.38,14.09
$GC,7211,0.57,212.3,3532,1282,2308,1992,158.3,8.4,548,7250,0.00,2.55,25.88,0.920,9222,0.000,0.116,3532,2704,2023,2184,1863,0,0,0,0,0,0,28.83,14.45,14.01
$GC,7431,0.57,212.3,3529,2700,2183,1861,137.4,10.3,571,7444,0.00,2.62,0.00,0.000,516,0.000,0.144,3533,1291,2022,2183,1861,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7504,0.57,212.3,3533,1288,2183,1861,130.1,10.0,583,7517,0.00,2.55,0.00,0.000,1030,0.000,0.121,3533,2696,2022,2184,1861,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7708,0.60,240.5,3532,2696,2183,1859,111.0,8.5,603,7741,0.00,2.75,22.30,0.868,8708,0.000,0.155,3533,1283,1908,2065,1752,0,0,0,0,0,0,28.83,14.30,14.04
$GC,7830,0.63,269.9,3533,1283,2064,1752,100.7,8.5,623,7863,0.00,2.58,23.60,0.844,9222,0.000,0.117,3533,2704,1790,1954,1627,0,0,0,0,0,0,28.83,14.38,13.99
$GC,8043,0.63,269.9,3533,2705,1951,1625,78.2,11.2,645,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2705,1788,1951,1625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8235,0.64,285.0,3530,2705,1951,1631,58.5,9.2,664,8256,0.12,0.00,12.85,0.812,10246,0.172,0.000,3583,2705,1725,1895,1556,0,0,0,0,0,0,14.44,28.83,14.08
$GC,8438,0.64,285.0,3582,2705,1894,1557,37.1,10.0,684,8448,0.00,2.58,0.00,0.000,516,0.000,0.124,3588,1280,1724,1890,1559,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8696,0.71,353.2,3593,1280,1893,1557,16.6,6.4,730,8742,0.00,2.53,31.20,0.169,9222,0.000,0.107,3587,2703,1453,1617,1289,0,0,0,0,0,0,28.83,14.47,14.41
$STATE,8829,end climb,SURFACE_DEPTH_REACHED
$STATE,8829,begin surface coast
$FINISH,0.4,1.011957
$STATE,8861,end surface coast,CONTROL_FINISHED_OK
$STATE,8861,begin surface
$SM_CCo,8946,0.00,0.000,0,0,1453,352.99
$SM_GC,1.78,9.12,0.57,0.00,0.076,0.114,0.000,395,2391,1453,-9.20,0.42,352.99,0,0,0,0,0,0,14.52,14.50,28.83
$IRIDIUM_FIX,4732.49,-12519.22,230407,222220
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.01
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3924576
$PM_FREEKB,61806528
$24V_AH,13.3,7.192
$10V_AH,13.1,0.000
$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,24.175,62.700,375.525,0.000,0.000,0.000,0.000,226.200,0.000,0.000,34.882,2281.374,4611.256,539.973,1572.265,396.450,0.000,1528.853,0.000,1151.120,0.000,0.536,0.000
$DEVICE_MAMPS,419.220,155.295,1288.260,0.000,0.000,0.000,0.000,162.945,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8871.000,4382.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.781,4.130,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,26767,748
$CAP_FILE_SIZE,126059,0
$CFSIZE,260034560,254210048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8773.50,0x2378ba,7,5
$EKF,9096,2869.543213,-7517.644531,0.390254,-0.014078,0.000328,-0.058796,0.006811,0.015114,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.135,256.4,1
$GPS,270614,141657,4749.386,-12518.604,80,2.8,101,18.7