version: 66.12
glider: 187
mission: 4
dive: 190
start: 8 3 114 0 22 45
data:
$ID,187
$MISSION,4
$DIVE,190
$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,4
$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,-1593658
$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,20
$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,48
$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
$GPS1,030814,001424,4750.387,-12515.741,45,1.9,46,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-70.5
$GPS2,030814,002219,4750.330,-12515.771,15,1.9,15,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,76.5,7450,-14.0,-7.333,-18.81,2445
$D_GRID,416
$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,-0.59,-116.8,392,2404,1467,1193,0.0,0.0,0,91,0.00,0.00,-58.75,0.000,16386,0.000,0.000,391,2398,2881,2935,2828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,391,2401,2933,2829,4.0,-4.1,6,125,12.38,2.55,-8.27,0.000,18948,0.387,0.103,3126,979,3336,3382,3290,0,0,0,0,0,0,14.12,14.33,14.57
$GC,295,-0.59,-116.8,3126,975,3389,3294,41.3,-14.3,26,304,0.00,2.45,0.00,0.000,1030,0.000,0.076,3126,2398,3342,3390,3294,0,0,0,0,0,0,28.83,14.40,28.83
$GC,546,-0.59,-116.8,3126,2394,3386,3290,74.8,-13.0,51,554,0.00,2.42,0.00,0.000,516,0.000,0.078,3126,983,3340,3387,3293,0,0,0,0,0,0,28.83,14.44,28.83
$GC,678,-0.59,-116.8,3126,983,3386,3295,89.6,-11.3,64,687,0.00,2.45,0.00,0.000,1030,0.000,0.073,3123,2410,3340,3386,3294,0,0,0,0,0,0,28.83,14.46,28.83
$GC,929,-0.59,-116.8,3125,2410,3386,3294,114.6,-10.3,89,938,0.00,2.42,0.00,0.000,260,0.000,0.095,3126,3810,3338,3382,3295,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1008,-0.59,-116.8,3126,3810,3386,3294,122.8,-10.3,97,1017,0.00,2.40,0.00,0.000,1030,0.000,0.069,3126,2393,3340,3386,3294,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1257,-0.59,-116.8,3125,2389,3386,3295,147.5,-9.6,122,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1507,-0.59,-116.8,3126,2389,3386,3294,171.8,-9.9,147,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2389,3339,3385,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1757,-0.59,-116.8,3126,2389,3386,3294,194.7,-8.8,172,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2009,-0.59,-116.8,3126,2389,3388,3294,219.2,-10.5,197,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2257,-0.59,-116.8,3126,2389,3386,3293,245.4,-10.0,222,2266,0.00,2.50,0.00,0.000,260,0.000,0.097,3126,3809,3335,3380,3290,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2318,-0.59,-116.8,3125,3808,3385,3292,251.8,-10.5,228,2326,0.00,2.40,0.00,0.000,1030,0.000,0.072,3126,2399,3339,3386,3293,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2650,-0.59,-116.8,3128,2398,3386,3292,286.3,-10.6,241,2658,0.00,2.42,0.00,0.000,516,0.000,0.083,3126,983,3339,3386,3292,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2697,-0.59,-116.8,3126,982,3386,3291,291.9,-11.2,246,2706,0.00,2.47,0.00,0.000,1030,0.000,0.076,3126,2396,3339,3388,3291,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3008,-0.59,-116.8,3126,2394,3386,3290,322.5,-9.8,257,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3336,3382,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3307,-0.59,-116.8,3126,2399,3386,3289,350.6,-9.4,267,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3337,3386,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3609,-0.59,-116.8,3122,2394,3386,3288,379.3,-9.7,277,3617,0.00,2.42,0.00,0.000,260,0.000,0.097,3126,3802,3335,3384,3287,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3747,-0.59,-116.8,3126,3802,3385,3288,393.6,-10.8,291,3756,0.00,2.42,0.00,0.000,1030,0.000,0.069,3125,2397,3336,3385,3287,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,3964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3964,begin apogee
$GC,3973,-0.25,0.0,3126,2314,3385,3287,416.6,-10.8,299,4068,0.40,0.00,89.85,1.207,10246,0.199,0.000,3242,2318,2859,2935,2783,0,0,0,0,0,0,14.42,28.83,13.67
$STATE,4071,end apogee,CONTROL_FINISHED_OK
$STATE,4072,begin climb
$GC,4075,0.59,116.8,3242,2314,2934,2779,421.9,0.0,302,4182,0.85,2.58,94.20,1.183,10756,0.151,0.088,3513,935,2378,2521,2236,0,0,0,0,0,0,14.11,13.93,13.51
$GC,4215,0.65,205.7,3513,935,2521,2236,420.8,3.6,313,4297,0.00,2.47,70.53,1.172,9222,0.000,0.076,3514,2330,2015,2175,1856,0,0,0,0,0,0,28.83,14.07,13.48
$GC,4595,0.65,205.7,3514,2332,2174,1855,390.8,8.6,331,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2330,2014,2174,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4896,0.65,205.7,3514,2335,2174,1855,363.1,9.6,341,4906,0.00,2.47,0.00,0.000,260,0.000,0.094,3513,3746,2014,2174,1855,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4966,0.65,205.7,3513,3746,2172,1855,355.0,11.8,348,4976,0.00,2.42,0.00,0.000,1030,0.000,0.073,3518,2340,2014,2173,1855,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5289,0.65,205.7,3519,2340,2172,1855,321.6,10.7,360,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2340,2012,2169,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,0.65,205.7,3519,2340,2173,1854,289.3,10.5,370,5596,0.00,2.45,0.00,0.000,516,0.000,0.090,3519,919,2013,2173,1854,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5625,0.65,205.7,3519,919,2172,1854,285.2,10.2,374,5636,0.00,2.42,0.00,0.000,1030,0.000,0.076,3524,2330,2011,2172,1850,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5946,0.65,205.7,3519,2329,2173,1853,252.3,10.2,386,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2330,2011,2173,1849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6247,0.65,205.7,3519,2330,2172,1853,223.9,9.4,414,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2329,2012,2172,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,0.65,205.7,3519,2329,2172,1852,199.9,10.0,439,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2329,2012,2172,1852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,0.65,205.7,3520,2329,2172,1852,174.4,10.0,464,6758,0.00,2.47,0.00,0.000,260,0.000,0.095,3519,3754,2010,2168,1852,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6778,0.65,205.7,3519,3755,2172,1852,171.1,10.3,467,6788,0.00,2.42,0.00,0.000,1030,0.000,0.070,3519,2326,2012,2172,1852,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7028,0.65,205.7,3519,2322,2172,1852,146.7,9.0,492,7040,0.00,2.42,0.00,0.000,516,0.000,0.089,3520,922,2013,2172,1855,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7081,0.65,205.7,3519,924,2172,1852,142.2,8.9,497,7092,0.00,2.42,0.00,0.000,1030,0.000,0.078,3519,2338,2012,2172,1852,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7332,0.65,205.7,3520,2338,2171,1853,119.5,9.0,522,7342,0.00,2.45,0.00,0.000,260,0.000,0.095,3519,3745,2012,2172,1852,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7435,0.65,205.7,3516,3745,2170,1852,109.6,9.9,532,7447,0.00,2.42,0.00,0.000,1030,0.000,0.077,3519,2336,2011,2171,1852,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7687,0.67,205.7,3520,2334,2170,1852,90.8,6.3,557,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2334,2011,2171,1851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7937,0.71,205.7,3520,2334,2170,1852,76.7,5.8,582,7948,0.00,2.45,0.00,0.000,516,0.000,0.090,3520,915,2011,2171,1852,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8052,0.74,205.7,3520,916,2170,1852,70.7,5.5,593,8063,0.15,2.42,0.00,0.000,3078,0.135,0.076,3581,2332,2010,2168,1852,0,0,0,0,0,0,14.54,14.53,28.83
$GC,8303,0.74,205.7,3581,2331,2169,1852,49.4,8.5,618,8314,0.00,2.45,0.00,0.000,260,0.000,0.094,3581,3737,2012,2171,1853,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8384,0.74,205.7,3581,3737,2169,1852,41.7,10.1,626,8394,0.00,2.42,0.00,0.000,1030,0.000,0.077,3587,2327,2011,2170,1852,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8635,0.78,263.7,3588,2326,2168,1852,22.4,4.9,651,8685,0.00,2.58,40.85,0.731,8452,0.000,0.095,3590,3736,1778,1938,1618,0,0,0,0,0,0,28.83,14.42,14.11
$GC,8718,0.78,263.7,3592,3736,1936,1618,16.8,7.4,659,8729,0.00,2.45,0.00,0.000,1030,0.000,0.079,3587,2330,1779,1936,1622,0,0,0,0,0,0,28.83,14.41,28.83
$STATE,8895,end climb,SURFACE_DEPTH_REACHED
$STATE,8895,begin surface coast
$FINISH,1.0,1.023640
$STATE,8966,end surface coast,CONTROL_FINISHED_OK
$STATE,8966,begin surface
$SM_CCo,8992,47.53,0.107,0,0,1328,375.06
$SM_GC,2.08,9.25,0.15,47.53,0.083,0.164,0.107,395,2417,1328,-9.11,-0.54,375.06,0,0,0,0,0,0,14.45,14.47,14.44
$IRIDIUM_FIX,4732.49,-12521.83,020814,202047
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.09
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3877216
$PM_FREEKB,57164384
$24V_AH,13.5,45.449
$10V_AH,13.2,0.000
$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,23.025,73.850,295.425,47.525,0.000,0.000,0.000,260.750,0.000,0.000,16.490,1641.130,5435.311,517.723,1496.681,416.942,0.000,1499.607,0.000,1051.289,0.000,0.536,0.000
$DEVICE_MAMPS,387.090,163.710,1207.170,107.100,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8982.000,4120.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.120,4.101,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,23375,684
$CAP_FILE_SIZE,125241,0
$CFSIZE,260034560,239349760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12356.94,0x2378ba,7,5
$CURRENT,0.101,  5.1,1
$GPS,030814,025505,4750.704,-12513.996,49,1.0,49,18.7