version: 66.12
glider: 187
mission: 4
dive: 192
start: 8 3 114 5 16 45
data:
$ID,187
$MISSION,4
$DIVE,192
$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,-1593660.6
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,030814,050912,4750.907,-12512.725,8,1.9,8,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-73.9
$GPS2,030814,051615,4750.869,-12512.751,14,2.9,34,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,214.5,165001,-14.0,-7.333,-18.81,2445
$D_GRID,312
$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,-116.8,396,2399,1459,1201,0.0,0.0,0,80,0.00,0.00,-48.60,0.000,16386,0.000,0.000,394,2399,2578,2661,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,394,2400,2669,2495,3.1,-2.4,5,121,12.52,2.55,-15.15,0.000,18692,0.397,0.116,3122,3809,3336,3384,3289,0,0,0,0,0,0,14.15,14.37,14.60
$GC,251,-0.59,-116.8,3126,3809,3384,3293,34.0,-14.7,22,260,0.00,2.40,0.00,0.000,1030,0.000,0.068,3126,2400,3336,3379,3293,0,0,0,0,0,0,28.83,14.40,28.83
$GC,501,-0.59,-116.8,3125,2396,3387,3294,69.2,-14.8,47,510,0.00,2.42,0.00,0.000,516,0.000,0.079,3126,982,3340,3386,3295,0,0,0,0,0,0,28.83,14.44,28.83
$GC,532,-0.59,-116.8,3126,982,3387,3294,73.9,-15.6,50,540,0.00,2.42,0.00,0.000,1030,0.000,0.076,3126,2395,3341,3387,3295,0,0,0,0,0,0,28.83,14.45,28.83
$GC,781,-0.59,-116.8,3125,2395,3388,3294,101.1,-11.7,75,790,0.00,2.47,0.00,0.000,260,0.000,0.093,3126,3810,3340,3387,3294,0,0,0,0,0,0,28.83,14.45,28.83
$GC,841,-0.59,-116.8,3125,3810,3387,3291,108.3,-11.7,81,851,0.00,2.40,0.00,0.000,1030,0.000,0.068,3126,2394,3341,3388,3295,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1092,-0.59,-116.8,3126,2393,3387,3294,134.0,-10.7,106,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3340,3387,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-0.59,-116.8,3126,2394,3387,3299,159.4,-9.7,131,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3340,3387,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-0.59,-116.8,3126,2393,3388,3294,183.1,-9.2,156,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1841,-0.59,-116.8,3126,2398,3387,3293,207.0,-9.7,181,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2390,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2092,-0.59,-116.8,3126,2394,3387,3294,231.2,-9.7,206,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2361,-0.59,-116.8,3125,2394,3387,3293,256.2,-9.2,229,2369,0.00,2.47,0.00,0.000,260,0.000,0.096,3126,3806,3339,3386,3293,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2430,-0.59,-116.8,3126,3806,3387,3293,262.6,-9.3,236,2439,0.00,2.42,0.00,0.000,1030,0.000,0.070,3126,2408,3340,3388,3293,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2754,-0.59,-116.8,3126,2405,3387,3292,293.3,-9.6,248,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3339,3387,3291,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2958,begin apogee
$GC,2967,-0.25,0.0,3126,2310,3387,3291,313.6,-9.7,255,3061,0.40,0.00,89.00,1.075,10246,0.205,0.000,3241,2310,2858,2934,2782,0,0,0,0,0,0,14.43,28.83,13.77
$STATE,3064,end apogee,CONTROL_FINISHED_OK
$STATE,3064,begin climb
$GC,3068,0.59,116.8,3241,2310,2932,2777,318.0,0.0,258,3172,0.85,0.00,91.45,1.050,10758,0.150,0.000,3510,2310,2378,2521,2236,0,0,0,0,0,0,14.15,28.83,13.62
$GC,3472,0.63,116.8,3510,2312,2520,2234,298.7,5.5,278,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2310,2376,2520,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,0.66,116.8,3510,2310,2518,2231,281.9,5.8,288,3785,0.00,2.50,0.00,0.000,260,0.000,0.091,3510,3741,2374,2518,2231,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3835,0.66,116.8,3510,3741,2517,2231,277.5,7.1,294,3845,0.00,2.40,0.00,0.000,1030,0.000,0.069,3519,2341,2377,2517,2238,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4165,0.69,116.8,3519,2339,2517,2230,257.7,5.8,307,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2339,2374,2517,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4465,0.72,116.8,3519,2339,2517,2229,241.0,5.8,327,4476,0.12,0.00,0.00,0.000,2054,0.151,0.000,3575,2335,2373,2517,2229,0,0,0,0,0,0,14.54,28.83,28.83
$GC,4716,0.74,116.8,3575,2336,2516,2233,223.5,6.5,352,4726,0.00,2.47,0.00,0.000,260,0.000,0.093,3575,3749,2375,2522,2229,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4839,0.74,116.8,3571,3750,2513,2229,213.4,8.8,364,4850,0.00,2.45,0.00,0.000,1030,0.000,0.072,3586,2320,2371,2513,2229,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5090,0.74,116.8,3585,2318,2515,2227,193.3,8.1,389,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2319,2374,2520,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5341,0.74,116.8,3585,2318,2513,2229,171.0,9.6,414,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2319,2370,2513,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5591,0.74,116.8,3590,2318,2513,2224,145.7,10.1,439,5602,0.00,2.42,0.00,0.000,516,0.000,0.090,3592,915,2370,2513,2228,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5652,0.74,116.8,3592,920,2513,2228,139.5,10.3,445,5664,0.00,2.42,0.00,0.000,1030,0.000,0.076,3596,2333,2370,2512,2228,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5904,0.74,116.8,3595,2332,2512,2228,118.3,8.2,470,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2333,2370,2512,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6154,0.74,116.8,3592,2333,2512,2228,97.0,7.4,495,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2332,2369,2511,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6404,0.78,177.1,3591,2333,2511,2228,82.4,4.8,520,6465,0.00,2.53,45.78,0.804,8708,0.000,0.088,3592,922,2132,2289,1975,0,0,0,0,0,0,28.83,14.38,14.04
$GC,6595,0.78,177.1,3592,925,2289,1974,69.8,7.1,539,6605,0.00,2.42,0.00,0.000,1030,0.000,0.077,3592,2331,2135,2296,1974,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6845,0.78,177.1,3592,2330,2289,1972,49.3,8.1,564,6856,0.00,2.45,0.00,0.000,260,0.000,0.092,3591,3737,2130,2289,1972,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6926,0.78,177.1,3592,3737,2288,1972,43.2,7.5,572,6937,0.00,2.42,0.00,0.000,1030,0.000,0.074,3600,2325,2130,2287,1973,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7177,0.78,177.1,3600,2324,2287,1978,27.6,7.6,597,7188,0.00,2.47,0.00,0.000,516,0.000,0.097,3607,916,2132,2287,1978,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7248,0.79,177.1,3607,915,2287,1972,22.4,6.6,604,7259,0.00,2.45,0.00,0.000,1030,0.000,0.076,3607,2343,2129,2287,1972,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7499,0.92,349.8,3607,2343,2287,1971,15.5,0.1,629,7591,0.00,2.53,80.65,0.158,8452,0.000,0.094,3607,3744,1431,1586,1276,0,0,0,0,0,0,28.83,14.45,14.36
$STATE,7668,end climb,SURFACE_DEPTH_REACHED
$STATE,7668,begin surface coast
$FINISH,1.0,1.013158
$STATE,7699,end surface coast,CONTROL_FINISHED_OK
$STATE,7699,begin surface
$SM_CCo,7726,10.88,0.103,0,0,1328,375.06
$SM_GC,3.27,9.23,2.38,10.88,0.076,0.074,0.103,394,2398,1328,-9.10,0.65,375.06,0,0,0,0,0,0,14.47,14.48,14.45
$IRIDIUM_FIX,4732.49,-12514.75,030814,020247
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.46
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3876576
$PM_FREEKB,57147424
$24V_AH,13.6,45.708
$10V_AH,13.3,0.000
$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,23.125,54.050,306.875,10.875,0.000,0.000,0.000,204.225,0.000,0.000,35.932,1553.493,4378.955,472.159,1385.137,374.463,0.000,1339.005,0.000,1006.750,0.000,0.535,0.000
$DEVICE_MAMPS,397.035,164.475,1074.825,103.275,0.000,0.000,0.000,159.120,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7710.000,3101.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.486,4.117,0.000,0.000
$MEM,290876
$DATA_FILE_SIZE,23386,649
$CAP_FILE_SIZE,114348,0
$CFSIZE,260034560,239235072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7990.82,0x2378ba,7,5
$CURRENT,0.045,186.8,1
$GPS,030814,072824,4750.236,-12513.692,110,0.8,111,18.7