version: 66.12
glider: 187
mission: 4
dive: 193
start: 8 3 114 7 36 28
data:
$ID,187
$MISSION,4
$DIVE,193
$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,-1593661.9
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,030814,072824,4750.236,-12513.692,110,0.8,111,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.6
$GPS2,030814,073601,4750.237,-12513.735,13,1.8,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,225.5,163312,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.59,-116.8,394,2390,1450,1206,0.0,0.0,0,90,0.00,0.00,-58.08,0.000,16386,0.000,0.000,394,2390,2878,2931,2825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,393,2390,2932,2825,4.1,-4.3,6,130,12.40,2.58,-7.75,0.000,18692,0.391,0.114,3126,3810,3338,3383,3294,0,0,0,0,0,0,14.12,14.36,14.62
$GC,280,-0.59,-116.8,3126,3809,3386,3299,43.7,-14.1,25,290,0.00,2.42,0.00,0.000,1030,0.000,0.068,3126,2388,3340,3385,3296,0,0,0,0,0,0,28.83,14.42,28.83
$GC,530,-0.59,-116.8,3126,2384,3388,3296,77.0,-13.7,50,541,0.00,2.50,0.00,0.000,260,0.000,0.092,3126,3808,3342,3388,3296,0,0,0,0,0,0,28.83,14.45,28.83
$GC,601,-0.59,-116.8,3130,3808,3384,3297,87.1,-13.6,57,612,0.00,2.40,0.00,0.000,1030,0.000,0.069,3126,2397,3345,3394,3297,0,0,0,0,0,0,28.83,14.48,28.83
$GC,851,-0.59,-116.8,3126,2395,3388,3297,114.6,-10.8,82,862,0.00,2.42,0.00,0.000,516,0.000,0.082,3126,983,3343,3389,3297,0,0,0,0,0,0,28.83,14.50,28.83
$GC,942,-0.59,-116.8,3127,983,3389,3297,125.9,-13.0,91,954,0.00,2.42,0.00,0.000,1030,0.000,0.075,3127,2398,3343,3389,3297,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1194,-0.59,-116.8,3127,2398,3394,3297,152.9,-9.7,116,1205,0.00,2.45,0.00,0.000,260,0.000,0.094,3126,3810,3342,3388,3297,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1255,-0.59,-116.8,3126,3811,3388,3297,159.4,-10.8,122,1265,0.00,2.40,0.00,0.000,1030,0.000,0.070,3126,2390,3341,3389,3294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1505,-0.59,-116.8,3126,2387,3389,3297,184.9,-10.5,147,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3343,3390,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1757,-0.59,-116.8,3127,2386,3388,3297,210.8,-9.9,172,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3342,3388,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2006,-0.59,-116.8,3126,2386,3388,3296,234.5,-9.2,197,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2385,3342,3388,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2266,-0.59,-116.8,3123,2386,3388,3295,259.5,-9.8,217,2276,0.00,2.50,0.00,0.000,260,0.000,0.096,3126,3821,3341,3388,3295,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2365,-0.59,-116.8,3126,3821,3386,3295,270.0,-10.2,227,2376,0.00,2.40,0.00,0.000,1030,0.000,0.071,3126,2406,3340,3388,3293,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2689,-0.59,-116.8,3126,2405,3388,3293,303.5,-10.4,239,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2987,-0.59,-116.8,3126,2404,3389,3292,332.6,-9.5,249,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3340,3388,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3286,-0.59,-116.8,3125,2405,3387,3292,360.8,-9.5,259,3296,0.00,2.45,0.00,0.000,260,0.000,0.095,3126,3811,3339,3388,3291,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3386,-0.59,-116.8,3132,3811,3387,3291,370.1,-8.8,269,3396,0.00,2.40,0.00,0.000,1030,0.000,0.071,3131,2398,3339,3387,3292,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3706,-0.59,-116.8,3126,2389,3387,3290,395.9,-8.4,281,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3338,3387,3290,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3973,begin apogee
$GC,3982,-0.25,0.0,3126,2312,3387,3289,416.6,-7.7,290,4079,0.40,0.00,90.15,1.207,10246,0.203,0.000,3242,2312,2862,2935,2789,0,0,0,0,0,0,14.46,28.83,13.71
$STATE,4081,end apogee,CONTROL_FINISHED_OK
$STATE,4082,begin climb
$GC,4085,0.59,116.8,3242,2312,2934,2778,420.3,0.0,293,4187,0.85,0.00,94.53,1.174,10246,0.146,0.000,3511,2311,2380,2523,2237,0,0,0,0,0,0,14.14,28.83,13.53
$GC,4486,0.59,116.8,3511,2312,2520,2231,397.6,7.6,307,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2312,2376,2520,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4787,0.59,116.8,3509,2312,2514,2230,372.3,8.4,317,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2312,2374,2519,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5090,0.60,116.8,3511,2312,2518,2229,351.3,6.7,327,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2312,2373,2518,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5387,0.60,116.8,3512,2312,2517,2228,328.2,8.4,337,5397,0.00,2.53,0.00,0.000,260,0.000,0.093,3511,3752,2372,2517,2228,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5476,0.60,116.8,3512,3753,2515,2228,318.8,11.2,346,5486,0.00,2.42,0.00,0.000,1030,0.000,0.071,3519,2326,2371,2514,2228,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5807,0.60,116.8,3522,2325,2514,2227,286.1,9.1,359,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2326,2371,2515,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6106,0.60,116.8,3521,2326,2514,2227,263.4,7.3,369,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2326,2370,2514,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6406,0.60,116.8,3519,2323,2515,2226,241.6,7.5,385,6417,0.00,2.50,0.00,0.000,260,0.000,0.094,3519,3747,2367,2508,2226,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6487,0.60,116.8,3519,3748,2512,2226,235.0,8.5,393,6497,0.00,2.42,0.00,0.000,1030,0.000,0.073,3521,2324,2369,2513,2226,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6737,0.60,116.8,3519,2324,2512,2226,215.5,7.4,418,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2325,2369,2512,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,0.62,116.8,3519,2324,2512,2226,198.3,6.7,443,6999,0.00,2.50,0.00,0.000,260,0.000,0.095,3524,3747,2368,2512,2225,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7068,0.62,116.8,3519,3747,2511,2225,192.0,8.0,451,7080,0.00,2.42,0.00,0.000,1030,0.000,0.076,3519,2334,2368,2511,2225,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7320,0.62,116.8,3519,2333,2511,2225,174.0,7.3,476,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2334,2368,2511,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,0.64,116.8,3519,2332,2511,2225,157.4,6.1,501,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2333,2368,2511,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7820,0.68,116.8,3519,2333,2511,2225,141.7,5.4,526,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2333,2368,2511,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8069,0.68,116.8,3519,2333,2511,2225,124.8,7.3,551,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2333,2368,2511,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8321,0.69,116.8,3519,2333,2511,2224,108.0,6.6,576,8332,0.00,2.45,0.00,0.000,516,0.000,0.088,3520,915,2368,2511,2225,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8502,0.75,197.8,3520,915,2511,2224,97.5,3.9,594,8574,0.15,2.42,61.15,0.819,11270,0.138,0.076,3579,2333,2051,2210,1893,0,0,0,0,0,0,14.55,14.54,13.99
$GC,8816,0.75,197.8,3579,2333,2207,1894,67.3,11.1,625,8827,0.00,2.47,0.00,0.000,516,0.000,0.086,3594,911,2048,2208,1888,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8876,0.75,197.8,3588,911,2207,1888,60.7,10.7,631,8888,0.00,2.45,0.00,0.000,1030,0.000,0.075,3584,2335,2048,2208,1888,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9128,0.75,197.8,3589,2335,2207,1887,36.6,8.9,656,9139,0.00,2.45,0.00,0.000,260,0.000,0.093,3587,3738,2045,2205,1886,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9210,0.75,197.8,3587,3741,2205,1886,29.2,9.4,664,9220,0.00,2.42,0.00,0.000,1030,0.000,0.077,3588,2332,2046,2205,1887,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9460,0.81,279.2,3588,2332,2205,1885,14.4,3.9,689,9510,0.00,2.53,37.45,0.152,8452,0.000,0.094,3588,3733,1719,1879,1559,0,0,0,0,0,0,28.83,14.42,14.40
$STATE,9617,end climb,SURFACE_DEPTH_REACHED
$STATE,9617,begin surface coast
$FINISH,1.1,1.023820
$STATE,9658,end surface coast,CONTROL_FINISHED_OK
$STATE,9658,begin surface
$SM_CCo,9685,41.47,0.106,0,0,1328,375.06
$SM_GC,1.97,9.20,2.35,41.47,0.080,0.071,0.106,399,2387,1328,-9.10,0.62,375.06,0,0,0,0,0,0,14.48,14.51,14.47
$IRIDIUM_FIX,4732.49,-12514.75,030814,050521
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.74
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3876256
$PM_FREEKB,57147392
$24V_AH,13.5,45.851
$10V_AH,13.8,0.000
$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,23.000,63.825,283.275,41.475,0.000,0.000,0.000,234.950,0.000,0.000,14.381,1718.259,5976.133,496.658,1571.957,420.915,0.000,1522.070,0.000,1113.995,0.000,0.535,0.000
$DEVICE_MAMPS,390.915,163.710,1207.170,105.570,0.000,0.000,0.000,154.530,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9670.000,150.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.948,5.314,0.000,0.000
$MEM,290864
$DATA_FILE_SIZE,23348,709
$CAP_FILE_SIZE,132658,0
$CFSIZE,260034560,239144960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8381.58,0x2378ba,7,5
$CURRENT,0.046,297.3,1
$GPS,030814,102027,4749.861,-12515.544,40,2.6,61,18.7