version: 66.12
glider: 187
mission: 4
dive: 194
start: 8 3 114 10 28 48
data:
$ID,187
$MISSION,4
$DIVE,194
$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,-1593663.1
$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,24
$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
$GPS1,030814,102027,4749.861,-12515.544,40,2.6,61,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.1
$GPS2,030814,102821,4749.850,-12515.501,15,2.4,35,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,205.4,161072,-14.0,-7.333,-18.81,2445
$D_GRID,469
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.59,-116.8,396,2381,1450,1208,0.0,0.0,0,89,0.00,0.00,-58.28,0.000,16386,0.000,0.000,399,2380,2871,2925,2818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,399,2380,2926,2818,4.0,-4.0,6,124,12.60,2.60,-8.10,0.000,18692,0.399,0.115,3126,3809,3335,3382,3289,0,0,0,0,0,0,14.13,14.35,14.60
$GC,355,-0.59,-116.8,3126,3809,3383,3294,49.8,-14.3,32,364,0.00,2.40,0.00,0.000,1030,0.000,0.069,3126,2402,3338,3387,3290,0,0,0,0,0,0,28.83,14.44,28.83
$GC,604,-0.59,-116.8,3126,2400,3386,3294,77.5,-9.7,57,613,0.00,2.42,0.00,0.000,516,0.000,0.079,3126,983,3340,3386,3294,0,0,0,0,0,0,28.83,14.46,28.83
$GC,664,-0.59,-116.8,3126,980,3386,3294,84.3,-11.6,63,674,0.00,2.42,0.00,0.000,1030,0.000,0.073,3131,2398,3340,3386,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,915,-0.59,-116.8,3130,2397,3386,3294,113.1,-10.1,88,924,0.00,2.45,0.00,0.000,260,0.000,0.093,3126,3811,3343,3386,3300,0,0,0,0,0,0,28.83,14.47,28.83
$GC,974,-0.59,-116.8,3126,3811,3385,3294,119.5,-10.8,94,983,0.00,2.40,0.00,0.000,1030,0.000,0.068,3122,2395,3340,3386,3294,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1224,-0.59,-116.8,3125,2391,3386,3292,146.9,-10.7,119,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2391,3339,3385,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1475,-0.59,-116.8,3126,2391,3386,3290,171.7,-9.6,144,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3338,3386,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-0.59,-116.8,3126,2391,3386,3300,193.9,-8.7,169,1733,0.00,2.47,0.00,0.000,260,0.000,0.096,3126,3809,3340,3386,3295,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1814,-0.59,-116.8,3126,3808,3385,3294,202.1,-9.1,178,1823,0.00,2.40,0.00,0.000,1030,0.000,0.071,3126,2401,3340,3386,3294,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2064,-0.59,-116.8,3129,2400,3386,3299,224.7,-9.2,203,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-0.59,-116.8,3127,2400,3385,3291,248.5,-9.7,228,2323,0.00,2.47,0.00,0.000,260,0.000,0.096,3126,3818,3337,3381,3293,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2354,-0.59,-116.8,3126,3818,3385,3293,252.5,-10.2,232,2362,0.00,2.40,0.00,0.000,1030,0.000,0.069,3126,2398,3339,3385,3293,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2678,-0.59,-116.8,3126,2395,3386,3292,285.2,-10.7,244,2685,0.00,2.47,0.00,0.000,260,0.000,0.097,3131,3809,3339,3386,3292,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2744,-0.59,-116.8,3126,3809,3385,3292,292.9,-10.6,251,2753,0.00,2.45,0.00,0.000,1030,0.000,0.072,3126,2399,3338,3385,3292,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3068,-0.59,-116.8,3126,2398,3385,3290,326.3,-10.3,263,3076,0.00,2.42,0.00,0.000,516,0.000,0.083,3126,982,3337,3385,3290,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3136,-0.59,-116.8,3131,982,3385,3290,333.6,-10.4,270,3144,0.00,2.47,0.00,0.000,1030,0.000,0.076,3126,2397,3341,3392,3290,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3459,-0.59,-116.8,3126,2397,3385,3289,362.8,-8.8,282,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3339,3385,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3757,-0.59,-116.8,3125,2401,3385,3288,387.6,-8.2,292,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2395,3336,3385,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4056,-0.59,-116.8,3126,2397,3385,3291,410.5,-7.5,302,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4357,-0.59,-116.8,3126,2397,3385,3289,433.0,-7.7,312,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3334,3381,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4656,-0.59,-116.8,3126,2397,3384,3286,458.0,-8.5,322,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4803,begin apogee
$GC,4812,-0.25,0.0,3126,2318,3384,3285,471.4,-9.0,327,4907,0.40,0.00,90.53,1.279,10246,0.197,0.000,3242,2318,2858,2934,2783,0,0,0,0,0,0,14.43,28.83,13.64
$STATE,4910,end apogee,CONTROL_FINISHED_OK
$STATE,4911,begin climb
$GC,4914,0.59,116.8,3242,2318,2933,2778,475.9,0.0,330,5018,0.85,0.00,95.38,1.248,10246,0.144,0.000,3511,2318,2381,2522,2240,0,0,0,0,0,0,14.11,28.83,13.47
$GC,5317,0.59,116.8,3511,2318,2519,2234,454.6,7.0,344,5327,0.00,2.45,0.00,0.000,516,0.000,0.091,3519,930,2376,2519,2234,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5426,0.59,116.8,3519,928,2519,2234,446.4,7.5,355,5438,0.00,2.45,0.00,0.000,1030,0.000,0.080,3519,2331,2376,2519,2234,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5740,0.59,116.8,3519,2330,2517,2232,421.2,8.5,366,5750,0.00,2.47,0.00,0.000,260,0.000,0.096,3519,3745,2374,2517,2232,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5819,0.59,116.8,3519,3745,2515,2232,413.5,9.6,374,5830,0.00,2.42,0.00,0.000,1030,0.000,0.075,3519,2339,2377,2516,2238,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6134,0.59,116.8,3519,2339,2516,2231,387.9,8.0,385,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2339,2373,2515,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6430,0.59,116.8,3519,2339,2515,2230,365.8,7.2,395,6440,0.00,2.50,0.00,0.000,516,0.000,0.092,3519,912,2372,2515,2230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6560,0.59,116.8,3519,912,2514,2230,356.5,7.4,408,6570,0.00,2.45,0.00,0.000,1030,0.000,0.077,3519,2341,2372,2514,2230,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6881,0.59,116.8,3519,2341,2513,2230,332.8,7.6,420,6891,0.00,2.47,0.00,0.000,516,0.000,0.091,3521,920,2371,2513,2229,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6941,0.59,116.8,3522,920,2512,2226,328.0,7.9,426,6951,0.00,2.42,0.00,0.000,1030,0.000,0.080,3522,2331,2371,2513,2230,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7270,0.59,116.8,3522,2330,2512,2229,301.8,7.7,439,7280,0.00,2.47,0.00,0.000,516,0.000,0.093,3522,913,2371,2514,2229,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7391,0.59,116.8,3518,913,2509,2229,292.2,8.1,451,7401,0.00,2.42,0.00,0.000,1030,0.000,0.077,3522,2331,2370,2512,2229,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7724,0.59,116.8,3521,2330,2512,2229,267.7,7.4,464,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2329,2370,2512,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8025,0.61,116.8,3522,2330,2512,2228,247.4,6.3,476,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2330,2369,2511,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8275,0.64,116.8,3522,2330,2511,2228,231.8,6.2,501,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2330,2370,2512,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8525,0.64,116.8,3521,2330,2511,2228,215.0,7.0,526,8536,0.00,2.45,0.00,0.000,260,0.000,0.094,3521,3738,2369,2511,2228,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8595,0.64,116.8,3522,3738,2510,2228,209.8,8.0,533,8606,0.00,2.40,0.00,0.000,1030,0.000,0.071,3525,2322,2367,2506,2228,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8846,0.64,116.8,3522,2322,2510,2227,192.2,7.0,558,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2322,2368,2510,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9097,0.65,116.8,3523,2322,2510,2228,174.3,6.7,583,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2322,2368,2510,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9348,0.67,116.8,3522,2322,2510,2227,158.3,6.0,608,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2322,2368,2510,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9598,0.67,116.8,3525,2322,2517,2228,140.5,7.9,633,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2327,2368,2510,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9848,0.67,116.8,3522,2322,2510,2227,121.2,6.9,658,9858,0.00,2.50,0.00,0.000,260,0.000,0.095,3522,3746,2368,2510,2227,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9968,0.67,116.8,3522,3746,2506,2227,111.8,7.6,670,9979,0.00,2.40,0.00,0.000,1030,0.000,0.073,3522,2335,2367,2509,2225,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10219,0.71,169.6,3522,2334,2509,2227,98.0,5.1,695,10269,0.00,0.00,40.00,0.830,8198,0.000,0.000,3522,2334,2164,2320,2008,0,0,0,0,0,0,28.83,28.83,14.05
$GC,10510,0.71,169.6,3523,2333,2320,2006,77.8,7.1,724,10521,0.00,2.47,0.00,0.000,260,0.000,0.094,3522,3741,2163,2319,2007,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10741,0.71,169.6,3522,3741,2325,2006,60.1,7.5,747,10752,0.00,2.42,0.00,0.000,1030,0.000,0.073,3522,2322,2165,2318,2013,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10993,0.75,222.1,3522,2320,2318,2007,46.9,5.1,772,11044,0.12,2.53,40.78,0.761,10756,0.150,0.090,3587,916,1948,2098,1799,0,0,0,0,0,0,14.51,14.36,14.03
$GC,11184,0.75,222.1,3591,916,2097,1798,29.7,9.5,791,11196,0.00,2.45,0.00,0.000,1030,0.000,0.076,3588,2336,1948,2097,1800,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11436,0.79,282.4,3587,2336,2095,1798,13.7,4.8,816,11477,0.00,2.50,27.42,0.151,8708,0.000,0.092,3592,917,1707,1866,1549,0,0,0,0,0,0,28.83,14.40,14.40
$STATE,11593,end climb,SURFACE_DEPTH_REACHED
$STATE,11593,begin surface coast
$FINISH,1.1,1.011268
$STATE,11644,end surface coast,CONTROL_FINISHED_OK
$STATE,11644,begin surface
$SM_CCo,11672,40.17,0.106,0,0,1328,375.06
$SM_GC,1.88,9.18,2.62,40.17,0.073,0.080,0.106,392,2399,1328,-9.11,-0.71,375.06,0,0,0,0,0,0,14.45,14.47,14.45
$IRIDIUM_FIX,4732.49,-12510.28,030814,070757
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.62
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3875936
$PM_FREEKB,57120384
$24V_AH,13.5,46.015
$10V_AH,13.7,0.000
$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,23.150,83.700,294.100,40.175,0.000,0.000,0.000,243.675,0.000,0.000,36.354,2007.002,7412.847,538.103,1763.560,462.639,0.000,1635.762,0.000,1282.204,0.000,0.535,0.000
$DEVICE_MAMPS,399.330,172.125,1279.080,105.570,0.000,0.000,0.000,154.530,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11658.000,4967.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.811,4.071,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,30018,837
$CAP_FILE_SIZE,149440,0
$CFSIZE,260034560,239050752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10339.02,0x2378ba,7,5
$CURRENT,0.087,331.9,1
$GPS,030814,134536,4749.450,-12517.263,43,1.6,44,18.7