version: 66.12
glider: 187
mission: 4
dive: 195
start: 8 3 114 13 56 9
data:
$ID,187
$MISSION,4
$DIVE,195
$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,-1593664.4
$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,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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,030814,134536,4749.450,-12517.263,43,1.6,44,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-73.6
$GPS2,030814,135543,4749.453,-12517.307,12,1.5,12,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,192.5,158783,-14.0,-7.333,-18.81,2445
$D_GRID,539
$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,26,-0.59,-116.8,391,2400,1453,1210,0.0,0.0,0,91,0.00,0.00,-58.40,0.000,16386,0.000,0.000,391,2400,2878,2932,2825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,392,2400,2932,2826,4.0,-4.1,6,131,12.82,2.55,-7.85,0.000,18692,0.406,0.119,3124,3809,3337,3381,3293,0,0,0,0,0,0,14.07,14.34,14.59
$GC,361,-0.59,-116.8,3125,3809,3383,3297,53.0,-13.1,33,372,0.00,2.40,0.00,0.000,1030,0.000,0.067,3124,2403,3338,3379,3297,0,0,0,0,0,0,28.83,14.42,28.83
$GC,612,-0.59,-116.8,3124,2400,3385,3298,85.6,-11.7,58,622,0.00,2.47,0.00,0.000,260,0.000,0.093,3125,3817,3341,3386,3297,0,0,0,0,0,0,28.83,14.45,28.83
$GC,812,-0.59,-116.8,3125,3819,3386,3297,107.5,-11.1,78,823,0.00,2.40,0.00,0.000,1030,0.000,0.068,3125,2395,3341,3385,3297,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1062,-0.59,-116.8,3125,2392,3386,3298,132.8,-11.2,103,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2392,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1313,-0.59,-116.8,3130,2392,3385,3297,161.0,-9.6,128,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2390,3341,3385,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1564,-0.59,-116.8,3126,2392,3385,3297,183.8,-9.5,153,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2392,3341,3385,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1813,-0.59,-116.8,3125,2391,3385,3297,208.6,-9.1,178,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2392,3342,3386,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,-0.59,-116.8,3127,2391,3385,3296,232.0,-9.5,203,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2392,3340,3385,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2324,-0.59,-116.8,3120,2391,3385,3295,256.3,-9.5,225,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3340,3385,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2624,-0.59,-116.8,3125,2396,3385,3294,286.4,-10.2,235,2634,0.00,2.40,0.00,0.000,516,0.000,0.084,3125,993,3339,3385,3294,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2703,-0.59,-116.8,3125,992,3384,3293,295.0,-10.8,243,2714,0.00,2.42,0.00,0.000,1030,0.000,0.079,3122,2403,3337,3385,3290,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3017,-0.59,-116.8,3123,2403,3385,3292,323.6,-8.9,254,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3338,3384,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3314,-0.59,-116.8,3125,2403,3387,3292,348.8,-8.4,264,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3338,3385,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3614,-0.59,-116.8,3125,2402,3385,3291,375.5,-9.2,274,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3337,3384,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3914,-0.59,-116.8,3125,2402,3384,3289,404.8,-10.0,284,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3337,3385,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4214,-0.59,-116.8,3123,2402,3385,3288,433.2,-9.1,294,4224,0.00,2.47,0.00,0.000,260,0.000,0.099,3125,3820,3336,3384,3288,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4304,-0.59,-116.8,3126,3819,3384,3288,441.4,-8.9,303,4314,0.00,2.40,0.00,0.000,1030,0.000,0.073,3125,2408,3336,3384,3288,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4634,-0.59,-116.8,3125,2403,3383,3289,467.5,-7.5,316,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4934,-0.59,-116.8,3125,2407,3383,3287,492.0,-8.4,326,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2403,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5235,-0.59,-116.8,3125,2403,3383,3287,519.3,-9.6,336,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5470,begin apogee
$GC,5479,-0.25,0.0,3125,2309,3382,3287,541.9,-9.7,344,5578,0.40,0.00,91.32,1.372,10246,0.198,0.000,3237,2309,2859,2934,2784,0,0,0,0,0,0,14.45,28.83,13.61
$STATE,5580,end apogee,CONTROL_FINISHED_OK
$STATE,5580,begin climb
$GC,5584,0.59,116.8,3241,2309,2932,2779,545.5,0.0,347,5694,0.85,2.58,96.55,1.337,10756,0.144,0.090,3519,904,2382,2520,2245,0,0,0,0,0,0,14.09,13.89,13.43
$GC,5753,0.59,116.8,3519,904,2520,2237,537.8,7.3,360,5764,0.00,2.53,0.00,0.000,1030,0.000,0.078,3519,2332,2379,2520,2238,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6077,0.59,116.8,3519,2331,2519,2234,513.4,8.3,372,6088,0.00,2.50,0.00,0.000,260,0.000,0.096,3516,3751,2376,2518,2234,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6230,0.59,116.8,3519,3748,2516,2234,498.2,10.3,387,6240,0.00,2.45,0.00,0.000,1030,0.000,0.076,3520,2337,2375,2516,2234,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6561,0.59,116.8,3520,2337,2517,2233,471.1,7.9,400,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2337,2374,2516,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6861,0.59,116.8,3517,2336,2516,2236,445.5,8.1,410,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2336,2373,2516,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7161,0.59,116.8,3522,2337,2516,2230,421.7,7.8,420,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2337,2373,2516,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7461,0.59,116.8,3519,2341,2510,2230,398.9,7.0,430,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2337,2375,2514,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7761,0.59,116.8,3519,2337,2519,2230,376.9,7.2,440,7771,0.00,2.47,0.00,0.000,260,0.000,0.096,3520,3742,2375,2520,2230,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7840,0.59,116.8,3522,3741,2512,2230,370.2,8.9,448,7852,0.00,2.42,0.00,0.000,1030,0.000,0.074,3519,2324,2371,2512,2230,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8154,0.59,116.8,3519,2324,2511,2230,346.0,7.9,459,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2324,2372,2511,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8452,0.59,116.8,3523,2324,2510,2229,321.9,8.1,469,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2324,2370,2511,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8752,0.59,116.8,3520,2324,2511,2225,297.4,8.1,479,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2324,2370,2511,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9052,0.59,116.8,3519,2324,2507,2228,274.7,7.4,489,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2324,2369,2511,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9355,0.60,116.8,3520,2324,2511,2228,254.5,6.8,499,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2324,2370,2512,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9651,0.60,116.8,3520,2324,2512,2228,233.1,7.2,523,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2324,2369,2511,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9902,0.60,116.8,3520,2323,2511,2228,214.9,7.1,548,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2322,2368,2511,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10153,0.64,165.7,3519,2323,2511,2227,199.9,5.3,573,10202,0.00,0.00,37.72,0.957,8198,0.000,0.000,3520,2323,2179,2334,2024,0,0,0,0,0,0,28.83,28.83,14.01
$GC,10443,0.64,165.7,3520,2323,2332,2023,178.6,8.1,602,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2323,2183,2337,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10692,0.64,165.7,3517,2323,2336,2022,157.5,8.8,627,10703,0.00,2.45,0.00,0.000,516,0.000,0.093,3520,918,2180,2337,2023,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10786,0.64,165.7,3520,918,2336,2020,150.5,7.6,636,10798,0.00,2.45,0.00,0.000,1030,0.000,0.077,3520,2335,2179,2336,2022,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11039,0.64,165.7,3520,2334,2336,2021,132.1,7.6,661,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2335,2178,2336,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11289,0.64,165.7,3520,2334,2336,2020,110.6,9.6,686,11299,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2334,2178,2336,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11539,0.66,165.7,3520,2335,2337,2020,92.6,6.2,711,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2334,2178,2336,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11790,0.69,165.7,3520,2334,2337,2020,77.5,5.8,736,11801,0.00,2.45,0.00,0.000,260,0.000,0.094,3520,3739,2178,2336,2021,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11911,0.69,165.7,3519,3739,2335,2020,68.2,7.9,748,11923,0.00,2.42,0.00,0.000,1030,0.000,0.076,3522,2329,2177,2335,2020,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12163,0.74,232.7,3525,2328,2335,2020,55.4,4.5,773,12225,0.12,2.60,51.20,0.771,10500,0.149,0.095,3577,3747,1907,2057,1758,0,0,0,0,0,0,14.53,14.36,14.01
$GC,12458,0.74,232.7,3578,3747,2054,1757,28.3,9.0,802,12469,0.00,2.45,0.00,0.000,1030,0.000,0.073,3587,2326,1905,2054,1757,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12709,0.78,299.7,3590,2326,2054,1756,11.5,4.5,827,12750,0.00,0.00,30.10,0.142,8710,0.000,0.000,3587,2325,1637,1798,1476,0,0,0,0,0,0,28.83,28.83,14.37
$STATE,12866,end climb,SURFACE_DEPTH_REACHED
$STATE,12866,begin surface coast
$FINISH,1.0,1.018747
$STATE,12928,end surface coast,CONTROL_FINISHED_OK
$STATE,12928,begin surface
$SM_CCo,12954,32.75,0.103,0,0,1328,375.06
$SM_GC,1.81,9.15,0.15,32.75,0.074,0.144,0.103,399,2414,1328,-9.09,-0.62,375.06,0,0,0,0,0,0,14.46,14.47,14.45
$IRIDIUM_FIX,4732.49,-12521.83,030814,131326
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.37
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3875616
$PM_FREEKB,57120352
$24V_AH,13.4,46.188
$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,23.350,49.600,306.900,32.750,0.000,0.000,0.000,309.675,0.000,0.000,16.122,2043.032,8613.331,504.194,1928.379,499.308,0.000,1775.465,0.000,1316.238,0.000,0.535,0.000
$DEVICE_MAMPS,406.215,149.940,1371.645,102.510,0.000,0.000,0.000,160.650,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12944.000,211.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.585,5.359,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,29965,849
$CAP_FILE_SIZE,156018,0
$CFSIZE,260034560,238960640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12440.54,0x2378ba,7,5
$CURRENT,0.045,305.0,1
$GPS,030814,173506,4748.457,-12518.845,98,1.2,98,18.7