version: 66.12
glider: 187
mission: 4
dive: 431
start: 10 1 114 20 54 3
data:
$ID,187
$MISSION,4
$DIVE,431
$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,-1593984.2
$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,27
$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
$GPS1,011014,204555,4752.880,-12513.907,45,2.3,65,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-74.1
$GPS2,011014,205337,4752.834,-12513.791,12,1.5,12,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,203.1,166042,-14.0,-7.333,-18.81,2445
$D_GRID,257
$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,-116.8,395,2399,1449,1214,0.0,0.0,0,80,0.00,0.00,-47.62,0.000,16386,0.000,0.000,395,2396,2563,2649,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,395,2399,2649,2477,3.0,-1.8,5,130,12.60,2.58,-16.75,0.000,18692,0.379,0.108,3123,3813,3337,3382,3292,0,0,0,0,0,0,13.85,14.19,14.55
$GC,360,-0.59,-116.8,3126,3813,3382,3295,46.0,-13.0,33,371,0.00,2.42,0.00,0.000,1030,0.000,0.060,3127,2396,3337,3382,3292,0,0,0,0,0,0,28.83,14.28,28.83
$GC,610,-0.59,-116.8,3127,2391,3383,3296,76.1,-11.9,58,621,0.00,2.53,0.00,0.000,260,0.000,0.086,3126,3815,3339,3383,3296,0,0,0,0,0,0,28.83,14.18,28.83
$GC,851,-0.59,-116.8,3126,3815,3383,3296,103.8,-10.2,82,862,0.00,2.42,0.00,0.000,1030,0.000,0.063,3127,2404,3341,3383,3299,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1103,-0.59,-116.8,3127,2400,3383,3297,128.1,-9.4,107,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1353,-0.59,-116.8,3126,2400,3383,3297,151.0,-9.3,132,1364,0.00,2.45,0.00,0.000,516,0.000,0.073,3127,983,3340,3383,3297,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1414,-0.59,-116.8,3126,982,3380,3297,156.2,-8.8,138,1425,0.00,2.45,0.00,0.000,1030,0.000,0.068,3127,2394,3340,3383,3297,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1666,-0.59,-116.8,3127,2398,3383,3297,176.8,-8.7,163,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-0.59,-116.8,3127,2394,3383,3296,199.9,-9.0,188,1927,0.00,2.45,0.00,0.000,516,0.000,0.073,3127,983,3339,3383,3296,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1987,-0.59,-116.8,3127,987,3383,3296,206.3,-9.1,195,1998,0.00,2.47,0.00,0.000,1030,0.000,0.071,3128,2403,3340,3384,3296,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2238,-0.59,-116.8,3127,2405,3383,3295,228.7,-9.1,220,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2489,-0.59,-116.8,3127,2405,3383,3294,250.6,-8.9,245,2499,0.00,2.50,0.00,0.000,516,0.000,0.076,3123,983,3339,3386,3293,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2558,-0.59,-116.8,3132,983,3383,3294,256.9,-8.9,252,2568,0.00,2.47,0.00,0.000,1030,0.000,0.072,3127,2399,3336,3379,3294,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,2575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2575,begin apogee
$GC,2584,-0.25,0.0,3126,2319,3383,3293,258.6,-8.7,254,2684,0.38,0.00,91.20,1.000,10246,0.181,0.000,3236,2319,2856,2932,2781,0,0,0,0,0,0,14.12,28.83,13.62
$STATE,2686,end apogee,CONTROL_FINISHED_OK
$STATE,2686,begin climb
$GC,2690,0.59,116.8,3236,2319,2930,2778,263.1,0.0,257,2793,0.88,2.58,92.25,0.973,10756,0.142,0.080,3519,927,2380,2510,2250,0,0,0,0,0,0,14.09,14.00,13.49
$GC,2848,0.62,116.8,3519,927,2510,2244,258.9,5.9,272,2858,0.00,2.50,0.00,0.000,1030,0.000,0.070,3519,2345,2376,2508,2244,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3158,0.64,116.8,3516,2344,2510,2244,238.5,6.5,295,3170,0.00,2.47,0.00,0.000,260,0.000,0.087,3519,3746,2376,2510,2242,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3200,0.64,116.8,3519,3746,2510,2242,235.2,7.6,299,3212,0.00,2.45,0.00,0.000,1030,0.000,0.066,3519,2336,2376,2510,2242,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3452,0.64,116.8,3519,2336,2510,2241,217.0,7.0,324,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2333,2377,2514,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3703,0.67,116.8,3519,2336,2510,2240,200.9,5.7,349,3713,0.00,2.47,0.00,0.000,516,0.000,0.080,3522,914,2374,2510,2238,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3834,0.70,116.8,3522,916,2510,2240,193.7,6.0,362,3844,0.00,2.45,0.00,0.000,1030,0.000,0.070,3522,2327,2375,2510,2240,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4084,0.71,116.8,3525,2326,2510,2239,177.2,6.7,387,4096,0.10,0.00,0.00,0.000,2054,0.161,0.000,3572,2327,2374,2510,2238,0,0,0,0,0,0,14.40,28.83,28.83
$GC,4336,0.71,116.8,3577,2326,2509,2238,156.3,8.4,412,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2326,2374,2510,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4586,0.71,116.8,3572,2327,2510,2238,136.4,8.8,437,4597,0.00,2.50,0.00,0.000,260,0.000,0.087,3572,3746,2372,2507,2237,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4726,0.71,116.8,3572,3746,2509,2237,122.8,9.4,451,4738,0.00,2.45,0.00,0.000,1030,0.000,0.066,3575,2319,2373,2509,2237,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4979,0.71,116.8,3575,2316,2509,2236,103.0,7.2,476,4989,0.00,2.45,0.00,0.000,516,0.000,0.080,3577,918,2373,2509,2238,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5110,0.71,116.8,3577,915,2504,2236,93.5,7.1,489,5121,0.00,2.47,0.00,0.000,1030,0.000,0.070,3577,2332,2372,2508,2236,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5361,0.76,184.4,3577,2330,2508,2236,80.3,4.5,514,5421,0.00,0.00,50.88,0.796,8454,0.000,0.000,3577,2331,2101,2250,1953,0,0,0,0,0,0,28.83,28.83,13.83
$GC,5662,0.76,184.4,3577,2331,2250,1954,61.4,7.4,544,5672,0.00,2.47,0.00,0.000,516,0.000,0.080,3578,927,2104,2250,1958,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5766,0.76,184.4,3579,927,2250,1954,52.8,8.5,554,5776,0.00,2.45,0.00,0.000,1030,0.000,0.071,3578,2330,2102,2250,1954,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6018,0.77,184.4,3574,2329,2250,1954,36.0,6.5,579,6029,0.00,2.50,0.00,0.000,260,0.000,0.087,3578,3749,2102,2250,1954,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6259,0.81,184.4,3578,3749,2249,1954,22.2,5.4,603,6271,0.00,2.45,0.00,0.000,1030,0.000,0.064,3586,2329,2102,2250,1954,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6512,0.92,346.2,3586,2330,2250,1954,14.6,0.5,628,6594,0.12,0.00,75.55,0.148,10502,0.144,0.000,3643,2329,1446,1587,1306,0,0,0,0,0,0,14.33,28.83,14.19
$STATE,6681,end climb,SURFACE_DEPTH_REACHED
$STATE,6681,begin surface coast
$FINISH,1.3,1.013381
$STATE,6722,end surface coast,CONTROL_FINISHED_OK
$STATE,6722,begin surface
$SM_CCo,6748,12.85,0.099,0,0,1329,375.06
$SM_GC,3.48,9.20,0.12,12.85,0.057,0.172,0.099,396,2399,1329,-9.10,-0.88,375.06,0,0,0,0,0,0,14.31,14.33,14.26
$IRIDIUM_FIX,4732.49,-12509.51,011014,191931
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.70
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3800096
$PM_FREEKB,50520384
$24V_AH,13.5,103.101
$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,23.275,59.675,309.875,12.850,0.000,0.000,0.000,222.975,0.000,0.000,13.667,1549.326,3389.454,472.727,1396.366,416.297,0.000,1366.883,0.000,1016.022,0.000,0.537,0.000
$DEVICE_MAMPS,378.675,172.125,999.855,99.450,0.000,0.000,0.000,155.295,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6737.000,90.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.008,5.102,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,23358,649
$CAP_FILE_SIZE,115981,0
$CFSIZE,260034560,215109632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5592.36,0x2378ba,7,5
$CURRENT,0.065,319.8,1
$GPS,011014,224835,4752.545,-12514.697,48,1.3,59,18.8