version: 66.12
glider: 187
mission: 4
dive: 433
start: 10 2 114 1 18 1
data:
$ID,187
$MISSION,4
$DIVE,433
$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,-1593986.9
$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,27
$R_STBD_OVSHOOT,35
$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
$GPS1,021014,010851,4752.206,-12515.509,14,5.3,34,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-73.5
$GPS2,021014,011735,4752.173,-12515.624,20,2.0,30,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,199.5,163451,-14.0,-7.333,-18.81,2445
$D_GRID,373
$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,-116.8,397,2412,1432,1225,0.0,0.0,0,80,0.00,0.00,-47.95,0.000,16386,0.000,0.000,397,2410,2570,2661,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,397,2413,2661,2486,3.1,-1.8,5,125,13.07,2.55,-15.88,0.000,19204,0.399,0.112,3124,3801,3337,3382,3292,0,0,0,0,0,0,13.88,14.21,14.54
$GC,305,-0.59,-116.8,3121,3801,3382,3296,46.7,-14.3,27,317,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2389,3339,3382,3297,0,0,0,0,0,0,28.83,14.26,28.83
$GC,557,-0.59,-116.8,3121,2384,3384,3297,75.9,-10.1,52,568,0.00,2.42,0.00,0.000,516,0.000,0.076,3125,992,3340,3384,3297,0,0,0,0,0,0,28.83,14.26,28.83
$GC,617,-0.59,-116.8,3124,992,3384,3297,82.5,-10.8,58,628,0.00,2.45,0.00,0.000,1030,0.000,0.073,3121,2391,3341,3384,3299,0,0,0,0,0,0,28.83,14.27,28.83
$GC,868,-0.59,-116.8,3124,2395,3385,3297,105.9,-8.9,83,879,0.00,2.42,0.00,0.000,516,0.000,0.073,3125,996,3340,3386,3295,0,0,0,0,0,0,28.83,14.26,28.83
$GC,920,-0.59,-116.8,3125,994,3385,3298,110.6,-9.8,88,932,0.00,2.45,0.00,0.000,1030,0.000,0.071,3125,2401,3341,3385,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1172,-0.59,-116.8,3125,2401,3385,3298,134.5,-9.7,113,1183,0.00,2.50,0.00,0.000,260,0.000,0.090,3124,3821,3341,3385,3298,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1233,-0.59,-116.8,3124,3821,3385,3298,140.6,-10.0,119,1244,0.00,2.42,0.00,0.000,1030,0.000,0.063,3124,2399,3341,3384,3298,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1486,-0.59,-116.8,3124,2401,3385,3295,165.3,-9.8,144,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3341,3385,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1736,-0.59,-116.8,3124,2401,3384,3298,187.0,-8.7,169,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1986,-0.59,-116.8,3123,2403,3385,3297,210.2,-9.6,194,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3338,3380,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2235,-0.59,-116.8,3124,2401,3385,3299,233.2,-9.4,219,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3341,3385,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2506,-0.59,-116.8,3125,2401,3384,3296,259.0,-9.9,240,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3340,3384,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2806,-0.59,-116.8,3124,2398,3385,3296,287.3,-9.4,250,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3337,3384,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3106,-0.59,-116.8,3125,2401,3385,3294,315.1,-9.1,260,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3339,3385,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3406,-0.59,-116.8,3123,2401,3384,3294,341.8,-8.8,270,3416,0.00,2.45,0.00,0.000,516,0.000,0.075,3124,992,3339,3385,3293,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3455,-0.59,-116.8,3125,992,3385,3293,346.3,-9.3,275,3467,0.00,2.47,0.00,0.000,1030,0.000,0.074,3124,2398,3338,3384,3293,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3769,-0.59,-116.8,3125,2398,3385,3292,372.1,-8.2,286,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3338,3385,3292,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3792,begin apogee
$GC,3802,-0.25,0.0,3124,2326,3384,3292,374.2,-8.1,287,3903,0.40,0.00,93.43,1.144,10246,0.182,0.000,3241,2326,2858,2933,2784,0,0,0,0,0,0,14.10,28.83,13.51
$STATE,3905,end apogee,CONTROL_FINISHED_OK
$STATE,3905,begin climb
$GC,3909,0.59,116.8,3241,2326,2931,2779,378.0,0.0,290,4016,0.85,2.55,95.38,1.118,10756,0.135,0.078,3519,924,2377,2510,2245,0,0,0,0,0,0,14.05,13.94,13.37
$GC,4049,0.62,116.8,3519,924,2510,2245,373.3,6.0,302,4059,0.00,2.53,0.00,0.000,1030,0.000,0.071,3519,2340,2377,2510,2245,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4371,0.62,116.8,3519,2345,2510,2245,352.0,6.9,314,4381,0.00,2.47,0.00,0.000,260,0.000,0.090,3519,3737,2377,2509,2245,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4440,0.62,116.8,3519,3736,2510,2244,346.5,7.9,321,4450,0.00,2.45,0.00,0.000,1030,0.000,0.068,3519,2326,2377,2510,2244,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4762,0.63,116.8,3519,2325,2505,2242,325.0,6.6,333,4772,0.00,2.45,0.00,0.000,516,0.000,0.084,3520,921,2376,2511,2241,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4811,0.66,116.8,3519,921,2509,2242,321.7,6.1,338,4821,0.00,2.45,0.00,0.000,1030,0.000,0.073,3521,2329,2376,2510,2242,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5125,0.67,116.8,3520,2328,2509,2241,302.2,6.6,349,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2328,2375,2510,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5425,0.69,116.8,3520,2328,2509,2241,283.0,6.4,359,5435,0.00,2.47,0.00,0.000,260,0.000,0.089,3519,3734,2374,2509,2240,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5495,0.69,116.8,3519,3735,2506,2240,277.6,7.7,366,5505,0.00,2.42,0.00,0.000,1030,0.000,0.067,3520,2329,2378,2516,2240,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5818,0.71,116.8,3520,2329,2509,2238,256.9,6.2,378,5829,0.10,2.53,0.00,0.000,2308,0.165,0.087,3566,3739,2373,2509,2238,0,0,0,0,0,0,14.40,14.26,28.83
$GC,6008,0.71,116.8,3567,3739,2508,2237,240.1,9.1,397,6019,0.00,2.45,0.00,0.000,1030,0.000,0.068,3575,2325,2376,2516,2237,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6259,0.71,116.8,3576,2325,2508,2237,219.6,8.1,422,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2325,2372,2508,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6510,0.71,116.8,3575,2325,2508,2237,200.2,7.3,447,6521,0.00,2.50,0.00,0.000,516,0.000,0.081,3586,915,2375,2508,2242,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6561,0.71,116.8,3587,915,2508,2237,196.1,7.8,452,6573,0.12,2.47,0.00,0.000,5126,0.281,0.070,3560,2329,2372,2508,2236,0,0,0,0,0,0,13.97,14.25,28.83
$GC,6814,0.73,116.8,3561,2328,2503,2236,179.8,6.3,477,6825,0.00,2.50,0.00,0.000,260,0.000,0.087,3561,3749,2370,2504,2236,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6865,0.73,116.8,3561,3749,2508,2236,176.1,7.1,482,6875,0.00,2.47,0.00,0.000,1030,0.000,0.069,3558,2320,2372,2508,2236,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7115,0.73,116.8,3562,2319,2511,2237,157.7,7.3,507,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2317,2375,2508,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7366,0.73,116.8,3562,2319,2508,2236,138.5,7.7,532,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2319,2372,2508,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7618,0.73,116.8,3562,2319,2508,2236,119.4,7.2,557,7628,0.00,2.47,0.00,0.000,516,0.000,0.083,3562,916,2369,2503,2236,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7809,0.73,116.8,3562,915,2507,2236,106.0,7.4,576,7820,0.00,2.47,0.00,0.000,1030,0.000,0.070,3561,2332,2371,2507,2236,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8061,0.75,116.8,3567,2332,2507,2236,89.3,6.6,601,8072,0.00,2.50,0.00,0.000,260,0.000,0.089,3561,3739,2372,2507,2237,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8302,0.78,116.8,3562,3739,2507,2236,75.7,5.6,625,8313,0.00,2.45,0.00,0.000,1030,0.000,0.067,3562,2332,2371,2507,2236,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8553,0.82,169.7,3562,2329,2506,2239,64.0,5.1,650,8603,0.00,2.50,39.80,0.776,8452,0.000,0.085,3563,3741,2160,2307,2014,0,0,0,0,0,0,28.83,14.35,13.83
$GC,8763,0.85,169.7,3562,3741,2305,2018,51.0,5.9,671,8775,0.12,2.45,0.00,0.000,3078,0.141,0.067,3611,2329,2162,2307,2018,0,0,0,0,0,0,14.24,14.24,28.83
$GC,9016,0.86,169.7,3611,2325,2308,2018,35.3,6.8,696,9027,0.00,2.47,0.00,0.000,516,0.000,0.080,3617,916,2162,2307,2018,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9087,0.90,169.7,3617,915,2307,2019,31.4,5.5,703,9099,0.00,2.47,0.00,0.000,1030,0.000,0.069,3617,2334,2162,2307,2018,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9341,1.03,354.0,3617,2334,2307,2019,24.9,-0.4,728,9492,0.12,2.60,133.02,0.693,10756,0.143,0.083,3682,921,1409,1549,1269,0,0,0,0,0,0,14.32,14.12,13.73
$STATE,9599,end climb,SURFACE_DEPTH_REACHED
$STATE,9599,begin surface coast
$FINISH,1.2,1.023646
$STATE,9620,end surface coast,CONTROL_FINISHED_OK
$STATE,9621,begin surface
$SM_CCo,9649,8.23,0.099,0,0,1328,375.06
$SM_GC,3.54,9.45,2.67,8.23,0.059,0.073,0.099,388,2398,1328,-9.12,-0.71,375.06,0,0,0,0,0,0,14.21,14.19,14.16
$IRIDIUM_FIX,4732.49,-12513.98,011014,222201
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.57
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3799456
$PM_FREEKB,50501344
$24V_AH,13.4,103.406
$10V_AH,13.6,0.000
$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,24.250,84.500,361.625,8.225,0.000,0.000,0.000,258.075,0.000,0.000,31.712,1804.903,5645.185,543.585,1684.130,499.960,0.000,1644.832,0.000,1187.571,0.000,0.536,0.000
$DEVICE_MAMPS,398.565,155.295,1144.440,98.685,0.000,0.000,0.000,155.295,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9639.000,146.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.231,5.364,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,26719,756
$CAP_FILE_SIZE,142242,0
$CFSIZE,260034560,214945792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8484.75,0x2378ba,7,5
$CURRENT,0.084, 43.3,1
$GPS,021014,040054,4751.729,-12516.055,63,1.5,64,18.7