version: 66.12
glider: 187
mission: 4
dive: 434
start: 10 2 114 4 9 3
data:
$ID,187
$MISSION,4
$DIVE,434
$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,-1593988.1
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,021014,040054,4751.729,-12516.055,63,1.5,64,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-73.1
$GPS2,021014,040836,4751.792,-12516.141,17,1.8,23,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,211.1,162508,-14.0,-7.333,-18.81,2445
$D_GRID,383
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.59,-116.8,389,2398,1440,1227,0.0,0.0,0,90,0.00,0.00,-58.12,0.000,16386,0.000,0.000,387,2398,2885,2943,2828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,387,2398,2937,2829,4.2,-3.7,6,130,12.82,2.60,-8.02,0.000,18692,0.386,0.109,3127,3822,3338,3380,3297,0,0,0,0,0,0,13.84,14.21,14.52
$GC,151,-0.59,-116.8,3124,3822,3380,3298,22.5,-29.1,12,161,0.00,2.47,0.00,0.000,1030,0.000,0.063,3124,2388,3339,3381,3298,0,0,0,0,0,0,28.83,14.23,28.83
$GC,401,-0.59,-116.8,3124,2382,3382,3298,55.0,-11.5,37,411,0.00,2.45,0.00,0.000,516,0.000,0.076,3124,982,3340,3382,3299,0,0,0,0,0,0,28.83,14.17,28.83
$GC,571,-0.59,-116.8,3127,982,3383,3299,73.9,-11.6,54,580,0.00,2.53,0.00,0.000,1030,0.000,0.070,3124,2411,3341,3383,3299,0,0,0,0,0,0,28.83,14.23,28.83
$GC,822,-0.59,-116.8,3124,2411,3384,3299,101.6,-11.1,79,830,0.00,2.47,0.00,0.000,260,0.000,0.089,3127,3811,3339,3380,3299,0,0,0,0,0,0,28.83,14.17,28.83
$GC,964,-0.59,-116.8,3124,3811,3384,3299,116.7,-10.1,93,972,0.00,2.42,0.00,0.000,1030,0.000,0.061,3123,2399,3341,3383,3299,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1212,-0.59,-116.8,3123,2399,3384,3299,142.0,-10.1,118,1221,0.00,2.45,0.00,0.000,516,0.000,0.074,3123,993,3341,3384,3299,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1312,-0.59,-116.8,3124,998,3384,3299,152.4,-10.3,128,1322,0.00,2.47,0.00,0.000,1030,0.000,0.073,3124,2402,3337,3376,3299,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1562,-0.59,-116.8,3124,2401,3384,3299,176.4,-10.0,153,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3341,3384,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.59,-116.8,3124,2401,3384,3299,199.6,-9.3,178,1821,0.00,2.50,0.00,0.000,260,0.000,0.091,3124,3807,3344,3384,3305,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1872,-0.59,-116.8,3124,3807,3384,3299,205.5,-9.6,184,1883,0.00,2.42,0.00,0.000,1030,0.000,0.064,3124,2400,3341,3384,3299,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2124,-0.59,-116.8,3124,2400,3384,3300,228.2,-9.0,209,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3341,3384,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2393,-0.59,-116.8,3124,2400,3383,3298,252.9,-9.1,234,2401,0.00,2.47,0.00,0.000,516,0.000,0.075,3124,985,3341,3384,3298,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2442,-0.59,-116.8,3124,985,3384,3298,257.7,-10.1,239,2452,0.00,2.53,0.00,0.000,1030,0.000,0.072,3124,2394,3341,3384,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2757,-0.59,-116.8,3124,2393,3384,3297,285.1,-8.5,250,2764,0.00,2.50,0.00,0.000,260,0.000,0.090,3124,3808,3340,3384,3297,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2905,-0.59,-116.8,3124,3808,3384,3297,298.4,-8.9,265,2912,0.00,2.45,0.00,0.000,1030,0.000,0.065,3122,2389,3340,3384,3297,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3238,-0.59,-116.8,3124,2384,3384,3291,325.1,-8.3,278,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3534,-0.59,-116.8,3122,2384,3384,3294,350.3,-8.6,288,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2384,3339,3384,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3835,-0.59,-116.8,3124,2384,3383,3293,375.0,-8.4,298,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2384,3341,3384,3299,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3951,begin apogee
$GC,3960,-0.25,0.0,3124,2315,3384,3296,385.0,-8.3,302,4059,0.40,0.00,93.75,1.156,10246,0.187,0.000,3242,2315,2858,2932,2784,0,0,0,0,0,0,14.05,28.83,13.49
$STATE,4062,end apogee,CONTROL_FINISHED_OK
$STATE,4062,begin climb
$GC,4066,0.59,116.8,3239,2315,2930,2779,388.9,0.0,305,4170,0.85,0.00,96.00,1.132,10246,0.136,0.000,3512,2315,2379,2512,2247,0,0,0,0,0,0,14.03,28.83,13.35
$GC,4465,0.60,116.8,3511,2312,2509,2244,367.3,6.7,319,4475,0.00,2.55,0.00,0.000,260,0.000,0.087,3513,3743,2376,2509,2243,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4555,0.60,116.8,3512,3744,2509,2243,360.0,8.5,328,4565,0.00,2.45,0.00,0.000,1030,0.000,0.068,3519,2340,2374,2506,2243,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4886,0.60,116.8,3519,2340,2509,2241,336.7,7.1,341,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2340,2375,2510,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,0.60,116.8,3520,2340,2509,2241,315.5,7.2,351,5196,0.00,2.50,0.00,0.000,516,0.000,0.082,3519,909,2374,2509,2240,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5265,0.60,116.8,3520,912,2509,2240,309.8,7.4,359,5276,0.00,2.50,0.00,0.000,1030,0.000,0.071,3520,2346,2374,2509,2240,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5579,0.61,116.8,3519,2346,2509,2235,288.0,6.8,370,5589,0.00,2.45,0.00,0.000,260,0.000,0.089,3519,3734,2374,2509,2239,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5779,0.61,116.8,3519,3735,2509,2238,272.8,7.4,390,5789,0.00,2.45,0.00,0.000,1030,0.000,0.067,3519,2319,2373,2508,2238,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6093,0.64,116.8,3519,2319,2508,2237,253.2,6.2,401,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2320,2372,2508,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6389,0.67,116.8,3519,2319,2508,2232,234.9,5.7,427,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2320,2372,2508,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6639,0.69,116.8,3519,2319,2509,2236,219.5,6.4,452,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2320,2372,2508,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6891,0.71,116.8,3519,2319,2508,2236,203.9,5.9,477,6901,0.10,0.00,0.00,0.000,2054,0.166,0.000,3567,2315,2372,2508,2236,0,0,0,0,0,0,14.39,28.83,28.83
$GC,7142,0.71,116.8,3567,2315,2509,2236,186.0,7.2,502,7153,0.00,2.58,0.00,0.000,260,0.000,0.089,3567,3746,2372,2508,2236,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7213,0.71,116.8,3567,3744,2508,2236,180.0,8.9,509,7224,0.00,2.45,0.00,0.000,1030,0.000,0.068,3573,2336,2372,2508,2236,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7464,0.71,116.8,3575,2336,2507,2236,160.8,7.9,534,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2336,2371,2506,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7715,0.74,116.8,3575,2336,2508,2235,143.5,6.3,559,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2336,2372,2508,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7965,0.74,116.8,3575,2336,2508,2235,126.5,7.1,584,7976,0.00,2.50,0.00,0.000,516,0.000,0.081,3575,917,2371,2507,2236,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8116,0.75,116.8,3581,921,2507,2236,116.3,6.5,599,8127,0.00,2.47,0.00,0.000,1030,0.000,0.070,3576,2330,2371,2507,2236,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8367,0.77,116.8,3575,2334,2507,2231,99.8,6.5,624,8379,0.00,2.50,0.00,0.000,260,0.000,0.088,3575,3737,2374,2507,2242,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8492,0.78,116.8,3575,3737,2501,2235,91.3,6.7,636,8504,0.00,2.47,0.00,0.000,1030,0.000,0.066,3576,2319,2371,2507,2235,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8745,0.82,169.3,3575,2319,2508,2235,76.3,5.1,661,8795,0.00,2.60,39.58,0.799,8452,0.000,0.086,3575,3736,2164,2308,2020,0,0,0,0,0,0,28.83,14.34,13.82
$GC,9026,0.82,169.3,3577,3738,2308,2021,52.5,7.8,689,9037,0.00,2.47,0.00,0.000,1030,0.000,0.067,3574,2330,2164,2308,2021,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9278,0.86,169.3,3575,2329,2307,2020,37.5,5.4,714,9289,0.00,2.47,0.00,0.000,516,0.000,0.080,3585,914,2163,2308,2018,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9489,0.90,232.0,3585,914,2309,2021,27.2,4.7,735,9550,0.00,2.47,45.92,0.719,9222,0.000,0.070,3585,2330,1909,2049,1769,0,0,0,0,0,0,28.83,14.21,13.84
$GC,9795,1.01,385.0,3585,2330,2046,1770,13.8,0.9,765,9881,0.17,2.55,71.47,0.144,10756,0.116,0.082,3669,921,1287,1431,1143,0,0,0,0,0,0,14.28,14.19,14.14
$STATE,9920,end climb,SURFACE_DEPTH_REACHED
$STATE,9920,begin surface coast
$FINISH,1.3,1.011618
$STATE,9952,end surface coast,CONTROL_FINISHED_OK
$STATE,9952,begin surface
$SM_CCo,10041,0.00,0.000,0,0,1289,384.88
$SM_GC,2.62,9.32,2.65,0.00,0.057,0.073,0.000,391,2399,1289,-9.10,-0.76,384.88,0,0,0,0,0,0,14.28,14.26,28.83
$IRIDIUM_FIX,4729.30,-12519.22,021014,010153
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.31
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3799136
$PM_FREEKB,50477312
$24V_AH,13.4,103.560
$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,23.675,79.950,346.725,0.000,0.000,0.000,0.000,221.725,0.000,0.000,23.867,1859.066,6011.993,531.065,1619.007,469.282,0.000,1545.810,0.000,1217.519,0.000,0.536,0.000
$DEVICE_MAMPS,386.325,188.190,1155.915,0.000,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9972.000,4107.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.154,4.125,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,26757,781
$CAP_FILE_SIZE,136860,0
$CFSIZE,260034560,214880256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10260.53,0x2378ba,7,5
$CURRENT,0.084, 60.6,1
$GPS,021014,065735,4751.388,-12516.688,13,1.5,24,18.7