version: 66.12
glider: 187
mission: 4
dive: 435
start: 10 2 114 7 6 27
data:
$ID,187
$MISSION,4
$DIVE,435
$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,-1593989.4
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,021014,065735,4751.388,-12516.688,13,1.5,24,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-74.3
$GPS2,021014,070601,4751.461,-12516.603,16,1.6,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,217.8,161675,-14.0,-7.333,-18.81,2445
$D_GRID,414
$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,-116.8,391,2400,1429,1147,0.0,0.0,0,80,0.00,0.00,-47.67,0.000,16386,0.000,0.000,397,2400,2520,2610,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,391,2400,2611,2429,3.0,-1.7,5,131,12.62,2.58,-17.73,0.000,18692,0.378,0.109,3125,3807,3336,3382,3291,0,0,0,0,0,0,13.85,14.21,14.53
$GC,200,-0.59,-116.8,3125,3807,3382,3295,23.2,-14.5,17,211,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2402,3338,3383,3293,0,0,0,0,0,0,28.83,14.23,28.83
$GC,452,-0.59,-116.8,3125,2398,3384,3294,53.7,-10.8,42,462,0.00,2.45,0.00,0.000,516,0.000,0.073,3125,988,3339,3384,3295,0,0,0,0,0,0,28.83,14.22,28.83
$GC,565,-0.59,-116.8,3125,988,3384,3295,66.9,-11.4,53,575,0.00,2.47,0.00,0.000,1030,0.000,0.070,3126,2406,3339,3384,3295,0,0,0,0,0,0,28.83,14.26,28.83
$GC,815,-0.59,-116.8,3125,2405,3385,3295,95.6,-11.6,78,826,0.00,2.47,0.00,0.000,260,0.000,0.090,3129,3809,3341,3386,3296,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1025,-0.59,-116.8,3125,3808,3385,3292,117.3,-10.0,99,1037,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2395,3340,3385,3296,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1278,-0.59,-116.8,3125,2390,3385,3296,141.6,-9.5,124,1289,0.00,2.42,0.00,0.000,516,0.000,0.076,3125,993,3340,3385,3296,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1338,-0.59,-116.8,3125,993,3385,3296,148.0,-10.2,130,1349,0.00,2.45,0.00,0.000,1030,0.000,0.071,3125,2396,3338,3385,3291,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1589,-0.59,-116.8,3126,2396,3385,3296,171.0,-8.8,155,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3340,3385,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.59,-116.8,3125,2396,3385,3296,193.2,-8.7,180,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2396,3340,3385,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2090,-0.59,-116.8,3125,2396,3385,3296,214.9,-8.4,205,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3340,3385,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-0.59,-116.8,3125,2401,3385,3294,234.7,-8.1,230,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3339,3385,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2600,-0.59,-116.8,3129,2396,3384,3290,255.7,-8.2,252,2610,0.00,2.50,0.00,0.000,260,0.000,0.090,3125,3818,3337,3385,3290,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2650,-0.59,-116.8,3126,3814,3385,3293,259.9,-8.9,257,2661,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2402,3339,3385,3293,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2963,-0.59,-116.8,3123,2400,3384,3292,287.2,-8.9,268,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2400,3339,3386,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3261,-0.59,-116.8,3125,2400,3385,3292,312.7,-8.5,278,3271,0.00,2.55,0.00,0.000,260,0.000,0.090,3125,3821,3337,3385,3289,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3360,-0.59,-116.8,3128,3821,3385,3292,321.7,-9.1,288,3370,0.00,2.45,0.00,0.000,1030,0.000,0.063,3122,2398,3336,3385,3288,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3681,-0.59,-116.8,3125,2396,3385,3290,350.1,-8.8,300,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3337,3385,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3981,-0.59,-116.8,3125,2396,3385,3289,375.4,-8.2,310,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3337,3385,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4282,-0.59,-116.8,3126,2396,3385,3288,400.1,-8.3,320,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2396,3336,3385,3288,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4457,begin apogee
$GC,4466,-0.25,0.0,3125,2313,3385,3288,414.8,-8.1,326,4567,0.40,0.00,93.88,1.200,10246,0.184,0.000,3240,2313,2859,2934,2784,0,0,0,0,0,0,14.06,28.83,13.47
$STATE,4569,end apogee,CONTROL_FINISHED_OK
$STATE,4569,begin climb
$GC,4574,0.59,116.8,3241,2313,2933,2780,418.8,0.0,329,4681,0.82,2.62,96.38,1.172,10500,0.135,0.085,3507,3747,2383,2515,2251,0,0,0,0,0,0,14.04,13.92,13.31
$GC,4735,0.61,116.8,3507,3747,2510,2245,413.8,6.6,347,4745,0.00,2.50,0.00,0.000,1030,0.000,0.066,3507,2339,2377,2510,2245,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5066,0.63,116.8,3507,2339,2510,2247,393.1,6.2,360,5076,0.00,2.50,0.00,0.000,516,0.000,0.080,3508,914,2377,2510,2245,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5136,0.65,116.8,3508,914,2509,2245,388.6,6.2,367,5146,0.00,2.50,0.00,0.000,1030,0.000,0.070,3510,2345,2377,2509,2245,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5459,0.67,116.8,3508,2344,2509,2244,368.4,6.5,379,5469,0.00,2.53,0.00,0.000,516,0.000,0.081,3509,912,2376,2509,2244,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5560,0.68,116.8,3509,909,2509,2244,361.6,6.6,389,5571,0.12,2.47,0.00,0.000,3078,0.148,0.071,3556,2334,2375,2506,2244,0,0,0,0,0,0,14.28,14.30,28.83
$GC,5880,0.68,116.8,3556,2329,2509,2242,334.9,8.5,401,5890,0.00,2.47,0.00,0.000,260,0.000,0.089,3556,3732,2375,2509,2242,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6001,0.68,116.8,3556,3732,2509,2241,323.4,9.8,413,6011,0.00,2.47,0.00,0.000,1030,0.000,0.070,3562,2318,2375,2509,2241,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6331,0.68,116.8,3562,2318,2509,2241,295.3,8.4,426,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2318,2375,2509,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6632,0.68,116.8,3562,2318,2509,2240,270.9,7.9,436,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2318,2374,2509,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6934,0.68,116.8,3561,2318,2506,2240,247.4,8.1,448,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2318,2374,2509,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7184,0.68,116.8,3562,2318,2508,2239,227.7,7.6,473,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2318,2374,2509,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7434,0.68,116.8,3562,2318,2508,2239,207.9,8.1,498,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2318,2373,2508,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7684,0.68,116.8,3562,2318,2504,2238,187.8,7.3,523,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2318,2373,2509,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7935,0.68,116.8,3562,2318,2508,2238,168.9,7.4,548,7946,0.00,2.47,0.00,0.000,516,0.000,0.082,3562,915,2373,2508,2238,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8059,0.68,116.8,3562,915,2508,2238,159.5,7.9,560,8070,0.00,2.47,0.00,0.000,1030,0.000,0.070,3562,2331,2373,2508,2238,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8309,0.68,116.8,3562,2330,2508,2238,142.3,7.2,585,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2330,2374,2507,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8559,0.68,116.8,3562,2330,2507,2238,121.7,8.4,610,8570,0.00,2.50,0.00,0.000,516,0.000,0.081,3562,920,2373,2508,2238,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8664,0.68,116.8,3562,918,2507,2238,113.7,7.4,620,8675,0.00,2.50,0.00,0.000,1030,0.000,0.071,3562,2340,2372,2507,2237,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8915,0.72,168.3,3562,2339,2507,2238,97.7,5.2,645,8970,0.00,0.00,39.33,0.822,8198,0.000,0.000,3562,2339,2168,2314,2022,0,0,0,0,0,0,28.83,28.83,13.81
$GC,9211,0.74,168.3,3562,2339,2310,2024,78.7,6.1,674,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2339,2168,2313,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9462,0.76,168.3,3563,2339,2314,2023,62.4,6.3,699,9473,0.00,2.47,0.00,0.000,260,0.000,0.090,3562,3733,2168,2314,2023,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9703,0.76,168.3,3562,3733,2314,2023,44.5,7.1,723,9715,0.00,2.47,0.00,0.000,1030,0.000,0.067,3562,2320,2168,2314,2023,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9955,0.82,248.4,3562,2319,2314,2022,31.7,4.0,748,10025,0.00,2.62,60.58,0.726,8452,0.000,0.087,3562,3747,1840,1986,1694,0,0,0,0,0,0,28.83,14.28,13.85
$GC,10156,0.82,248.4,3562,3747,1986,1698,17.1,8.1,768,10166,0.00,2.47,0.00,0.000,1030,0.000,0.068,3562,2332,1841,1985,1698,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10406,0.89,341.1,3562,2331,1985,1698,4.7,3.4,793,10427,0.12,0.00,14.10,0.100,10242,0.135,0.000,3626,2328,1710,1858,1563,0,0,0,0,0,0,14.31,28.83,28.83
$STATE,10429,end climb,SURFACE_DEPTH_REACHED
$STATE,10429,begin surface coast
$FINISH,1.3,1.001880
$STATE,10536,end surface coast,CONTROL_FINISHED_OK
$STATE,10536,begin surface
$SM_CCo,10562,41.10,0.099,0,0,1328,375.06
$SM_GC,2.24,9.35,0.12,41.10,0.072,0.171,0.099,393,2397,1328,-9.10,-0.93,375.06,0,0,0,0,0,0,14.31,14.30,14.25
$IRIDIUM_FIX,4732.49,-12518.46,021014,040433
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.55
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3798816
$PM_FREEKB,50477280
$24V_AH,13.3,103.717
$10V_AH,12.9,0.000
$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,23.450,69.950,304.250,41.100,0.000,0.000,0.000,249.250,0.000,0.000,17.404,1913.618,6424.694,509.192,1747.317,508.855,0.000,1645.737,0.000,1254.280,0.000,0.536,0.000
$DEVICE_MAMPS,377.910,171.360,1200.285,99.450,0.000,0.000,0.000,164.475,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10556.000,153.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.086,5.169,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,26736,806
$CAP_FILE_SIZE,147559,0
$CFSIZE,260034560,214794240
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10643.48,0x2378ba,7,5
$INTR,1,8955.75,0x234488,1,24
$INTR,2,9985.73,0x234488,1,24
$CURRENT,0.071, 51.1,1
$GPS,021014,100453,4751.114,-12517.484,33,1.4,51,18.7