version: 66.12
glider: 187
mission: 4
dive: 436
start: 10 2 114 10 15 29
data:
$ID,187
$MISSION,4
$DIVE,436
$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,-1593990.6
$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,25
$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
$GPS1,021014,100453,4751.114,-12517.484,33,1.4,51,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-73.8
$GPS2,021014,101500,4751.130,-12517.418,11,1.7,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,214.3,160482,-14.0,-7.333,-18.81,2445
$D_GRID,449
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.59,-116.8,394,2400,1453,1208,0.0,0.0,0,81,0.00,0.00,-48.03,0.000,16386,0.000,0.000,393,2398,2571,2656,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,393,2399,2657,2486,3.1,-1.8,5,124,12.73,2.60,-16.42,0.000,18692,0.383,0.109,3125,3819,3336,3381,3292,0,0,0,0,0,0,13.84,14.21,14.54
$GC,274,-0.59,-116.8,3125,3819,3382,3296,35.5,-15.2,24,283,0.00,2.45,0.00,0.000,1030,0.000,0.062,3125,2397,3339,3382,3296,0,0,0,0,0,0,28.83,14.23,28.83
$GC,525,-0.59,-116.8,3125,2392,3385,3297,67.9,-12.2,49,533,0.00,2.55,0.00,0.000,260,0.000,0.088,3125,3811,3342,3387,3297,0,0,0,0,0,0,28.83,14.19,28.83
$GC,694,-0.59,-116.8,3121,3811,3384,3298,86.6,-10.7,66,704,0.00,2.45,0.00,0.000,1030,0.000,0.061,3125,2400,3341,3384,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,944,-0.59,-116.8,3125,2399,3384,3298,112.1,-10.1,91,952,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1194,-0.59,-116.8,3125,2399,3384,3298,138.0,-9.8,116,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1444,-0.59,-116.8,3125,2399,3389,3304,162.8,-9.7,141,1453,0.00,2.45,0.00,0.000,516,0.000,0.073,3125,989,3341,3384,3298,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1544,-0.59,-116.8,3125,992,3384,3298,173.2,-10.4,151,1553,0.00,2.47,0.00,0.000,1030,0.000,0.072,3125,2399,3339,3380,3298,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1794,-0.59,-116.8,3125,2399,3385,3297,198.2,-9.8,176,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3344,3384,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2044,-0.59,-116.8,3125,2398,3387,3297,221.1,-8.7,201,2053,0.00,2.50,0.00,0.000,260,0.000,0.090,3125,3810,3340,3384,3297,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2105,-0.59,-116.8,3125,3810,3384,3296,226.6,-9.3,207,2113,0.00,2.45,0.00,0.000,1030,0.000,0.064,3125,2388,3340,3384,3296,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2354,-0.59,-116.8,3125,2382,3384,3295,248.1,-8.4,232,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-0.59,-116.8,3125,2383,3384,3294,271.4,-8.6,243,2632,0.00,2.42,0.00,0.000,516,0.000,0.078,3125,1000,3339,3384,3294,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2673,-0.59,-116.8,3125,1000,3384,3294,275.8,-9.3,248,2683,0.00,2.50,0.00,0.000,1030,0.000,0.073,3125,2394,3339,3384,3294,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2988,-0.59,-116.8,3125,2394,3384,3293,302.2,-8.5,259,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3342,3391,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3285,-0.59,-116.8,3125,2394,3384,3292,328.1,-8.6,269,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3585,-0.59,-116.8,3122,2394,3384,3291,353.1,-8.4,279,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2394,3337,3384,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3885,-0.59,-116.8,3125,2394,3383,3290,377.8,-8.3,289,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3337,3384,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4185,-0.59,-116.8,3124,2393,3379,3288,402.5,-8.4,299,4192,0.00,2.45,0.00,0.000,516,0.000,0.076,3125,1000,3339,3384,3294,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4275,-0.59,-116.8,3125,1000,3383,3288,410.6,-9.2,308,4282,0.00,2.47,0.00,0.000,1030,0.000,0.073,3124,2406,3336,3384,3288,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4607,-0.59,-116.8,3125,2405,3383,3287,437.6,-8.0,321,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4751,begin apogee
$GC,4760,-0.25,0.0,3125,2332,3383,3289,450.0,-8.3,326,4860,0.40,0.00,94.62,1.242,10246,0.181,0.000,3241,2332,2856,2932,2781,0,0,0,0,0,0,14.05,28.83,13.43
$STATE,4863,end apogee,CONTROL_FINISHED_OK
$STATE,4863,begin climb
$GC,4867,0.59,116.8,3241,2332,2931,2781,453.6,0.0,329,4974,0.82,0.00,97.60,1.212,10246,0.133,0.000,3507,2331,2379,2511,2247,0,0,0,0,0,0,14.01,28.83,13.29
$GC,5266,0.60,116.8,3507,2332,2514,2246,433.0,6.7,343,5276,0.00,2.50,0.00,0.000,516,0.000,0.082,3508,922,2378,2510,2246,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5315,0.62,116.8,3508,921,2510,2246,429.5,6.5,348,5326,0.00,2.50,0.00,0.000,1030,0.000,0.073,3508,2343,2378,2510,2247,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5630,0.65,116.8,3508,2342,2509,2245,409.6,6.1,359,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2342,2377,2509,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5929,0.66,116.8,3508,2342,2510,2240,390.7,6.5,369,5941,0.10,2.50,0.00,0.000,2564,0.164,0.079,3562,920,2377,2510,2244,0,0,0,0,0,0,14.36,14.21,28.83
$GC,6040,0.66,116.8,3562,920,2509,2244,381.3,8.1,380,6051,0.00,2.47,0.00,0.000,1030,0.000,0.073,3562,2330,2376,2509,2244,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6354,0.66,116.8,3562,2330,2509,2238,354.4,9.1,391,6364,0.00,2.47,0.00,0.000,516,0.000,0.083,3561,925,2376,2509,2243,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6444,0.66,116.8,3562,925,2509,2243,346.2,9.1,400,6454,0.00,2.47,0.00,0.000,1030,0.000,0.073,3562,2339,2374,2506,2242,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6774,0.66,116.8,3562,2339,2508,2242,318.1,8.4,413,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2339,2375,2511,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7075,0.66,116.8,3562,2339,2508,2241,293.0,8.7,423,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2340,2375,2509,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7374,0.66,116.8,3562,2339,2508,2240,267.4,8.5,433,7384,0.00,2.47,0.00,0.000,260,0.000,0.090,3562,3738,2374,2507,2241,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7454,0.66,116.8,3562,3739,2508,2241,260.2,9.4,441,7465,0.00,2.45,0.00,0.000,1030,0.000,0.070,3562,2334,2374,2508,2241,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7764,0.66,116.8,3562,2334,2508,2240,236.8,7.2,462,7775,0.00,2.47,0.00,0.000,516,0.000,0.082,3562,919,2374,2508,2240,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7878,0.66,116.8,3562,919,2507,2241,228.5,7.6,473,7889,0.00,2.47,0.00,0.000,1030,0.000,0.073,3562,2330,2373,2507,2240,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8128,0.66,116.8,3562,2330,2507,2240,209.9,7.6,498,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2330,2373,2507,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8380,0.66,116.8,3562,2329,2509,2239,190.9,7.8,523,8390,0.00,2.50,0.00,0.000,516,0.000,0.083,3562,920,2373,2507,2240,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8483,0.66,116.8,3562,919,2507,2240,183.1,7.4,533,8493,0.00,2.47,0.00,0.000,1030,0.000,0.073,3563,2329,2373,2507,2240,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8733,0.66,116.8,3562,2329,2507,2240,163.9,7.3,558,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2329,2373,2507,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8984,0.66,116.8,3562,2329,2507,2240,146.5,7.4,583,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2329,2373,2507,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9234,0.68,116.8,3562,2329,2507,2240,130.2,6.4,608,9244,0.00,2.53,0.00,0.000,260,0.000,0.089,3562,3746,2373,2507,2239,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9475,0.68,116.8,3562,3742,2507,2239,111.7,7.0,632,9486,0.00,2.50,0.00,0.000,1030,0.000,0.067,3562,2318,2372,2506,2239,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9726,0.68,116.8,3562,2317,2506,2238,95.4,7.2,657,9737,0.00,2.47,0.00,0.000,516,0.000,0.081,3562,915,2373,2507,2239,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9947,0.72,166.4,3563,916,2506,2239,82.2,5.2,679,9997,0.00,2.50,37.80,0.802,9222,0.000,0.070,3560,2330,2175,2319,2032,0,0,0,0,0,0,28.83,14.23,13.81
$GC,10241,0.76,221.7,3562,2330,2320,2033,65.3,5.0,708,10290,0.00,0.00,43.05,0.769,8710,0.000,0.000,3564,2329,1954,2091,1818,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10534,0.76,221.7,3563,2326,2088,1815,42.5,7.6,737,10546,0.00,2.50,0.00,0.000,260,0.000,0.088,3562,3738,1951,2087,1816,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10696,0.76,221.7,3562,3735,2088,1815,28.7,8.7,753,10706,0.00,2.45,0.00,0.000,1030,0.000,0.067,3562,2329,1951,2088,1815,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10946,0.85,360.0,3562,2329,2088,1815,13.4,1.5,778,11021,0.12,2.55,64.55,0.145,11012,0.138,0.081,3628,918,1392,1537,1247,0,0,0,0,0,0,14.31,14.25,14.14
$STATE,11111,end climb,SURFACE_DEPTH_REACHED
$STATE,11111,begin surface coast
$FINISH,1.2,1.007921
$STATE,11153,end surface coast,CONTROL_FINISHED_OK
$STATE,11153,begin surface
$SM_CCo,11181,6.85,0.099,0,0,1328,375.06
$SM_GC,3.81,9.30,2.65,6.85,0.065,0.073,0.099,392,2398,1328,-9.11,-0.88,375.06,0,0,0,0,0,0,14.27,14.27,14.22
$IRIDIUM_FIX,4732.49,-12522.93,021014,101036
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.14
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3798496
$PM_FREEKB,50450304
$24V_AH,13.3,103.883
$10V_AH,13.5,0.000
$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,23.475,79.825,337.625,6.850,0.000,0.000,0.000,314.800,0.000,0.000,17.301,1921.045,7111.305,521.002,1743.220,494.403,0.000,1655.946,0.000,1235.346,0.000,0.536,0.000
$DEVICE_MAMPS,382.500,136.170,1241.595,99.450,0.000,0.000,0.000,159.885,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11171.000,4918.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.896,4.117,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,26739,798
$CAP_FILE_SIZE,144134,0
$CFSIZE,260034560,214720512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11340.98,0x2378ba,7,5
$CURRENT,0.127, 32.3,1
$GPS,021014,132345,4751.094,-12518.205,45,2.0,56,18.7