version: 66.12
glider: 187
mission: 4
dive: 514
start: 10 24 114 17 31 9
data:
$ID,187
$MISSION,4
$DIVE,514
$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,1
$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,-1594128.5
$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,34
$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
$GPS1,241014,172229,4750.798,-12514.873,300,1.0,300,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-69.6
$GPS2,241014,173042,4750.879,-12514.987,11,1.1,22,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,189.9,162701,-14.0,-7.333,-18.81,2445
$D_GRID,420
$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,-116.8,387,2399,1454,1207,0.0,0.0,0,80,0.00,0.00,-48.15,0.000,16386,0.000,0.000,387,2398,2561,2645,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,387,2398,2645,2477,3.0,-1.9,5,124,12.55,2.53,-17.23,0.000,18948,0.369,0.098,3125,1002,3336,3381,3292,0,0,0,0,0,0,13.82,14.22,14.54
$GC,355,-0.59,-116.8,3125,1003,3382,3300,45.7,-12.3,32,364,0.00,2.45,0.00,0.000,1030,0.000,0.069,3124,2393,3338,3382,3294,0,0,0,0,0,0,28.83,14.17,28.83
$GC,605,-0.59,-116.8,3125,2393,3383,3295,71.5,-10.2,57,613,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2393,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-0.59,-116.8,3125,2393,3388,3295,96.3,-10.6,82,863,0.00,2.53,0.00,0.000,260,0.000,0.084,3125,3822,3339,3384,3295,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1004,-0.59,-116.8,3125,3822,3384,3296,113.7,-11.4,97,1013,0.00,2.42,0.00,0.000,1030,0.000,0.060,3123,2398,3340,3384,3296,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1254,-0.59,-116.8,3124,2392,3384,3297,139.5,-9.5,122,1264,0.00,2.42,0.00,0.000,516,0.000,0.072,3125,988,3345,3396,3294,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1304,-0.59,-116.8,3122,988,3385,3296,144.2,-9.8,127,1314,0.00,2.47,0.00,0.000,1030,0.000,0.069,3125,2413,3340,3384,3296,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1555,-0.59,-116.8,3125,2412,3384,3295,166.7,-8.6,152,1564,0.00,2.45,0.00,0.000,260,0.000,0.087,3124,3804,3340,3380,3301,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1665,-0.59,-116.8,3125,3803,3383,3295,176.7,-9.2,163,1674,0.00,2.40,0.00,0.000,1030,0.000,0.061,3125,2400,3339,3383,3295,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1915,-0.59,-116.8,3125,2401,3384,3295,197.7,-8.7,188,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-0.59,-116.8,3125,2398,3383,3293,218.7,-8.9,213,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2414,-0.59,-116.8,3125,2401,3383,3293,239.7,-8.1,238,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,-0.59,-116.8,3125,2401,3383,3292,260.1,-8.4,255,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3341,3390,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2964,-0.59,-116.8,3125,2401,3383,3290,283.1,-7.4,265,2972,0.00,2.45,0.00,0.000,516,0.000,0.073,3125,990,3337,3384,3290,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3043,-0.59,-116.8,3125,990,3383,3290,289.6,-8.4,273,3053,0.00,2.50,0.00,0.000,1030,0.000,0.071,3125,2392,3337,3384,3290,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3359,-0.59,-116.8,3125,2392,3383,3288,313.1,-7.5,284,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2392,3336,3384,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3654,-0.59,-116.8,3125,2392,3383,3287,335.2,-7.5,294,3662,0.00,2.45,0.00,0.000,516,0.000,0.073,3125,986,3335,3383,3287,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3716,-0.59,-116.8,3125,986,3383,3287,340.0,-8.2,300,3723,0.00,2.50,0.00,0.000,1030,0.000,0.071,3125,2410,3335,3383,3287,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4047,-0.59,-116.8,3125,2410,3381,3282,364.3,-7.3,313,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2410,3335,3383,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4345,-0.59,-116.8,3123,2411,3383,3286,386.2,-7.3,323,4354,0.00,2.50,0.00,0.000,260,0.000,0.090,3122,3808,3333,3382,3284,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4413,-0.59,-116.8,3125,3814,3382,3286,391.7,-7.8,330,4422,0.00,2.47,0.00,0.000,1030,0.000,0.064,3125,2402,3334,3383,3286,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4738,-0.59,-116.8,3123,2401,3382,3285,416.3,-7.7,342,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4791,begin apogee
$GC,4800,-0.25,0.0,3125,2311,3382,3285,420.6,-7.5,344,4900,0.40,0.00,95.10,1.195,10246,0.170,0.000,3244,2313,2859,2932,2787,0,0,0,0,0,0,14.05,28.83,13.30
$STATE,4903,end apogee,CONTROL_FINISHED_OK
$STATE,4903,begin climb
$GC,4907,0.59,116.8,3244,2314,2930,2781,423.9,0.0,347,5013,0.82,0.00,96.82,1.177,10246,0.122,0.000,3514,2314,2381,2508,2255,0,0,0,0,0,0,14.04,28.83,13.20
$GC,5305,0.61,116.8,3513,2313,2507,2253,404.5,6.4,361,5315,0.00,2.55,0.00,0.000,260,0.000,0.086,3514,3750,2381,2507,2255,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5426,0.61,116.8,3513,3749,2507,2252,395.3,8.0,373,5436,0.00,2.45,0.00,0.000,1030,0.000,0.065,3520,2340,2380,2509,2252,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5757,0.63,116.8,3519,2340,2507,2251,372.9,6.6,386,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2340,2379,2507,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6061,0.65,116.8,3519,2339,2507,2250,353.5,6.3,396,6071,0.00,2.50,0.00,0.000,260,0.000,0.086,3519,3745,2379,2507,2252,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6170,0.65,116.8,3520,3745,2502,2249,344.8,8.1,407,6181,0.00,2.47,0.00,0.000,1030,0.000,0.066,3519,2320,2378,2507,2249,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6486,0.66,116.8,3522,2320,2507,2248,324.1,6.6,418,6496,0.00,2.45,0.00,0.000,516,0.000,0.081,3519,919,2377,2506,2248,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6618,0.68,116.8,3520,920,2506,2249,315.5,6.3,431,6628,0.00,2.47,0.00,0.000,1030,0.000,0.072,3519,2343,2378,2507,2249,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6938,0.71,116.8,3520,2342,2507,2246,296.0,6.0,443,6948,0.00,2.50,0.00,0.000,516,0.000,0.081,3520,918,2377,2507,2247,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7029,0.74,116.8,3520,918,2506,2248,290.7,6.0,452,7040,0.12,2.47,0.00,0.000,3078,0.145,0.072,3575,2339,2378,2510,2247,0,0,0,0,0,0,14.28,14.28,28.83
$GC,7360,0.74,116.8,3570,2334,2507,2247,266.9,7.3,465,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2334,2376,2509,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7665,0.75,116.8,3570,2334,2506,2247,246.2,6.6,477,7675,0.00,2.50,0.00,0.000,516,0.000,0.082,3571,917,2376,2506,2247,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7826,0.75,116.8,3575,917,2506,2247,234.9,7.2,493,7836,0.00,2.47,0.00,0.000,1030,0.000,0.072,3575,2334,2376,2506,2247,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8076,0.75,116.8,3575,2333,2501,2247,218.0,6.9,518,8087,0.00,2.50,0.00,0.000,260,0.000,0.088,3575,3748,2375,2505,2246,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8267,0.75,116.8,3575,3745,2505,2246,204.2,8.0,537,8278,0.00,2.45,0.00,0.000,1030,0.000,0.069,3576,2340,2375,2505,2246,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8519,0.75,116.8,3575,2339,2505,2246,186.8,7.1,562,8529,0.00,2.50,0.00,0.000,516,0.000,0.079,3585,915,2375,2505,2246,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8740,0.75,116.8,3585,911,2504,2246,171.2,7.1,584,8752,0.00,2.47,0.00,0.000,1030,0.000,0.070,3585,2329,2375,2505,2246,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8993,0.75,116.8,3585,2333,2504,2246,154.1,6.9,609,9004,0.00,2.50,0.00,0.000,260,0.000,0.086,3585,3746,2375,2504,2246,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9084,0.75,116.8,3585,3746,2504,2246,147.4,7.4,618,9094,0.00,2.47,0.00,0.000,1030,0.000,0.067,3586,2319,2375,2506,2245,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9334,0.75,116.8,3587,2319,2504,2246,130.5,7.2,643,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2319,2375,2504,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9587,0.77,116.8,3587,2319,2504,2246,114.5,6.4,668,9599,0.00,2.47,0.00,0.000,516,0.000,0.079,3587,916,2375,2504,2246,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9801,0.80,116.8,3588,916,2504,2245,101.4,5.7,689,9811,0.00,2.47,0.00,0.000,1030,0.000,0.069,3587,2330,2375,2504,2246,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10053,0.86,197.3,3588,2333,2503,2246,89.0,3.9,714,10124,0.00,2.58,61.80,0.795,8452,0.000,0.086,3587,3746,2051,2190,1912,0,0,0,0,0,0,28.83,14.26,13.63
$GC,10194,0.86,197.3,3588,3751,2189,1912,79.0,8.8,728,10205,0.00,2.47,0.00,0.000,1030,0.000,0.066,3588,2319,2050,2189,1912,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10446,0.86,197.3,3588,2319,2190,1912,59.5,6.9,753,10457,0.00,2.55,0.00,0.000,260,0.000,0.086,3588,3745,2050,2189,1912,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10667,0.86,197.3,3587,3745,2190,1912,41.0,8.2,775,10677,0.00,2.45,0.00,0.000,1030,0.000,0.065,3588,2336,2050,2189,1912,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10918,0.92,280.7,3588,2336,2189,1912,28.8,3.8,800,10989,0.00,2.55,61.25,0.715,8964,0.000,0.078,3593,917,1709,1855,1563,0,0,0,0,0,0,28.83,14.22,13.70
$GC,11173,0.95,280.7,3588,917,1851,1562,17.0,5.5,825,11184,0.12,2.47,0.00,0.000,3078,0.139,0.069,3642,2330,1706,1851,1562,0,0,0,0,0,0,14.22,14.22,28.83
$STATE,11340,end climb,SURFACE_DEPTH_REACHED
$STATE,11340,begin surface coast
$FINISH,1.2,1.012692
$STATE,11391,end surface coast,CONTROL_FINISHED_OK
$STATE,11391,begin surface
$SM_CCo,11419,40.03,0.097,0,0,1328,375.06
$SM_GC,2.50,9.35,0.12,40.03,0.067,0.158,0.097,387,2408,1328,-9.11,-0.71,375.06,0,0,0,0,0,0,14.27,14.33,14.23
$IRIDIUM_FIX,4732.49,-12516.60,241014,141403
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.63
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3773536
$PM_FREEKB,47809120
$24V_AH,13.2,124.741
$10V_AH,13.4,0.000
$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,23.375,94.575,314.975,40.025,0.000,0.000,0.000,244.925,0.000,0.000,23.711,2030.372,7054.669,547.846,1759.622,554.470,0.000,1653.388,0.000,1296.659,0.000,0.537,0.000
$DEVICE_MAMPS,369.495,159.885,1194.930,97.155,0.000,0.000,0.000,157.590,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11410.000,4957.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.939,4.101,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,30033,847
$CAP_FILE_SIZE,151583,0
$CFSIZE,260034560,206217216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9691.41,0x2378ba,7,5
$CURRENT,0.094,  6.1,1
$GPS,241014,204435,4750.472,-12515.667,92,1.1,93,18.7