version: 66.12
glider: 187
mission: 4
dive: 515
start: 10 24 114 20 56 45
data:
$ID,187
$MISSION,4
$DIVE,515
$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,-1594129.8
$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,30
$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
$GPS1,241014,204435,4750.472,-12515.667,92,1.1,93,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-71.0
$GPS2,241014,205618,4750.617,-12515.701,14,1.2,32,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,196.9,161685,-14.0,-7.333,-18.81,2445
$D_GRID,443
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.59,-116.8,386,2409,1454,1210,0.0,0.0,0,79,0.00,0.00,-47.20,0.000,16386,0.000,0.000,387,2409,2542,2627,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,386,2409,2628,2456,3.0,-1.9,5,130,12.65,2.55,-16.90,0.000,18948,0.372,0.093,3125,990,3339,3385,3293,0,0,0,0,0,0,13.76,14.21,14.54
$GC,280,-0.59,-116.8,3125,989,3386,3296,37.1,-13.3,25,290,0.00,2.47,0.00,0.000,1030,0.000,0.070,3125,2399,3341,3386,3296,0,0,0,0,0,0,28.83,14.15,28.83
$GC,531,-0.59,-116.8,3125,2399,3386,3297,63.5,-10.0,50,540,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3345,3394,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,780,-0.59,-116.8,3125,2399,3387,3298,88.6,-9.7,75,791,0.00,2.47,0.00,0.000,260,0.000,0.086,3125,3814,3342,3387,3298,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1012,-0.59,-116.8,3126,3813,3387,3298,112.7,-9.6,98,1023,0.00,2.45,0.00,0.000,1030,0.000,0.060,3126,2387,3343,3387,3299,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1264,-0.59,-116.8,3125,2382,3387,3299,137.3,-10.2,123,1275,0.00,2.40,0.00,0.000,516,0.000,0.074,3125,1000,3342,3387,3298,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1305,-0.59,-116.8,3125,1000,3387,3299,141.6,-10.5,127,1316,0.00,2.45,0.00,0.000,1030,0.000,0.070,3125,2401,3343,3387,3299,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1557,-0.59,-116.8,3125,2401,3387,3299,165.5,-9.0,152,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3340,3382,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1808,-0.59,-116.8,3125,2401,3387,3298,186.6,-8.2,177,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2058,-0.59,-116.8,3125,2401,3387,3297,206.7,-8.1,202,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3342,3387,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2308,-0.59,-116.8,3125,2401,3387,3296,225.8,-8.0,227,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3341,3387,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2559,-0.59,-116.8,3125,2401,3387,3295,246.4,-8.3,252,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3336,3382,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2823,-0.59,-116.8,3125,2401,3387,3294,267.8,-8.3,264,2833,0.00,2.45,0.00,0.000,516,0.000,0.073,3125,1001,3340,3387,3294,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2913,-0.59,-116.8,3125,1000,3387,3293,276.0,-8.9,273,2923,0.00,2.45,0.00,0.000,1030,0.000,0.073,3126,2401,3340,3387,3293,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3243,-0.59,-116.8,3125,2400,3385,3288,300.9,-7.2,286,3253,0.00,2.50,0.00,0.000,260,0.000,0.090,3124,3809,3339,3386,3292,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3292,-0.59,-116.8,3125,3809,3387,3292,304.6,-7.7,291,3304,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2402,3338,3386,3291,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3607,-0.59,-116.8,3125,2402,3386,3289,327.4,-7.5,302,3617,0.00,2.45,0.00,0.000,516,0.000,0.073,3125,993,3337,3386,3288,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3668,-0.59,-116.8,3125,993,3386,3290,332.5,-8.6,308,3678,0.00,2.47,0.00,0.000,1030,0.000,0.073,3125,2398,3338,3386,3290,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3998,-0.59,-116.8,3125,2398,3386,3291,357.0,-7.5,321,4008,0.00,2.50,0.00,0.000,260,0.000,0.091,3125,3815,3337,3386,3288,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4077,-0.59,-116.8,3130,3815,3391,3289,363.1,-7.6,329,4088,0.00,2.45,0.00,0.000,1030,0.000,0.066,3125,2402,3340,3385,3295,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4392,-0.59,-116.8,3125,2401,3380,3288,386.8,-7.7,340,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4688,-0.59,-116.8,3125,2400,3385,3287,410.9,-8.1,350,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4989,-0.59,-116.8,3125,2401,3386,3286,435.5,-8.1,360,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3335,3384,3287,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5074,begin apogee
$GC,5083,-0.25,0.0,3125,2313,3383,3288,443.1,-8.4,363,5187,0.40,0.00,96.40,1.231,10246,0.172,0.000,3243,2313,2861,2938,2784,0,0,0,0,0,0,14.06,28.83,13.30
$STATE,5189,end apogee,CONTROL_FINISHED_OK
$STATE,5189,begin climb
$GC,5194,0.59,116.8,3243,2313,2928,2779,447.4,0.0,366,5300,0.82,0.00,98.20,1.207,10246,0.122,0.000,3512,2313,2380,2507,2254,0,0,0,0,0,0,14.03,28.83,13.17
$GC,5589,0.62,116.8,3513,2313,2506,2251,431.1,5.8,380,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2312,2378,2506,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5893,0.64,116.8,3513,2313,2506,2247,412.5,6.3,390,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2313,2378,2506,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6193,0.67,116.8,3513,2318,2506,2250,393.6,6.1,400,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2313,2378,2506,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6491,0.69,116.8,3513,2312,2506,2248,374.9,6.0,410,6502,0.12,2.55,0.00,0.000,2308,0.138,0.086,3574,3742,2377,2506,2248,0,0,0,0,0,0,14.37,14.25,28.83
$GC,6617,0.69,116.8,3570,3742,2505,2247,364.0,9.2,422,6627,0.00,2.42,0.00,0.000,1030,0.000,0.069,3577,2344,2376,2505,2247,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6947,0.69,116.8,3575,2343,2505,2247,336.5,8.1,435,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2343,2376,2505,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7248,0.69,116.8,3574,2343,2505,2246,312.6,8.1,445,7258,0.00,2.50,0.00,0.000,516,0.000,0.081,3585,917,2376,2506,2246,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7327,0.69,116.8,3586,917,2505,2245,305.2,9.2,453,7339,0.15,2.50,0.00,0.000,5126,0.265,0.072,3553,2337,2375,2505,2246,0,0,0,0,0,0,13.96,14.26,28.83
$GC,7639,0.69,116.8,3553,2337,2511,2246,282.9,7.1,464,7649,0.00,2.50,0.00,0.000,260,0.000,0.088,3553,3736,2373,2502,2245,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7781,0.69,116.8,3553,3735,2504,2245,271.5,7.9,478,7791,0.00,2.45,0.00,0.000,1030,0.000,0.069,3562,2331,2375,2504,2246,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8093,0.71,116.8,3561,2331,2504,2245,251.4,6.4,489,8103,0.00,2.47,0.00,0.000,516,0.000,0.083,3562,920,2377,2504,2251,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8334,0.73,116.8,3559,920,2508,2245,235.7,6.4,513,8345,0.00,2.50,0.00,0.000,1030,0.000,0.074,3562,2333,2377,2510,2245,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8586,0.76,116.8,3562,2332,2502,2245,219.8,5.9,538,8597,0.00,2.50,0.00,0.000,516,0.000,0.083,3562,921,2375,2503,2247,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8648,0.79,116.8,3562,921,2502,2244,216.0,5.9,544,8659,0.00,2.47,0.00,0.000,1030,0.000,0.073,3562,2330,2373,2502,2245,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8899,0.82,116.8,3562,2330,2502,2244,201.6,5.6,569,8909,0.00,2.53,0.00,0.000,260,0.000,0.088,3562,3743,2371,2502,2240,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9004,0.84,116.8,3563,3743,2499,2244,195.1,6.4,579,9015,0.00,2.47,0.00,0.000,1030,0.000,0.070,3562,2326,2373,2502,2244,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9257,0.87,116.8,3562,2327,2502,2242,179.6,5.8,604,9268,0.12,2.47,0.00,0.000,2564,0.138,0.078,3629,921,2373,2502,2244,0,0,0,0,0,0,14.32,14.15,28.83
$GC,9499,0.87,116.8,3630,920,2502,2244,160.7,8.0,628,9510,0.00,2.50,0.00,0.000,1030,0.000,0.073,3629,2338,2373,2502,2244,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9750,0.87,116.8,3629,2338,2502,2244,142.1,7.6,653,9761,0.00,2.53,0.00,0.000,516,0.000,0.083,3630,922,2373,2502,2244,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9865,0.87,116.8,3630,921,2502,2244,134.0,7.3,664,9876,0.00,2.50,0.00,0.000,1030,0.000,0.073,3630,2337,2372,2501,2244,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10117,0.91,116.8,3630,2336,2504,2244,117.3,5.5,689,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,2333,2373,2502,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10368,0.93,116.8,3630,2336,2501,2244,101.2,6.2,714,10379,0.00,2.55,0.00,0.000,516,0.000,0.081,3630,911,2373,2501,2246,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10539,0.97,179.2,3630,909,2496,2244,91.2,4.7,731,10600,0.00,2.50,47.47,0.812,9222,0.000,0.070,3630,2335,2124,2265,1983,0,0,0,0,0,0,28.83,14.19,13.62
$GC,10841,1.00,179.2,3631,2333,2265,1986,71.0,6.0,761,10851,0.00,2.50,0.00,0.000,516,0.000,0.081,3630,921,2126,2265,1988,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10901,1.00,179.2,3631,921,2265,1988,66.2,8.1,767,10913,0.00,2.47,0.00,0.000,1030,0.000,0.073,3630,2327,2126,2265,1988,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11155,1.00,179.2,3631,2327,2265,1988,47.0,7.9,792,11165,0.00,2.50,0.00,0.000,260,0.000,0.086,3631,3741,2126,2265,1987,0,0,0,0,0,0,28.83,14.17,28.83
$GC,11357,1.08,296.1,3636,3741,2265,1987,35.0,2.4,812,11460,0.12,2.45,87.75,0.720,11270,0.148,0.065,3677,2316,1647,1793,1501,0,0,0,0,0,0,14.18,14.21,13.65
$GC,11700,1.08,296.1,3677,2315,1791,1495,13.9,9.3,846,11710,0.00,2.55,0.00,0.000,260,0.000,0.088,3676,3746,1643,1791,1495,0,0,0,0,0,0,28.83,14.16,28.83
$STATE,11787,end climb,SURFACE_DEPTH_REACHED
$STATE,11791,begin surface coast
$FINISH,1.3,1.023696
$STATE,11818,end surface coast,CONTROL_FINISHED_OK
$STATE,11819,begin surface
$SM_CCo,11847,33.58,0.094,0,0,1329,375.06
$SM_GC,2.04,9.40,2.35,33.58,0.060,0.064,0.094,387,2415,1329,-9.12,1.30,375.06,0,0,0,0,0,0,14.30,14.28,14.23
$IRIDIUM_FIX,4729.30,-12516.60,241014,202002
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.37
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3773216
$PM_FREEKB,47809088
$24V_AH,13.2,124.919
$10V_AH,13.2,0.000
$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,23.800,94.375,329.825,33.575,0.000,0.000,0.000,347.725,0.000,0.000,33.035,2054.818,7380.636,559.316,1967.798,613.410,0.000,1859.635,0.000,1331.983,0.000,0.537,0.000
$DEVICE_MAMPS,371.790,157.590,1230.885,94.095,0.000,0.000,0.000,160.650,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11840.000,174.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.842,5.383,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,30055,858
$CAP_FILE_SIZE,162584,0
$CFSIZE,260034560,206127104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12335.01,0x2378ba,7,5
$CURRENT,0.018, 27.9,1
$GPS,251014,001623,4749.855,-12516.577,44,1.6,45,18.7