version: 66.12
glider: 187
mission: 4
dive: 579
start: 11 13 114 13 40 35
data:
$ID,187
$MISSION,4
$DIVE,579
$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,-1595131.2
$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,31
$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
$GPS1,131114,133027,4749.580,-12511.854,30,2.2,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-71.0
$GPS2,131114,134008,4749.581,-12511.794,21,2.1,41,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,262.4,164652,-14.0,-7.333,-18.81,2445
$D_GRID,338
$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,-116.8,392,2405,1448,1213,0.0,0.0,0,79,0.00,0.00,-46.85,0.000,16386,0.000,0.000,392,2406,2512,2596,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,392,2405,2597,2426,3.1,-1.9,5,130,12.68,2.50,-19.83,0.000,18948,0.370,0.094,3125,989,3335,3381,3290,0,0,0,0,0,0,13.76,14.20,14.54
$GC,360,-0.59,-116.8,3125,989,3382,3294,42.3,-11.6,33,371,0.00,2.47,0.00,0.000,1030,0.000,0.070,3130,2391,3341,3384,3299,0,0,0,0,0,0,28.83,14.14,28.83
$GC,611,-0.59,-116.8,3125,2393,3383,3294,67.4,-8.3,58,622,0.00,2.47,0.00,0.000,516,0.000,0.070,3123,987,3337,3382,3293,0,0,0,0,0,0,28.83,14.15,28.83
$GC,714,-0.59,-116.8,3125,987,3383,3294,76.3,-8.6,68,724,0.00,2.50,0.00,0.000,1030,0.000,0.071,3125,2406,3338,3383,3294,0,0,0,0,0,0,28.83,14.17,28.83
$GC,964,-0.59,-116.8,3125,2402,3383,3294,98.1,-8.9,93,975,0.00,2.53,0.00,0.000,260,0.000,0.088,3125,3814,3338,3383,3294,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1069,-0.59,-116.8,3124,3818,3383,3294,107.3,-8.5,103,1081,0.00,2.45,0.00,0.000,1030,0.000,0.060,3124,2387,3338,3383,3294,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1323,-0.59,-116.8,3124,2383,3383,3294,127.9,-8.3,128,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2383,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1573,-0.59,-116.8,3125,2383,3383,3294,150.0,-8.9,153,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2383,3338,3383,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,-0.59,-116.8,3125,2383,3383,3294,172.9,-9.2,178,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2074,-0.59,-116.8,3124,2383,3386,3294,196.0,-9.5,203,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2382,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2326,-0.59,-116.8,3125,2383,3383,3294,218.7,-8.5,228,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3336,3378,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2575,-0.59,-116.8,3125,2383,3383,3294,237.4,-6.8,253,2586,0.00,2.58,0.00,0.000,260,0.000,0.087,3125,3812,3337,3382,3293,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2667,-0.59,-116.8,3125,3809,3383,3294,243.3,-6.4,262,2678,0.00,2.42,0.00,0.000,1030,0.000,0.062,3125,2406,3337,3382,3293,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2938,-0.59,-116.8,3125,2402,3383,3293,258.6,-5.5,279,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3338,3383,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3239,-0.59,-116.8,3125,2402,3383,3293,275.6,-5.8,289,3249,0.00,2.53,0.00,0.000,260,0.000,0.086,3129,3813,3338,3383,3294,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3309,-0.59,-116.8,3125,3811,3383,3293,279.9,-6.0,296,3319,0.00,2.45,0.00,0.000,1030,0.000,0.063,3124,2400,3337,3383,3292,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3634,-0.59,-116.8,3125,2403,3383,3291,301.3,-7.2,308,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3336,3380,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3929,-0.59,-116.8,3125,2399,3382,3291,324.4,-7.5,318,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3335,3381,3290,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4135,begin apogee
$GC,4146,-0.25,0.0,3125,2311,3383,3290,339.6,-7.2,325,4249,0.40,0.00,95.68,1.091,10246,0.164,0.000,3243,2311,2859,2933,2785,0,0,0,0,0,0,13.99,28.83,13.31
$STATE,4251,end apogee,CONTROL_FINISHED_OK
$STATE,4251,begin climb
$GC,4255,0.59,116.8,3243,2311,2931,2780,342.9,0.0,328,4368,0.82,2.55,96.47,1.072,10756,0.122,0.076,3519,931,2379,2508,2250,0,0,0,0,0,0,14.04,13.98,13.21
$GC,4388,0.64,183.4,3522,931,2508,2249,340.4,4.5,343,4452,0.00,2.50,54.55,1.063,9222,0.000,0.069,3519,2341,2110,2257,1963,0,0,0,0,0,0,28.83,14.05,13.24
$GC,4763,0.64,183.4,3516,2341,2256,1963,308.9,9.3,360,4773,0.00,2.47,0.00,0.000,260,0.000,0.086,3520,3735,2112,2262,1963,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4812,0.64,183.4,3519,3735,2256,1963,303.8,10.2,365,4823,0.00,2.42,0.00,0.000,1030,0.000,0.065,3519,2342,2108,2254,1963,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5128,0.64,183.4,3519,2341,2255,1963,277.9,7.9,376,5138,0.00,2.50,0.00,0.000,516,0.000,0.080,3519,915,2108,2254,1963,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5207,0.64,183.4,3517,915,2262,1964,270.8,8.4,384,5218,0.00,2.47,0.00,0.000,1030,0.000,0.070,3519,2327,2109,2256,1963,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5518,0.64,183.4,3519,2327,2256,1963,245.4,8.2,397,5528,0.00,2.50,0.00,0.000,260,0.000,0.085,3519,3739,2108,2253,1963,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5559,0.64,183.4,3520,3739,2256,1963,241.8,8.5,401,5570,0.00,2.45,0.00,0.000,1030,0.000,0.066,3519,2330,2109,2256,1963,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5810,0.64,183.4,3520,2330,2256,1963,223.0,6.9,426,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2330,2108,2254,1962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6060,0.64,183.4,3519,2329,2256,1963,205.8,6.8,451,6071,0.00,2.47,0.00,0.000,516,0.000,0.080,3519,919,2108,2256,1961,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6112,0.65,183.4,3521,919,2256,1966,202.2,6.8,456,6123,0.00,2.47,0.00,0.000,1030,0.000,0.071,3520,2328,2109,2255,1963,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6363,0.65,183.4,3518,2328,2258,1963,185.1,7.0,481,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2329,2109,2256,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6614,0.67,183.4,3519,2328,2252,1963,169.3,6.2,506,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2328,2112,2261,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,0.70,183.4,3519,2327,2256,1963,154.6,5.7,531,6876,0.00,2.50,0.00,0.000,516,0.000,0.078,3520,917,2109,2256,1963,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6969,0.73,183.4,3520,917,2256,1963,148.8,5.8,541,6981,0.12,2.50,0.00,0.000,3078,0.136,0.070,3577,2335,2109,2256,1963,0,0,0,0,0,0,14.21,14.18,28.83
$GC,7221,0.73,183.4,3577,2335,2256,1963,129.7,7.8,566,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2335,2109,2255,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7471,0.73,183.4,3577,2335,2256,1963,107.4,9.3,591,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2334,2109,2256,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7723,0.73,183.4,3577,2334,2256,1962,84.8,9.0,616,7733,0.00,2.50,0.00,0.000,516,0.000,0.077,3580,919,2108,2256,1961,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7794,0.73,183.4,3581,919,2255,1963,77.8,10.2,623,7806,0.00,2.50,0.00,0.000,1030,0.000,0.071,3580,2338,2109,2256,1962,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8047,0.73,183.4,3580,2336,2256,1962,55.8,7.8,648,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2339,2109,2256,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8297,0.84,333.2,3581,2337,2256,1964,42.3,1.0,673,8424,0.00,2.58,112.72,0.723,8452,0.000,0.087,3580,3735,1494,1640,1349,0,0,0,0,0,0,28.83,14.14,13.54
$GC,8654,0.84,333.2,3582,3735,1637,1346,15.4,9.2,708,8665,0.00,2.45,0.00,0.000,1030,0.000,0.064,3587,2333,1491,1637,1346,0,0,0,0,0,0,28.83,14.19,28.83
$STATE,8821,end climb,SURFACE_DEPTH_REACHED
$STATE,8821,begin surface coast
$FINISH,1.4,1.007110
$STATE,8863,end surface coast,CONTROL_FINISHED_OK
$STATE,8863,begin surface
$SM_CCo,8891,17.27,0.092,0,0,1328,375.06
$SM_GC,2.51,9.32,0.12,17.27,0.074,0.161,0.092,402,2403,1328,-9.10,-0.85,375.06,0,0,0,0,0,0,14.05,14.31,14.18
$IRIDIUM_FIX,4729.30,-12510.28,131114,101010
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.82
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3752736
$PM_FREEKB,45344320
$24V_AH,13.2,143.269
$10V_AH,12.6,0.000
$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,23.350,65.000,359.425,17.275,0.000,0.000,0.000,268.925,0.000,0.000,42.715,1721.442,5058.666,530.423,1630.689,540.530,0.000,1589.062,0.000,1146.339,0.000,0.536,0.000
$DEVICE_MAMPS,370.260,161.415,1090.890,91.800,0.000,0.000,0.000,159.120,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8887.000,125.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.377,5.171,0.000,0.000
$MEM,290816
$DATA_FILE_SIZE,23370,729
$CAP_FILE_SIZE,132634,0
$CFSIZE,260034560,198750208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9611.60,0x2378ba,7,5
$CURRENT,0.177,116.0,1
$GPS,131114,161036,4749.301,-12511.993,39,1.2,40,18.7