version: 66.12
glider: 187
mission: 4
dive: 580
start: 11 13 114 16 20 9
data:
$ID,187
$MISSION,4
$DIVE,580
$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,-1595132.5
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,131114,161036,4749.301,-12511.993,39,1.2,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-69.7
$GPS2,131114,161942,4749.239,-12511.882,12,1.5,12,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,262.6,164208,-14.0,-7.333,-18.81,2445
$D_GRID,368
$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,-116.8,402,2407,1443,1217,0.0,0.0,0,92,0.00,0.00,-58.83,0.000,16386,0.000,0.000,402,2401,2851,2902,2800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,402,2401,2904,2800,3.7,-2.5,6,132,12.80,2.60,-9.18,0.000,18692,0.376,0.109,3124,3815,3338,3382,3294,0,0,0,0,0,0,13.72,14.17,14.52
$GC,363,-0.59,-116.8,3124,3816,3382,3297,46.0,-9.6,33,372,0.00,2.45,0.00,0.000,1030,0.000,0.060,3124,2398,3339,3382,3297,0,0,0,0,0,0,28.83,14.19,28.83
$GC,613,-0.59,-116.8,3124,2394,3383,3298,71.8,-10.7,58,622,0.00,2.53,0.00,0.000,260,0.000,0.085,3123,3808,3341,3378,3304,0,0,0,0,0,0,28.83,14.11,28.83
$GC,712,-0.59,-116.8,3124,3808,3382,3298,81.7,-9.3,68,721,0.00,2.45,0.00,0.000,1030,0.000,0.062,3128,2391,3342,3386,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,963,-0.59,-116.8,3124,2381,3379,3298,103.8,-8.8,93,971,0.00,2.45,0.00,0.000,516,0.000,0.072,3124,981,3338,3383,3293,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1012,-0.59,-116.8,3121,981,3390,3298,108.3,-8.9,98,1022,0.00,2.50,0.00,0.000,1030,0.000,0.069,3124,2401,3340,3383,3298,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1262,-0.59,-116.8,3125,2401,3383,3298,129.2,-8.4,123,1271,0.00,2.53,0.00,0.000,260,0.000,0.086,3124,3809,3340,3383,3298,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1324,-0.59,-116.8,3125,3809,3381,3298,134.3,-8.5,129,1333,0.00,2.45,0.00,0.000,1030,0.000,0.061,3122,2401,3340,3383,3298,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1573,-0.59,-116.8,3124,2397,3383,3298,156.0,-8.4,154,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3343,3388,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1823,-0.59,-116.8,3124,2398,3383,3298,177.3,-8.4,179,1832,0.00,2.47,0.00,0.000,516,0.000,0.071,3124,990,3340,3382,3298,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1874,-0.59,-116.8,3124,990,3382,3298,181.7,-8.7,184,1885,0.00,2.50,0.00,0.000,1030,0.000,0.070,3124,2408,3340,3383,3298,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2126,-0.59,-116.8,3124,2408,3383,3297,202.6,-7.8,209,2135,0.00,2.50,0.00,0.000,260,0.000,0.086,3125,3813,3340,3383,3298,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2250,-0.59,-116.8,3124,3813,3383,3298,212.4,-8.1,221,2259,0.00,2.45,0.00,0.000,1030,0.000,0.062,3124,2397,3338,3383,3293,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2500,-0.59,-116.8,3124,2396,3383,3298,231.6,-7.9,246,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,-0.59,-116.8,3124,2396,3382,3297,253.1,-8.2,270,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3059,-0.59,-116.8,3124,2396,3378,3297,277.8,-8.4,280,3068,0.00,2.55,0.00,0.000,260,0.000,0.087,3124,3817,3339,3382,3296,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3128,-0.59,-116.8,3124,3817,3383,3296,283.2,-7.4,287,3136,0.00,2.47,0.00,0.000,1030,0.000,0.061,3122,2391,3341,3386,3296,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3455,-0.59,-116.8,3121,2386,3383,3295,307.3,-7.4,299,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3343,3390,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3749,-0.59,-116.8,3124,2387,3387,3294,327.9,-6.8,309,3757,0.00,2.58,0.00,0.000,260,0.000,0.088,3124,3815,3339,3384,3294,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3840,-0.59,-116.8,3124,3815,3383,3294,334.1,-6.8,318,3847,0.00,2.45,0.00,0.000,1030,0.000,0.063,3124,2405,3338,3383,3293,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4172,-0.59,-116.8,3124,2402,3382,3293,356.2,-7.2,331,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3338,3383,3293,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4345,begin apogee
$GC,4356,-0.25,0.0,3124,2312,3383,3293,368.5,-6.8,337,4458,0.40,0.00,96.72,1.126,10246,0.164,0.000,3243,2311,2856,2931,2782,0,0,0,0,0,0,13.96,28.83,13.28
$STATE,4462,end apogee,CONTROL_FINISHED_OK
$STATE,4462,begin climb
$GC,4466,0.59,116.8,3243,2311,2929,2779,371.6,0.0,340,4579,0.82,2.55,97.15,1.105,10756,0.116,0.077,3519,935,2379,2508,2250,0,0,0,0,0,0,14.04,13.97,13.19
$GC,4603,0.64,181.7,3519,938,2508,2250,368.2,4.6,350,4667,0.00,2.47,53.17,1.100,9222,0.000,0.068,3525,2331,2117,2264,1970,0,0,0,0,0,0,28.83,14.05,13.22
$GC,4977,0.64,181.7,3520,2331,2264,1970,342.2,7.1,367,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2331,2118,2264,1972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5278,0.64,181.7,3520,2331,2264,1971,319.2,8.0,377,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2331,2117,2264,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5577,0.64,181.7,3519,2331,2259,1971,294.8,8.3,387,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2331,2115,2260,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5878,0.64,181.7,3519,2327,2263,1970,270.6,7.7,397,5889,0.00,2.50,0.00,0.000,516,0.000,0.081,3520,936,2117,2264,1971,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5929,0.64,181.7,3520,936,2263,1971,266.5,7.9,402,5939,0.00,2.45,0.00,0.000,1030,0.000,0.072,3520,2330,2117,2264,1970,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6239,0.64,181.7,3518,2329,2263,1968,244.2,7.0,417,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2330,2117,2264,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6491,0.64,181.7,3520,2330,2263,1971,226.6,7.2,442,6502,0.00,2.50,0.00,0.000,516,0.000,0.080,3520,934,2116,2263,1970,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6552,0.64,181.7,3520,934,2264,1971,221.8,7.5,448,6563,0.00,2.47,0.00,0.000,1030,0.000,0.071,3520,2331,2116,2263,1970,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6803,0.64,181.7,3520,2331,2263,1971,203.4,7.4,473,6814,0.00,2.53,0.00,0.000,260,0.000,0.088,3520,3743,2117,2264,1970,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6865,0.64,181.7,3519,3746,2263,1970,198.3,8.8,479,6876,0.00,2.45,0.00,0.000,1030,0.000,0.065,3521,2342,2116,2263,1970,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7116,0.64,181.7,3520,2342,2264,1970,178.5,7.7,504,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2342,2117,2264,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7366,0.64,181.7,3520,2342,2263,1970,157.9,8.5,529,7378,0.00,2.53,0.00,0.000,516,0.000,0.080,3520,925,2116,2263,1970,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7420,0.64,181.7,3520,925,2263,1970,153.5,8.5,534,7431,0.00,2.50,0.00,0.000,1030,0.000,0.071,3520,2331,2116,2263,1970,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7672,0.64,181.7,3520,2331,2263,1970,134.7,7.0,559,7683,0.00,2.50,0.00,0.000,260,0.000,0.088,3519,3738,2115,2263,1967,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7713,0.64,181.7,3520,3738,2263,1970,131.7,6.9,563,7723,0.00,2.45,0.00,0.000,1030,0.000,0.067,3519,2333,2116,2263,1970,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7965,0.67,232.9,3520,2332,2263,1970,117.3,5.2,588,8016,0.00,2.55,41.08,0.838,8708,0.000,0.079,3520,918,1899,2040,1759,0,0,0,0,0,0,28.83,14.28,13.57
$GC,8059,0.70,232.9,3520,918,2045,1763,111.8,6.2,597,8071,0.00,2.50,0.00,0.000,1030,0.000,0.070,3516,2341,1902,2045,1760,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8312,0.71,232.9,3520,2339,2045,1764,95.3,6.5,622,8323,0.10,0.00,0.00,0.000,2054,0.158,0.000,3572,2341,1904,2044,1764,0,0,0,0,0,0,14.31,28.83,28.83
$GC,8563,0.71,232.9,3573,2340,2045,1765,72.9,8.9,647,8576,0.00,2.53,0.00,0.000,516,0.000,0.080,3574,919,1902,2040,1764,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8606,0.71,232.9,3571,921,2045,1765,68.8,9.2,651,8617,0.00,2.50,0.00,0.000,1030,0.000,0.072,3574,2327,1904,2044,1765,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8858,0.71,232.9,3574,2327,2045,1764,46.6,8.0,676,8869,0.00,2.53,0.00,0.000,260,0.000,0.087,3574,3746,1905,2045,1765,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8939,0.71,232.9,3574,3751,2045,1765,39.5,8.6,684,8950,0.00,2.47,0.00,0.000,1030,0.000,0.064,3574,2320,1905,2045,1765,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9190,0.76,297.7,3574,2318,2045,1765,23.8,4.6,709,9250,0.00,2.50,46.12,0.712,8708,0.000,0.079,3575,921,1639,1790,1489,0,0,0,0,0,0,28.83,14.26,13.65
$GC,9331,0.79,297.7,3575,921,1789,1487,15.6,5.9,723,9342,0.00,2.50,0.00,0.000,1030,0.000,0.070,3571,2337,1638,1789,1488,0,0,0,0,0,0,28.83,14.19,28.83
$STATE,9538,end climb,SURFACE_DEPTH_REACHED
$STATE,9538,begin surface coast
$FINISH,1.3,1.005698
$STATE,9636,end surface coast,CONTROL_FINISHED_OK
$STATE,9636,begin surface
$SM_CCo,9662,32.88,0.094,0,0,1328,375.06
$SM_GC,2.86,9.12,0.10,32.88,0.062,0.170,0.094,402,2395,1328,-9.09,-0.90,375.06,0,0,0,0,0,0,14.16,14.33,14.19
$IRIDIUM_FIX,4729.30,-12519.22,131114,131303
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.59
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3752416
$PM_FREEKB,45317600
$24V_AH,13.2,143.441
$10V_AH,13.3,0.000
$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,23.250,90.125,334.250,32.875,0.000,0.000,0.000,294.700,0.000,0.000,12.976,1812.782,5668.864,558.418,1644.755,549.182,0.000,1649.330,0.000,1171.451,0.000,0.536,0.000
$DEVICE_MAMPS,376.380,169.830,1126.080,94.095,0.000,0.000,0.000,154.530,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9657.000,4511.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.188,4.126,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,26737,753
$CAP_FILE_SIZE,138473,0
$CFSIZE,260034560,198668288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9572.74,0x2378ba,7,5
$CURRENT,0.144,122.7,1
$GPS,131114,190306,4749.138,-12512.456,27,1.8,28,18.7