version: 66.12
glider: 187
mission: 4
dive: 676
start: 12 7 114 23 17 14
data:
$ID,187
$MISSION,4
$DIVE,676
$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,8
$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,-1595291.4
$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,33
$R_STBD_OVSHOOT,32
$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,49
$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
$GPS1,071214,230723,4756.036,-12517.896,35,1.7,52,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-69.5
$GPS2,071214,231643,4756.108,-12518.004,22,1.6,32,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,167.3,165512,-14.0,-7.333,-18.81,2445
$D_GRID,344
$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,30,-0.59,-116.8,387,2414,1452,1206,0.0,0.0,0,91,0.00,0.00,-57.58,0.000,16386,0.000,0.000,387,2412,2797,2858,2737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.59,-116.8,387,2413,2859,2739,3.5,-2.5,6,132,12.43,2.53,-11.05,0.000,18948,0.357,0.096,3125,999,3335,3377,3294,0,0,0,0,0,0,13.69,14.15,14.50
$GC,203,-0.59,-116.8,3125,999,3383,3295,22.0,-13.4,17,211,0.00,2.47,0.00,0.000,1030,0.000,0.070,3125,2394,3339,3383,3295,0,0,0,0,0,0,28.83,14.10,28.83
$GC,452,-0.59,-116.8,3121,2394,3383,3296,53.5,-11.2,42,461,0.00,2.53,0.00,0.000,260,0.000,0.084,3125,3811,3339,3383,3296,0,0,0,0,0,0,28.83,14.04,28.83
$GC,652,-0.59,-116.8,3125,3809,3382,3296,75.4,-10.3,62,661,0.00,2.45,0.00,0.000,1030,0.000,0.059,3124,2406,3339,3383,3296,0,0,0,0,0,0,28.83,14.12,28.83
$GC,904,-0.59,-116.8,3125,2403,3383,3296,102.3,-10.3,87,912,0.00,2.53,0.00,0.000,260,0.000,0.083,3125,3811,3343,3390,3297,0,0,0,0,0,0,28.83,14.02,28.83
$GC,972,-0.59,-116.8,3128,3812,3383,3297,109.5,-10.4,94,981,0.00,2.47,0.00,0.000,1030,0.000,0.057,3124,2388,3338,3383,3294,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1223,-0.59,-116.8,3125,2382,3383,3299,133.1,-8.8,119,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1472,-0.59,-116.8,3125,2382,3384,3297,153.8,-8.1,144,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2382,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-0.59,-116.8,3125,2388,3384,3297,174.9,-8.6,169,1733,0.00,2.60,0.00,0.000,260,0.000,0.083,3124,3818,3340,3384,3296,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1773,-0.59,-116.8,3121,3818,3383,3297,179.4,-8.8,174,1782,0.00,2.47,0.00,0.000,1030,0.000,0.059,3125,2393,3340,3383,3297,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2025,-0.59,-116.8,3125,2387,3383,3297,198.4,-7.5,199,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2387,3343,3384,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2275,-0.59,-116.8,3125,2387,3384,3297,220.3,-9.2,224,2284,0.00,2.47,0.00,0.000,516,0.000,0.072,3125,991,3340,3384,3297,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2335,-0.59,-116.8,3125,992,3384,3297,226.3,-9.8,230,2343,0.00,2.53,0.00,0.000,1030,0.000,0.069,3125,2403,3340,3384,3297,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2586,-0.59,-116.8,3125,2402,3384,3297,246.9,-7.9,255,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3342,3388,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2835,-0.59,-116.8,3127,2402,3384,3297,266.5,-7.7,266,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,-0.59,-116.8,3125,2403,3384,3296,288.9,-7.3,276,3144,0.00,2.55,0.00,0.000,260,0.000,0.089,3125,3817,3337,3382,3293,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3195,-0.59,-116.8,3125,3817,3387,3296,293.3,-7.6,282,3202,0.00,2.47,0.00,0.000,1030,0.000,0.060,3125,2403,3340,3384,3296,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3529,-0.59,-116.8,3124,2397,3383,3295,316.6,-6.8,295,3537,0.00,2.55,0.00,0.000,260,0.000,0.085,3124,3808,3339,3383,3295,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3576,-0.59,-116.8,3125,3808,3383,3295,320.5,-7.5,300,3587,0.00,2.47,0.00,0.000,1030,0.000,0.061,3125,2393,3338,3384,3292,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3891,-0.59,-116.8,3123,2391,3383,3294,340.1,-6.1,311,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2388,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3973,begin apogee
$GC,3984,-0.25,0.0,3125,2327,3383,3294,345.5,-6.1,314,4085,0.40,0.00,95.68,1.095,10246,0.168,0.000,3242,2326,2858,2931,2786,0,0,0,0,0,0,13.83,28.83,13.25
$STATE,4088,end apogee,CONTROL_FINISHED_OK
$STATE,4089,begin climb
$GC,4093,0.59,116.8,3242,2327,2929,2781,349.6,0.0,317,4201,0.82,2.60,95.93,1.078,10756,0.127,0.076,3510,916,2383,2508,2259,0,0,0,0,0,0,14.02,14.01,13.19
$GC,4276,0.59,116.8,3510,916,2507,2252,342.6,7.0,331,4286,0.00,2.50,0.00,0.000,1030,0.000,0.069,3510,2332,2379,2506,2253,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4608,0.63,167.7,3510,2331,2507,2252,324.4,5.2,344,4656,0.00,0.00,41.47,1.060,8198,0.000,0.000,3510,2332,2171,2315,2028,0,0,0,0,0,0,28.83,28.83,13.40
$GC,4940,0.63,167.7,3509,2331,2315,2029,303.5,7.1,355,4950,0.00,2.50,0.00,0.000,260,0.000,0.085,3509,3732,2171,2315,2028,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5010,0.63,167.7,3510,3734,2315,2028,298.3,7.0,362,5020,0.00,2.45,0.00,0.000,1030,0.000,0.063,3515,2334,2171,2315,2028,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5331,0.65,167.7,3509,2333,2315,2028,277.7,6.2,374,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2334,2171,2315,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5636,0.68,167.7,3510,2333,2315,2029,260.1,5.7,384,5647,0.10,2.53,0.00,0.000,2564,0.160,0.075,3562,914,2171,2315,2028,0,0,0,0,0,0,14.33,14.09,28.83
$GC,5707,0.68,167.7,3562,914,2315,2035,254.5,7.7,391,5717,0.00,2.50,0.00,0.000,1030,0.000,0.069,3562,2332,2171,2315,2028,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6018,0.68,167.7,3562,2332,2313,2028,228.8,7.8,418,6028,0.00,2.53,0.00,0.000,516,0.000,0.076,3562,916,2171,2315,2028,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6144,0.68,167.7,3562,916,2315,2028,219.8,7.6,430,6154,0.00,2.50,0.00,0.000,1030,0.000,0.070,3565,2331,2171,2315,2028,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6395,0.68,167.7,3562,2330,2310,2028,200.1,8.3,455,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2330,2169,2311,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6645,0.68,167.7,3562,2330,2315,2028,179.0,8.0,480,6657,0.00,2.53,0.00,0.000,516,0.000,0.078,3562,915,2171,2315,2028,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6739,0.68,167.7,3562,913,2315,2028,171.3,8.2,489,6749,0.00,2.50,0.00,0.000,1030,0.000,0.069,3562,2330,2171,2315,2028,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6991,0.69,167.7,3562,2330,2314,2028,153.3,6.8,514,7002,0.00,2.53,0.00,0.000,516,0.000,0.075,3562,917,2171,2315,2028,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7043,0.71,167.7,3562,917,2321,2028,149.9,6.4,519,7054,0.00,2.50,0.00,0.000,1030,0.000,0.069,3562,2328,2169,2314,2024,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7295,0.73,167.7,3562,2331,2314,2028,133.5,6.3,544,7306,0.00,2.55,0.00,0.000,260,0.000,0.084,3562,3750,2171,2315,2028,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7456,0.73,167.7,3562,3746,2314,2028,121.2,7.6,560,7468,0.00,2.50,0.00,0.000,1030,0.000,0.061,3562,2326,2171,2315,2027,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7711,0.73,167.7,3562,2325,2314,2029,104.3,7.4,585,7721,0.00,2.50,0.00,0.000,516,0.000,0.077,3562,920,2171,2315,2028,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7826,0.75,167.7,3562,920,2314,2024,96.3,6.5,596,7838,0.00,2.53,0.00,0.000,1030,0.000,0.069,3562,2333,2169,2315,2024,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8079,0.78,167.7,3562,2331,2315,2028,82.3,5.8,621,8090,0.00,2.53,0.00,0.000,516,0.000,0.076,3561,921,2172,2316,2028,0,0,0,0,0,0,28.83,13.99,28.83
$GC,8151,0.84,258.5,3562,922,2315,2029,79.2,3.5,628,8231,0.10,2.50,69.75,0.783,11270,0.157,0.069,3606,2331,1804,1947,1661,0,0,0,0,0,0,14.04,14.06,13.52
$GC,8476,0.84,258.5,3606,2330,1943,1658,56.9,7.5,660,8487,0.00,2.53,0.00,0.000,260,0.000,0.083,3605,3742,1801,1943,1659,0,0,0,0,0,0,28.83,13.99,28.83
$GC,8537,0.84,258.5,3606,3742,1943,1659,52.2,8.2,666,8548,0.00,2.47,0.00,0.000,1030,0.000,0.061,3614,2332,1799,1943,1656,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8789,0.86,258.5,3614,2332,1943,1660,35.0,6.7,691,8800,0.00,2.50,0.00,0.000,516,0.000,0.077,3614,920,1801,1943,1660,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8905,0.87,258.5,3615,920,1943,1660,27.5,6.6,702,8916,0.00,2.50,0.00,0.000,1030,0.000,0.069,3614,2336,1802,1944,1660,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9158,0.87,258.5,3614,2330,1943,1660,6.9,7.4,727,9169,0.00,2.53,0.00,0.000,260,0.000,0.083,3615,3742,1801,1943,1660,0,0,0,0,0,0,28.83,14.04,28.83
$STATE,9185,end climb,SURFACE_DEPTH_REACHED
$STATE,9185,begin surface coast
$FINISH,1.4,1.013896
$STATE,9229,end surface coast,CONTROL_FINISHED_OK
$STATE,9230,begin surface
$SM_CCo,9259,50.42,0.093,0,0,1328,375.06
$SM_GC,2.58,9.12,2.40,50.42,0.051,0.060,0.093,396,2390,1328,-9.10,0.71,375.06,0,0,0,0,0,0,14.18,14.21,14.12
$IRIDIUM_FIX,4738.89,-12517.69,071214,202011
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.43
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3721696
$PM_FREEKB,42299360
$24V_AH,13.2,167.185
$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,22.975,95.375,302.825,50.425,0.000,0.000,0.000,285.175,0.000,0.000,33.437,1776.644,5324.428,551.865,1599.895,612.811,0.000,1599.568,0.000,1158.667,0.000,0.537,0.000
$DEVICE_MAMPS,357.255,166.005,1095.480,92.565,0.000,0.000,0.000,157.590,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9254.000,4131.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.287,4.118,0.000,0.000
$MEM,290980
$DATA_FILE_SIZE,26729,734
$CAP_FILE_SIZE,136221,0
$CFSIZE,260034560,188702720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,8856.00,0x2378ba,7,5
$CURRENT,0.122,309.8,1
$GPS,081214,015351,4755.567,-12518.924,10,2.7,31,18.8