version: 66.12
glider: 187
mission: 4
dive: 829
start: 1 21 115 21 7 5
data:
$ID,187
$MISSION,4
$DIVE,829
$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,350
$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,-1595500.8
$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,27
$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
$GPS1,210115,205536,4753.300,-12515.018,70,1.1,70,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-71.8
$GPS2,210115,210637,4753.349,-12515.005,18,1.9,18,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,185.0,165374,-14.0,-7.333,-18.81,2445
$D_GRID,293
$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,29,-0.59,-116.8,388,2398,1533,1329,0.0,0.0,0,71,0.00,0.00,-36.53,0.000,16386,0.000,0.000,388,2400,2360,2463,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.59,-116.8,388,2400,2453,2257,3.0,-1.5,4,132,12.50,2.55,-30.73,0.000,18948,0.369,0.086,3133,983,3333,3380,3287,0,0,0,0,0,0,13.76,14.02,14.37
$GC,205,-0.59,-116.8,3128,983,3381,3290,13.7,-11.2,17,216,0.00,2.55,0.00,0.000,1030,0.000,0.068,3128,2395,3335,3381,3289,0,0,0,0,0,0,28.83,13.95,28.83
$GC,458,-0.59,-116.8,3128,2394,3384,3290,43.5,-11.9,42,469,0.00,2.58,0.00,0.000,260,0.000,0.082,3128,3814,3335,3381,3290,0,0,0,0,0,0,28.83,13.87,28.83
$GC,586,-0.59,-116.8,3128,3813,3381,3290,57.5,-11.1,54,597,0.00,2.50,0.00,0.000,1030,0.000,0.057,3128,2396,3336,3380,3293,0,0,0,0,0,0,28.83,13.86,28.83
$GC,839,-0.59,-116.8,3128,2389,3381,3290,84.1,-8.3,79,849,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2392,3336,3381,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1091,-0.59,-116.8,3128,2392,3383,3291,105.2,-7.7,104,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2392,3336,3381,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1343,-0.59,-116.8,3128,2392,3382,3292,125.1,-7.8,129,1354,0.00,2.62,0.00,0.000,260,0.000,0.083,3128,3814,3337,3382,3292,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1415,-0.59,-116.8,3128,3814,3382,3292,131.0,-7.9,136,1426,0.00,2.53,0.00,0.000,1030,0.000,0.057,3128,2389,3336,3381,3292,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1668,-0.59,-116.8,3128,2388,3382,3292,149.7,-7.6,161,1678,0.00,2.62,0.00,0.000,260,0.000,0.082,3129,3814,3336,3381,3292,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1730,-0.59,-116.8,3126,3814,3382,3292,154.7,-8.1,167,1741,0.00,2.50,0.00,0.000,1030,0.000,0.057,3128,2397,3336,3381,3292,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1982,-0.59,-116.8,3132,2394,3377,3292,177.4,-9.9,192,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2394,3337,3382,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2233,-0.59,-116.8,3128,2390,3382,3292,201.5,-9.7,217,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2394,3336,3381,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2484,-0.59,-116.8,3128,2394,3381,3292,222.1,-7.1,242,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2394,3334,3377,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,-0.59,-116.8,3128,2398,3382,3292,239.7,-7.0,267,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2394,3336,3381,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-0.59,-116.8,3128,2394,3381,3292,259.1,-7.5,286,3019,0.00,2.65,0.00,0.000,260,0.000,0.084,3128,3820,3336,3382,3291,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3081,-0.59,-116.8,3128,3824,3382,3291,264.7,-7.5,293,3091,0.00,2.53,0.00,0.000,1030,0.000,0.057,3124,2400,3336,3381,3291,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3402,-0.59,-116.8,3128,2398,3381,3287,290.6,-7.9,305,3412,0.00,2.62,0.00,0.000,260,0.000,0.085,3128,3809,3336,3381,3291,0,0,0,0,0,0,28.83,13.81,28.83
$STATE,3428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3428,begin apogee
$GC,3444,-0.25,0.0,3127,2314,3382,3291,293.1,-8.5,308,3544,0.38,0.00,93.10,1.034,10246,0.170,0.000,3236,2313,2858,2930,2787,0,0,0,0,0,0,13.61,28.83,13.47
$STATE,3546,end apogee,CONTROL_FINISHED_OK
$STATE,3546,begin climb
$GC,3551,0.59,116.8,3236,2313,2928,2784,297.9,0.0,311,3667,0.85,2.55,94.95,1.023,10756,0.122,0.073,3519,930,2377,2503,2252,0,0,0,0,0,0,13.88,14.00,13.36
$GC,3769,0.64,187.8,3517,930,2503,2252,294.5,4.3,335,3837,0.00,2.50,56.08,1.013,9222,0.000,0.066,3518,2338,2090,2235,1946,0,0,0,0,0,0,28.83,13.99,13.39
$GC,4158,0.64,187.8,3519,2338,2234,1947,268.6,7.4,354,4169,0.00,2.53,0.00,0.000,260,0.000,0.083,3519,3740,2090,2234,1947,0,0,0,0,0,0,28.83,13.98,28.83
$GC,4280,0.64,187.8,3518,3735,2229,1948,259.7,7.6,366,4291,0.00,2.50,0.00,0.000,1030,0.000,0.060,3519,2323,2094,2240,1948,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4593,0.69,257.0,3515,2324,2234,1948,243.0,4.4,387,4661,0.00,2.53,54.65,0.972,8708,0.000,0.077,3519,923,1807,1950,1664,0,0,0,0,0,0,28.83,14.15,13.56
$GC,4723,0.72,257.0,3519,925,1950,1664,236.0,5.9,400,4734,0.12,2.50,0.00,0.000,3078,0.135,0.067,3581,2337,1807,1950,1664,0,0,0,0,0,0,14.02,14.03,28.83
$GC,4977,0.72,257.0,3581,2336,1946,1664,213.9,9.8,425,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2336,1807,1950,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5229,0.72,257.0,3580,2336,1949,1664,188.8,10.0,450,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2336,1807,1950,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5484,0.72,257.0,3581,2336,1950,1664,164.2,8.6,475,5495,0.00,2.53,0.00,0.000,516,0.000,0.075,3587,938,1805,1946,1664,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5546,0.72,257.0,3588,934,1950,1664,158.4,8.9,481,5557,0.12,2.50,0.00,0.000,5126,0.227,0.067,3558,2341,1807,1950,1664,0,0,0,0,0,0,13.83,14.03,28.83
$GC,5798,0.72,257.0,3564,2340,1950,1664,137.1,9.1,506,5810,0.00,2.53,0.00,0.000,260,0.000,0.083,3558,3737,1807,1950,1664,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5861,0.72,257.0,3559,3737,1950,1661,130.6,10.9,512,5871,0.00,2.47,0.00,0.000,1030,0.000,0.060,3562,2333,1807,1950,1664,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6113,0.72,257.0,3561,2333,1950,1664,107.4,8.3,537,6124,0.00,2.53,0.00,0.000,516,0.000,0.076,3562,923,1807,1950,1664,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6196,0.72,257.0,3563,923,1950,1664,100.5,8.6,545,6207,0.00,2.50,0.00,0.000,1030,0.000,0.067,3562,2329,1807,1950,1664,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6449,0.72,257.0,3562,2334,1950,1664,81.1,7.8,570,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2328,1807,1950,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,0.76,257.0,3562,2328,1950,1664,65.7,5.4,595,6715,0.00,2.58,0.00,0.000,260,0.000,0.083,3562,3736,1807,1951,1664,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6810,0.76,257.0,3562,3736,1950,1664,58.7,7.3,605,6821,0.00,2.50,0.00,0.000,1030,0.000,0.059,3562,2320,1806,1950,1663,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7062,0.78,257.0,3563,2318,1950,1663,42.5,6.3,630,7074,0.00,2.50,0.00,0.000,516,0.000,0.074,3567,923,1806,1950,1663,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7125,0.81,257.0,3562,922,1950,1659,38.9,5.8,636,7136,0.00,2.50,0.00,0.000,1030,0.000,0.065,3562,2329,1806,1950,1662,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7380,0.83,257.0,3563,2329,1950,1663,24.3,6.2,661,7391,0.00,2.55,0.00,0.000,260,0.000,0.081,3562,3741,1806,1949,1663,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7552,0.86,257.0,3562,3741,1945,1662,13.9,6.0,678,7564,0.12,2.50,0.00,0.000,3078,0.129,0.059,3617,2319,1805,1949,1662,0,0,0,0,0,0,13.96,13.97,28.83
$STATE,7691,end climb,SURFACE_DEPTH_REACHED
$STATE,7691,begin surface coast
$FINISH,1.5,1.024623
$STATE,7742,end surface coast,CONTROL_FINISHED_OK
$STATE,7742,begin surface
$SM_CCo,7772,40.17,0.088,0,0,1430,350.04
$SM_GC,2.79,9.30,0.15,40.17,0.054,0.125,0.088,388,2399,1430,-9.10,-0.82,350.04,0,0,0,0,0,0,14.01,14.09,14.05
$IRIDIUM_FIX,4735.69,-12508.73,210115,181805
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.73
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3672704
$PM_FREEKB,36617728
$24V_AH,13.4,208.955
$10V_AH,12.4,0.000
$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,23.400,76.375,298.775,40.175,0.000,0.000,0.000,262.300,0.000,0.000,19.705,1648.023,4108.377,512.779,1532.521,661.336,0.000,1520.906,0.000,1108.969,0.000,0.538,0.000
$DEVICE_MAMPS,368.730,125.460,1034.280,87.975,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7773.000,108.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.627,4.925,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,23358,697
$CAP_FILE_SIZE,127106,0
$CFSIZE,260034560,170942464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8318.98,0x2378ba,7,5
$CURRENT,0.098, 21.1,1
$GPS,210115,231831,4752.979,-12515.275,15,1.5,16,18.8