version: 66.12
glider: 187
mission: 4
dive: 830
start: 1 21 115 23 27 42
data:
$ID,187
$MISSION,4
$DIVE,830
$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,-1595502
$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,38
$R_STBD_OVSHOOT,24
$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
$GPS1,210115,231831,4752.979,-12515.275,15,1.5,16,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-72.1
$GPS2,210115,232714,4753.013,-12515.261,16,2.7,36,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,200.6,164743,-14.0,-7.333,-18.81,2445
$D_GRID,320
$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,-116.8,388,2399,1543,1322,0.0,0.0,0,82,0.00,0.00,-47.88,0.000,16386,0.000,0.000,388,2400,2651,2735,2568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.59,-116.8,388,2403,2735,2569,3.2,-1.7,5,131,12.35,2.58,-15.68,0.000,18948,0.362,0.095,3127,1004,3334,3380,3289,0,0,0,0,0,0,13.76,14.01,14.38
$GC,194,-0.59,-116.8,3126,1004,3381,3291,17.7,-12.1,16,203,0.00,2.50,0.00,0.000,1030,0.000,0.068,3127,2400,3336,3380,3292,0,0,0,0,0,0,28.83,13.95,28.83
$GC,444,-0.59,-116.8,3127,2403,3380,3291,46.4,-10.9,41,452,0.00,2.58,0.00,0.000,260,0.000,0.083,3127,3820,3335,3380,3291,0,0,0,0,0,0,28.83,13.88,28.83
$GC,579,-0.59,-116.8,3127,3820,3380,3289,60.4,-10.9,54,588,0.00,2.50,0.00,0.000,1030,0.000,0.057,3127,2407,3336,3381,3291,0,0,0,0,0,0,28.83,13.95,28.83
$GC,829,-0.59,-116.8,3127,2403,3378,3292,85.6,-7.7,79,838,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3336,3381,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1080,-0.59,-116.8,3127,2403,3381,3292,108.9,-7.4,104,1089,0.00,2.60,0.00,0.000,260,0.000,0.082,3127,3822,3335,3381,3289,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1140,-0.59,-116.8,3127,3822,3380,3293,113.5,-8.0,110,1148,0.00,2.50,0.00,0.000,1030,0.000,0.055,3127,2391,3339,3381,3298,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1390,-0.59,-116.8,3126,2387,3381,3288,138.4,-9.5,135,1400,0.00,2.50,0.00,0.000,516,0.000,0.070,3125,1002,3337,3381,3293,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1432,-0.59,-116.8,3127,1001,3381,3293,142.4,-9.7,139,1441,0.00,2.53,0.00,0.000,1030,0.000,0.067,3127,2410,3337,3381,3293,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1684,-0.59,-116.8,3127,2414,3381,3293,162.9,-7.4,164,1693,0.00,2.55,0.00,0.000,260,0.000,0.083,3127,3816,3336,3381,3291,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1784,-0.59,-116.8,3127,3816,3381,3293,170.6,-7.1,174,1793,0.00,2.50,0.00,0.000,1030,0.000,0.056,3127,2392,3337,3381,3294,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2035,-0.59,-116.8,3127,2387,3381,3293,191.9,-9.9,199,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2384,3337,3381,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,-0.59,-116.8,3127,2387,3381,3293,214.9,-8.1,224,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2387,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2535,-0.59,-116.8,3132,2387,3381,3293,230.8,-6.4,249,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2387,3337,3381,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2785,-0.59,-116.8,3127,2387,3381,3293,246.9,-6.6,274,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2387,3337,3381,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3047,-0.59,-116.8,3127,2387,3381,3293,265.8,-7.9,286,3054,0.00,2.65,0.00,0.000,260,0.000,0.084,3127,3812,3336,3381,3292,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3174,-0.59,-116.8,3127,3811,3381,3292,277.3,-8.8,299,3182,0.00,2.50,0.00,0.000,1030,0.000,0.057,3127,2405,3337,3381,3293,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3501,-0.59,-116.8,3124,2403,3380,3292,302.6,-7.8,311,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3336,3381,3292,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3700,begin apogee
$GC,3712,-0.25,0.0,3126,2316,3381,3287,320.4,-8.7,318,3811,0.40,0.00,93.68,1.078,10246,0.171,0.000,3241,2315,2859,2926,2792,0,0,0,0,0,0,13.59,28.83,13.45
$STATE,3815,end apogee,CONTROL_FINISHED_OK
$STATE,3815,begin climb
$GC,3821,0.59,116.8,3241,2315,2927,2784,325.2,0.0,321,3933,0.82,2.55,95.12,1.059,10756,0.122,0.074,3510,934,2379,2505,2253,0,0,0,0,0,0,13.85,13.98,13.34
$GC,3994,0.65,207.1,3510,937,2504,2253,323.7,3.5,340,4075,0.00,2.47,71.75,1.053,9222,0.000,0.066,3510,2334,2014,2156,1872,0,0,0,0,0,0,28.83,13.95,13.35
$GC,4387,0.67,207.1,3510,2334,2153,1868,301.1,6.4,359,4397,0.00,2.53,0.00,0.000,260,0.000,0.083,3510,3739,2010,2153,1867,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4480,0.69,207.1,3510,3739,2155,1867,295.1,6.5,368,4491,0.12,2.45,0.00,0.000,3078,0.133,0.060,3569,2344,2010,2153,1867,0,0,0,0,0,0,14.04,14.04,28.83
$GC,4812,0.69,207.1,3570,2342,2153,1868,269.5,8.3,381,4822,0.00,2.53,0.00,0.000,516,0.000,0.075,3575,924,2010,2153,1868,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4875,0.69,207.1,3575,924,2153,1869,264.1,8.8,387,4885,0.00,2.50,0.00,0.000,1030,0.000,0.067,3575,2338,2011,2153,1869,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5187,0.69,207.1,3572,2337,2153,1869,233.9,10.7,408,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2337,2010,2151,1869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5439,0.69,207.1,3578,2334,2153,1869,210.8,7.6,433,5450,0.00,2.55,0.00,0.000,516,0.000,0.076,3577,924,2011,2153,1869,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5557,0.69,207.1,3575,924,2153,1869,202.0,7.8,444,5568,0.00,2.50,0.00,0.000,1030,0.000,0.067,3575,2329,2011,2153,1869,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5810,0.69,207.1,3575,2328,2152,1869,178.2,10.6,469,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2328,2011,2153,1869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6062,0.69,207.1,3575,2328,2153,1869,151.6,10.1,494,6073,0.00,2.58,0.00,0.000,260,0.000,0.083,3575,3743,2011,2153,1869,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6104,0.69,207.1,3575,3743,2152,1869,147.0,10.9,498,6115,0.12,2.50,0.00,0.000,5126,0.239,0.061,3548,2330,2010,2152,1869,0,0,0,0,0,0,13.78,14.02,28.83
$GC,6358,0.71,207.1,3548,2334,2152,1869,127.1,6.3,523,6370,0.00,2.53,0.00,0.000,516,0.000,0.075,3548,921,2011,2153,1869,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6421,0.74,207.1,3548,922,2153,1869,123.4,5.8,529,6432,0.00,2.50,0.00,0.000,1030,0.000,0.067,3548,2330,2012,2154,1870,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6673,0.79,273.3,3548,2330,2153,1870,113.1,4.6,554,6734,0.00,2.58,51.08,0.831,8452,0.000,0.083,3548,3739,1743,1891,1595,0,0,0,0,0,0,28.83,14.20,13.64
$GC,6805,0.79,273.3,3548,3739,1883,1594,104.0,8.6,567,6816,0.00,2.50,0.00,0.000,1030,0.000,0.060,3548,2320,1738,1883,1594,0,0,0,0,0,0,28.83,14.03,28.83
$GC,7059,0.79,273.3,3548,2319,1883,1594,81.7,8.0,592,7070,0.00,2.50,0.00,0.000,516,0.000,0.076,3548,930,1738,1883,1594,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7165,0.81,273.3,3548,930,1883,1595,75.0,6.2,602,7177,0.12,2.53,0.00,0.000,3078,0.130,0.067,3606,2342,1738,1883,1594,0,0,0,0,0,0,14.04,14.02,28.83
$GC,7419,0.81,273.3,3604,2342,1883,1594,55.0,7.4,627,7430,0.00,2.53,0.00,0.000,260,0.000,0.082,3604,3733,1736,1878,1594,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7503,0.81,273.3,3604,3733,1883,1594,48.5,8.0,635,7514,0.00,2.47,0.00,0.000,1030,0.000,0.060,3604,2338,1738,1883,1594,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7757,0.81,273.3,3604,2337,1883,1592,30.3,7.9,660,7768,0.00,2.55,0.00,0.000,516,0.000,0.075,3604,914,1738,1883,1594,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7849,0.81,273.3,3605,914,1883,1594,23.4,7.7,669,7860,0.00,2.53,0.00,0.000,1030,0.000,0.065,3605,2332,1739,1883,1596,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8101,0.81,273.3,3604,2332,1883,1594,5.0,7.1,694,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,2332,1738,1883,1593,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8116,end climb,SURFACE_DEPTH_REACHED
$STATE,8117,begin surface coast
$FINISH,1.6,1.024634
$STATE,8168,end surface coast,CONTROL_FINISHED_OK
$STATE,8168,begin surface
$SM_CCo,8200,33.08,0.091,0,0,1429,350.04
$SM_GC,2.73,9.30,0.12,33.08,0.058,0.142,0.091,393,2414,1429,-9.10,-0.62,350.04,0,0,0,0,0,0,14.11,14.10,14.07
$IRIDIUM_FIX,4735.69,-12520.31,210115,212147
$TT8_MAMPS,0.023968,0.023968
$HUMID,52.44
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3672384
$PM_FREEKB,36594272
$24V_AH,13.3,209.111
$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,23.250,81.075,311.625,33.075,0.000,0.000,0.000,212.825,0.000,0.000,36.941,1662.493,4464.998,515.079,1484.193,616.265,0.000,1452.786,0.000,1096.071,0.000,0.537,0.000
$DEVICE_MAMPS,361.845,155.295,1077.885,91.035,0.000,0.000,0.000,168.300,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8197.000,3844.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.489,4.134,0.000,0.000
$MEM,290844
$DATA_FILE_SIZE,23381,701
$CAP_FILE_SIZE,125325,0
$CFSIZE,260034560,170876928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8435.05,0x2378ba,7,5
$CURRENT,0.037,285.2,1
$GPS,220115,014653,4752.420,-12516.406,42,1.4,61,18.8