version: 66.12
glider: 187
mission: 4
dive: 40
start: 6 27 114 7 6 35
data:
$ID,187
$MISSION,4
$DIVE,40
$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,330
$T_MISSION,370
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0016
$HD_B,0.0099999998
$HD_C,1.4e-05
$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,-1593231.1
$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,3360
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2892
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,0.00062367308
$SEABIRD_T_I,2.3111006e-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,1.0
$PM_MOTORS,1.0
$GPS1,270614,065935,4750.997,-12514.063,51,1.0,56,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.2
$GPS2,270614,070601,4751.027,-12514.088,16,1.3,16,18.7
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,203.2,163787,-15.7,-10.000,-22.91,1951
$D_GRID,381
$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,-0.85,-136.3,398,2385,1590,1338,0.0,0.0,0,91,0.00,0.00,-61.22,0.000,16386,0.000,0.000,397,2385,3074,3109,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.85,-136.3,397,2385,3109,3041,3.6,-4.8,6,127,12.90,2.53,-6.28,0.000,18948,0.432,0.137,3077,982,3450,3469,3431,0,0,0,0,0,0,14.23,14.37,14.61
$GC,375,-0.82,-136.3,3077,978,3470,3436,63.4,-15.1,55,387,0.00,2.47,0.00,0.000,1030,0.000,0.099,3078,2405,3453,3471,3436,0,0,0,0,0,0,28.83,14.45,28.83
$GC,567,-0.80,-136.3,3077,2405,3471,3437,90.2,-13.1,74,576,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2406,3454,3472,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,757,-0.78,-136.3,3077,2405,3473,3436,115.8,-13.3,93,767,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2405,3454,3472,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.77,-136.3,3077,2402,3472,3437,143.2,-14.1,112,958,0.12,0.00,0.00,0.000,2054,0.294,0.000,3111,2405,3453,3472,3434,0,0,0,0,0,0,14.45,28.83,28.83
$GC,1138,-0.77,-136.3,3110,2406,3472,3436,165.4,-11.0,131,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3454,3472,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1329,-0.77,-136.3,3111,2405,3476,3436,186.1,-10.3,150,1337,0.00,2.47,0.00,0.000,516,0.000,0.111,3111,986,3454,3472,3436,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1383,-0.77,-136.3,3111,986,3471,3437,191.7,-10.7,159,1395,0.00,2.45,0.00,0.000,1030,0.000,0.100,3112,2399,3454,3472,3437,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1575,-0.77,-136.3,3111,2399,3472,3437,210.4,-10.0,178,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2399,3453,3470,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1765,-0.77,-136.3,3111,2399,3472,3436,229.7,-9.8,197,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2399,3454,3472,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1957,-0.77,-136.3,3111,2400,3472,3436,247.5,-9.4,216,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3454,3472,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2167,-0.77,-136.3,3110,2399,3472,3434,266.2,-8.6,225,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2399,3452,3469,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2467,-0.77,-136.3,3111,2399,3467,3436,294.2,-9.7,235,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2399,3454,3472,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2767,-0.77,-136.3,3111,2397,3472,3434,322.7,-8.9,245,2776,0.00,2.47,0.00,0.000,516,0.000,0.117,3111,987,3453,3472,3435,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2831,-0.77,-136.3,3112,987,3479,3434,328.7,-9.7,256,2841,0.00,2.47,0.00,0.000,1030,0.000,0.105,3108,2405,3453,3472,3434,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3139,-0.77,-136.3,3111,2405,3471,3432,355.8,-8.8,267,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2406,3453,3475,3432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3433,begin apogee
$GC,3442,-0.32,0.0,3111,2702,3472,3431,382.0,-9.5,277,3556,0.50,0.00,106.15,1.173,10246,0.213,0.000,3257,2702,2893,2964,2822,0,0,0,0,0,0,14.53,28.83,13.62
$STATE,3560,end apogee,CONTROL_FINISHED_OK
$STATE,3560,begin climb
$GC,3564,0.85,136.3,3257,2702,2957,2821,387.0,0.0,281,3694,1.20,2.47,109.78,1.139,10500,0.167,0.128,3626,4008,2333,2479,2188,0,0,0,0,0,0,14.04,13.83,13.42
$GC,3724,0.79,136.3,3625,4005,2477,2188,375.3,15.3,305,3735,0.00,2.40,0.00,0.000,1030,0.000,0.116,3627,2708,2333,2478,2188,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4066,0.74,136.3,3627,2705,2477,2182,325.4,13.9,321,4077,0.00,2.67,0.00,0.000,516,0.000,0.151,3631,1285,2329,2477,2182,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4241,0.69,136.3,3630,1284,2476,2181,302.0,13.8,353,4253,0.17,2.60,0.00,0.000,5126,0.321,0.122,3590,2704,2328,2476,2181,0,0,0,0,0,0,14.31,14.39,28.83
$GC,4574,0.66,136.3,3590,2701,2476,2179,262.0,11.6,367,4586,0.00,2.65,0.00,0.000,516,0.000,0.151,3596,1280,2329,2479,2179,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4648,0.62,136.3,3595,1280,2476,2179,254.1,10.8,379,4662,0.15,2.58,0.00,0.000,5126,0.305,0.121,3564,2709,2327,2476,2179,0,0,0,0,0,0,14.41,14.48,28.83
$GC,4973,0.62,160.5,3564,2704,2475,2177,225.0,8.7,413,5002,0.00,2.75,18.98,0.992,8708,0.000,0.151,3564,1278,2235,2392,2079,0,0,0,0,0,0,28.83,14.39,14.07
$GC,5095,0.61,164.0,3564,1278,2392,2081,213.6,9.8,433,5113,0.00,2.55,3.22,0.683,9222,0.000,0.118,3565,2696,2228,2388,2069,0,0,0,0,0,0,28.83,14.45,13.95
$GC,5294,0.59,165.8,3570,2697,2382,2075,193.1,9.9,453,5306,0.00,0.00,3.03,0.645,8198,0.000,0.000,3560,2696,2216,2374,2059,0,0,0,0,0,0,28.83,28.83,13.98
$GC,5488,0.57,165.8,3564,2696,2374,2062,173.0,10.5,472,5499,0.00,2.62,0.00,0.000,516,0.000,0.151,3564,1285,2220,2374,2066,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5586,0.57,176.9,3564,1285,2374,2061,163.2,9.4,488,5610,0.00,2.53,11.80,0.934,9222,0.000,0.117,3564,2698,2165,2322,2009,0,0,0,0,0,0,28.83,14.49,14.09
$GC,5801,0.55,176.9,3564,2698,2327,2009,141.1,10.0,510,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,2697,2168,2327,2009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5993,0.53,176.9,3564,2697,2327,2008,121.6,10.3,529,6005,0.12,0.00,0.00,0.000,4102,0.281,0.000,3531,2697,2167,2327,2008,0,0,0,0,0,0,14.45,28.83,28.83
$GC,6187,0.54,187.8,3530,2697,2327,2007,102.9,9.4,548,6210,0.00,2.62,10.07,0.871,8708,0.000,0.134,3532,1288,2124,2285,1963,0,0,0,0,0,0,28.83,14.45,14.14
$GC,6313,0.54,187.8,3533,1288,2289,1963,89.6,10.6,569,6325,0.00,2.53,0.00,0.000,1030,0.000,0.112,3532,2705,2123,2284,1963,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6507,0.56,207.3,3532,2704,2284,1962,71.2,9.0,588,6539,0.00,2.67,16.52,0.830,8708,0.000,0.150,3533,1283,2045,2209,1882,0,0,0,0,0,0,28.83,14.38,14.13
$GC,6665,0.58,232.6,3532,1282,2209,1882,57.2,8.7,615,6696,0.00,2.53,20.23,0.803,9222,0.000,0.112,3532,2697,1942,2097,1788,0,0,0,0,0,0,28.83,14.46,14.09
$GC,6887,0.65,295.1,3533,2696,2094,1788,40.9,6.7,638,6947,0.12,2.65,47.08,0.756,10756,0.172,0.134,3587,1280,1684,1851,1518,0,0,0,0,0,0,14.47,14.23,14.00
$GC,7166,0.70,351.3,3587,1280,1850,1519,16.3,7.0,685,7205,0.00,2.55,26.23,0.171,9222,0.000,0.108,3587,2708,1460,1622,1298,0,0,0,0,0,0,28.83,14.36,14.33
$STATE,7292,end climb,SURFACE_DEPTH_REACHED
$STATE,7292,begin surface coast
$FINISH,0.6,1.023766
$STATE,7333,end surface coast,CONTROL_FINISHED_OK
$STATE,7333,begin surface
$SM_CCo,7419,0.00,0.000,0,0,1459,351.51
$SM_GC,1.67,9.38,0.60,0.00,0.096,0.117,0.000,401,2390,1459,-9.21,0.31,351.51,0,0,0,0,0,0,14.41,14.42,28.83
$IRIDIUM_FIX,4732.49,-12535.24,230407,181838
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.72
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3925216
$PM_FREEKB,61857984
$24V_AH,13.4,6.835
$10V_AH,13.1,0.000
$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,24.675,57.400,373.075,0.000,0.000,0.000,0.000,182.050,0.000,0.000,16.847,2098.465,3401.634,534.140,1409.218,364.181,0.000,1419.781,0.000,1078.417,0.000,0.535,0.000
$DEVICE_MAMPS,432.225,151.470,1172.745,0.000,0.000,0.000,0.000,162.945,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7341.000,3593.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.091,4.144,0.000,0.000
$MEM,290820
$DATA_FILE_SIZE,23422,703
$CAP_FILE_SIZE,115485,0
$CFSIZE,260034560,254373888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6390.02,0x2378ba,7,5
$EKF,7501,2870.564697,-7514.695312,0.654130,-0.007609,-0.011286,-0.078138,0.004406,0.009782,0.002295,0.117388,0.117388,0.000129
$CURRENT,0.081,279.3,1
$GPS,270614,091133,4750.617,-12515.183,13,2.5,33,18.7