version: 66.12
glider: 187
mission: 4
dive: 831
start: 1 22 115 1 57 15
data:
$ID,187
$MISSION,4
$DIVE,831
$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,-1595503.4
$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,25
$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
$GPS1,220115,014653,4752.420,-12516.406,42,1.4,61,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-72.8
$GPS2,220115,015643,4752.448,-12516.405,13,2.0,13,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,206.7,162960,-14.0,-7.333,-18.81,2445
$D_GRID,358
$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,28,-0.59,-116.8,393,2416,1555,1307,0.0,0.0,0,82,0.00,0.00,-46.90,0.000,16386,0.000,0.000,393,2417,2623,2702,2545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.59,-116.8,393,2416,2709,2545,3.1,-1.6,5,133,12.30,2.60,-16.27,0.000,18948,0.361,0.091,3125,993,3339,3383,3295,0,0,0,0,0,0,13.76,13.95,14.39
$GC,185,-0.59,-116.8,3125,993,3383,3296,16.4,-11.2,15,196,0.00,2.50,0.00,0.000,1030,0.000,0.070,3125,2387,3340,3383,3297,0,0,0,0,0,0,28.83,13.88,28.83
$GC,437,-0.59,-116.8,3125,2387,3382,3296,46.4,-11.7,40,448,0.00,2.62,0.00,0.000,260,0.000,0.086,3123,3819,3339,3383,3296,0,0,0,0,0,0,28.83,13.87,28.83
$GC,501,-0.59,-116.8,3124,3818,3383,3296,53.8,-11.7,46,512,0.00,2.53,0.00,0.000,1030,0.000,0.056,3125,2388,3338,3379,3297,0,0,0,0,0,0,28.83,13.91,28.83
$GC,754,-0.59,-116.8,3124,2383,3383,3297,79.4,-10.6,71,764,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1005,-0.59,-116.8,3124,2382,3385,3297,103.7,-9.7,96,1016,0.00,2.65,0.00,0.000,260,0.000,0.083,3121,3816,3340,3384,3297,0,0,0,0,0,0,28.83,13.84,28.83
$GC,1089,-0.59,-116.8,3124,3816,3383,3298,111.4,-9.0,104,1099,0.00,2.50,0.00,0.000,1030,0.000,0.057,3124,2397,3340,3383,3297,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1342,-0.59,-116.8,3124,2392,3384,3298,134.7,-9.1,129,1353,0.00,2.62,0.00,0.000,260,0.000,0.083,3124,3816,3340,3384,3297,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1484,-0.59,-116.8,3124,3814,3384,3298,148.0,-9.0,143,1495,0.00,2.50,0.00,0.000,1030,0.000,0.057,3125,2400,3340,3383,3298,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1736,-0.59,-116.8,3124,2399,3384,3298,169.3,-8.1,168,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3341,3385,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1987,-0.59,-116.8,3125,2399,3389,3298,191.5,-9.0,193,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2240,-0.59,-116.8,3124,2399,3384,3298,212.3,-7.6,218,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2396,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2491,-0.59,-116.8,3125,2397,3384,3298,232.7,-8.5,243,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2753,-0.59,-116.8,3124,2399,3384,3298,255.5,-9.0,265,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2398,3339,3380,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3052,-0.59,-116.8,3124,2399,3381,3304,281.2,-7.8,275,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3343,3389,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3353,-0.59,-116.8,3124,2399,3384,3298,303.8,-7.3,285,3363,0.00,2.65,0.00,0.000,260,0.000,0.085,3125,3822,3340,3384,3297,0,0,0,0,0,0,28.83,13.79,28.83
$GC,3404,-0.59,-116.8,3124,3822,3384,3298,307.8,-7.9,290,3415,0.00,2.53,0.00,0.000,1030,0.000,0.058,3124,2401,3341,3384,3298,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3720,-0.59,-116.8,3125,2401,3380,3297,334.7,-9.0,301,3730,0.00,2.55,0.00,0.000,516,0.000,0.071,3124,999,3341,3384,3298,0,0,0,0,0,0,28.83,13.75,28.83
$GC,3751,-0.59,-116.8,3125,995,3384,3296,338.1,-9.1,304,3761,0.00,2.55,0.00,0.000,1030,0.000,0.068,3124,2405,3337,3383,3292,0,0,0,0,0,0,28.83,13.85,28.83
$STATE,3992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3992,begin apogee
$GC,4005,-0.25,0.0,3124,2314,3384,3295,359.1,-8.4,314,4113,0.40,0.00,95.55,1.126,10246,0.163,0.000,3240,2314,2853,2923,2784,0,0,0,0,0,0,13.57,28.83,13.40
$STATE,4115,end apogee,CONTROL_FINISHED_OK
$STATE,4115,begin climb
$GC,4120,0.59,116.8,3240,2314,2926,2783,365.0,0.0,318,4232,0.85,2.55,95.55,1.104,10756,0.119,0.073,3519,935,2381,2506,2256,0,0,0,0,0,0,13.87,13.96,13.30
$GC,4259,0.66,209.6,3524,935,2505,2257,363.5,3.4,330,4347,0.00,2.50,75.57,1.098,9222,0.000,0.066,3518,2336,1999,2143,1856,0,0,0,0,0,0,28.83,13.93,13.29
$GC,4660,0.66,209.6,3521,2338,2143,1855,337.9,7.3,350,4670,0.00,2.53,0.00,0.000,516,0.000,0.075,3519,930,1999,2143,1855,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4722,0.66,209.6,3525,931,2143,1855,332.7,8.4,356,4732,0.00,2.50,0.00,0.000,1030,0.000,0.068,3519,2340,1999,2143,1855,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5053,0.66,209.6,3518,2340,2143,1856,303.8,7.8,369,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2340,1998,2140,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5359,0.68,209.6,3519,2340,2143,1859,285.3,6.0,379,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2340,1999,2143,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5653,0.68,209.6,3518,2340,2143,1855,263.0,7.4,389,5663,0.00,2.53,0.00,0.000,516,0.000,0.076,3519,937,2001,2143,1859,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5726,0.70,209.6,3519,937,2143,1856,258.1,6.6,396,5736,0.00,2.47,0.00,0.000,1030,0.000,0.069,3524,2328,1999,2143,1856,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6038,0.70,209.6,3519,2327,2143,1856,236.1,7.6,419,6049,0.00,2.60,0.00,0.000,260,0.000,0.085,3519,3747,1997,2138,1856,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6160,0.70,209.6,3519,3747,2143,1856,225.6,8.7,431,6171,0.00,2.50,0.00,0.000,1030,0.000,0.060,3519,2340,1999,2143,1856,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6412,0.70,209.6,3519,2338,2143,1856,206.5,7.7,456,6426,0.00,2.55,0.00,0.000,516,0.000,0.076,3519,918,1999,2143,1856,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6488,0.70,209.6,3519,918,2143,1857,200.7,8.0,463,6499,0.00,2.53,0.00,0.000,1030,0.000,0.067,3516,2332,2000,2143,1857,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6741,0.70,209.6,3520,2336,2143,1857,181.5,7.6,488,6752,0.00,2.58,0.00,0.000,260,0.000,0.083,3520,3749,2000,2143,1857,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6793,0.70,209.6,3519,3749,2143,1857,177.1,8.5,493,6805,0.00,2.53,0.00,0.000,1030,0.000,0.060,3519,2320,2003,2149,1857,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7049,0.72,209.6,3519,2320,2143,1857,158.4,6.3,518,7059,0.12,0.00,0.00,0.000,2054,0.135,0.000,3588,2317,2000,2143,1857,0,0,0,0,0,0,14.07,28.83,28.83
$GC,7302,0.72,209.6,3587,2316,2143,1857,136.9,8.4,543,7313,0.12,0.00,0.00,0.000,4102,0.227,0.000,3554,2316,1998,2143,1854,0,0,0,0,0,0,13.76,28.83,28.83
$GC,7555,0.72,209.6,3554,2316,2143,1857,117.3,8.6,568,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2313,2002,2143,1862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7806,0.72,209.6,3553,2316,2143,1857,98.0,7.0,593,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2316,2000,2143,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8059,0.75,209.6,3554,2315,2143,1857,84.6,5.6,618,8069,0.00,2.65,0.00,0.000,260,0.000,0.083,3554,3751,1998,2140,1857,0,0,0,0,0,0,28.83,13.89,28.83
$GC,8092,0.77,209.6,3554,3751,2143,1857,82.5,6.4,621,8104,0.00,2.53,0.00,0.000,1030,0.000,0.060,3562,2327,2000,2143,1857,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8347,0.82,282.8,3562,2326,2143,1857,69.4,4.3,646,8414,0.00,2.47,55.38,0.779,8708,0.000,0.077,3562,924,1702,1849,1555,0,0,0,0,0,0,28.83,14.16,13.65
$GC,8486,0.84,282.8,3562,924,1848,1555,61.2,6.4,660,8497,0.00,2.55,0.00,0.000,1030,0.000,0.067,3562,2349,1701,1848,1555,0,0,0,0,0,0,28.83,14.01,28.83
$GC,8738,0.84,282.8,3562,2348,1849,1556,43.3,7.0,685,8750,0.10,2.53,0.00,0.000,2308,0.155,0.081,3616,3732,1702,1849,1556,0,0,0,0,0,0,14.12,13.87,28.83
$GC,8827,0.84,282.8,3611,3731,1848,1557,35.9,9.7,693,8838,0.00,2.50,0.00,0.000,1030,0.000,0.061,3614,2325,1702,1848,1556,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9081,0.84,282.8,3614,2324,1849,1557,13.8,8.4,718,9092,0.00,2.50,0.00,0.000,516,0.000,0.075,3614,926,1702,1848,1557,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9164,0.84,282.8,3614,927,1848,1557,6.7,7.6,726,9174,0.00,2.50,0.00,0.000,1030,0.000,0.063,3614,2331,1702,1848,1557,0,0,0,0,0,0,28.83,13.98,28.83
$STATE,9190,end climb,SURFACE_DEPTH_REACHED
$STATE,9191,begin surface coast
$FINISH,1.7,1.024662
$STATE,9236,end surface coast,CONTROL_FINISHED_OK
$STATE,9236,begin surface
$SM_CCo,9266,29.33,0.093,0,0,1431,350.04
$SM_GC,2.55,9.25,0.12,29.33,0.053,0.142,0.093,387,2413,1431,-9.10,-0.65,350.04,0,0,0,0,0,0,14.19,14.12,14.06
$IRIDIUM_FIX,4738.89,-12515.06,210115,232307
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.36
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3672064
$PM_FREEKB,36594240
$24V_AH,13.3,209.274
$10V_AH,13.2,0.000
$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,23.150,81.650,322.050,29.325,0.000,0.000,0.000,254.600,0.000,0.000,14.872,1751.327,5243.789,538.580,1629.658,715.208,0.000,1620.412,0.000,1157.273,0.000,0.537,0.000
$DEVICE_MAMPS,361.080,142.290,1126.080,92.565,0.000,0.000,0.000,162.945,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9256.000,145.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.281,5.259,0.000,0.000
$MEM,290788
$DATA_FILE_SIZE,26717,733
$CAP_FILE_SIZE,138082,0
$CFSIZE,260034560,170782720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8972.76,0x2378ba,7,5
$CURRENT,0.116,296.1,1
$GPS,220115,043353,4752.031,-12518.361,44,1.1,45,18.8