version: 66.12
glider: 187
mission: 4
dive: 112
start: 7 13 114 22 12 5
data:
$ID,187
$MISSION,4
$DIVE,112
$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,-1593346.4
$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,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,17
$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
$GPS1,130714,220454,4750.949,-12519.927,39,1.9,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-73.4
$GPS2,130714,221137,4750.944,-12519.957,12,1.9,12,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,107.7,12174,-14.0,-7.333,-18.81,2445
$D_GRID,458
$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,27,-0.59,-116.8,399,2423,1448,1211,0.0,0.0,0,91,0.00,0.00,-59.35,0.000,16386,0.000,0.000,399,2424,2898,2951,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,398,2423,2949,2846,3.8,-3.8,6,125,12.82,2.58,-7.80,0.000,18692,0.415,0.126,3125,3838,3338,3385,3291,0,0,0,0,0,0,14.19,14.35,14.59
$GC,355,-0.59,-116.8,3125,3838,3388,3293,50.9,-14.8,32,365,0.00,2.42,0.00,0.000,1030,0.000,0.071,3125,2418,3341,3388,3295,0,0,0,0,0,0,28.83,14.44,28.83
$GC,606,-0.59,-116.8,3125,2411,3386,3294,85.1,-12.7,57,615,0.00,2.50,0.00,0.000,260,0.000,0.103,3125,3839,3341,3389,3293,0,0,0,0,0,0,28.83,14.47,28.83
$GC,846,-0.59,-116.8,3123,3839,3390,3294,109.7,-9.5,81,854,0.00,2.40,0.00,0.000,1030,0.000,0.074,3125,2426,3342,3390,3294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1095,-0.59,-116.8,3125,2425,3390,3300,132.6,-9.1,106,1104,0.00,2.47,0.00,0.000,260,0.000,0.103,3125,3838,3342,3390,3294,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1315,-0.59,-116.8,3125,3839,3395,3295,153.3,-9.3,128,1325,0.00,2.40,0.00,0.000,1030,0.000,0.074,3126,2425,3341,3390,3293,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1566,-0.59,-116.8,3125,2425,3390,3294,175.3,-8.5,153,1575,0.00,2.40,0.00,0.000,516,0.000,0.086,3126,1020,3342,3390,3294,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1646,-0.59,-116.8,3125,1020,3389,3294,183.1,-10.6,161,1654,0.00,2.42,0.00,0.000,1030,0.000,0.086,3125,2429,3342,3390,3294,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1895,-0.59,-116.8,3126,2432,3390,3294,203.7,-9.5,186,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2429,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2145,-0.59,-116.8,3125,2429,3390,3294,225.9,-9.0,211,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2429,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2395,-0.59,-116.8,3126,2429,3390,3293,249.7,-9.4,236,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2429,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2646,-0.59,-116.8,3125,2428,3390,3293,274.1,-10.0,245,2653,0.00,2.45,0.00,0.000,516,0.000,0.092,3126,1017,3341,3389,3293,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2725,-0.59,-116.8,3126,1017,3386,3297,282.4,-10.6,253,2734,0.00,2.47,0.00,0.000,1030,0.000,0.090,3129,2420,3341,3390,3293,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3035,-0.59,-116.8,3126,2419,3390,3292,313.5,-9.8,264,3044,0.00,2.42,0.00,0.000,516,0.000,0.090,3126,1015,3341,3390,3292,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3074,-0.59,-116.8,3125,1015,3385,3291,317.6,-10.3,268,3083,0.00,2.47,0.00,0.000,1030,0.000,0.089,3126,2421,3340,3389,3292,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3398,-0.59,-116.8,3125,2421,3389,3290,347.3,-9.1,280,3407,0.00,2.47,0.00,0.000,260,0.000,0.106,3125,3846,3340,3390,3290,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3496,-0.59,-116.8,3126,3846,3389,3290,356.8,-9.4,290,3504,0.00,2.45,0.00,0.000,1030,0.000,0.077,3125,2428,3340,3391,3289,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3820,-0.59,-116.8,3125,2427,3389,3289,387.1,-9.5,302,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2427,3339,3389,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4117,-0.59,-116.8,3125,2427,3389,3289,417.0,-10.2,312,4126,0.00,2.47,0.00,0.000,516,0.000,0.092,3126,1000,3339,3389,3289,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4166,-0.59,-116.8,3125,1000,3388,3289,422.2,-10.7,317,4176,0.00,2.45,0.00,0.000,1030,0.000,0.087,3125,2423,3338,3388,3288,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4480,-0.59,-116.8,3125,2422,3394,3288,450.4,-8.7,328,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2427,3341,3395,3288,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4594,begin apogee
$GC,4602,-0.25,0.0,3125,2316,3387,3288,460.3,-8.2,332,4700,0.40,0.00,92.47,1.261,10246,0.208,0.000,3241,2316,2857,2934,2780,0,0,0,0,0,0,14.52,28.83,13.62
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4708,0.59,116.8,3241,2315,2932,2776,463.9,0.0,335,4813,0.85,0.00,96.32,1.230,10246,0.154,0.000,3509,2315,2377,2523,2232,0,0,0,0,0,0,14.08,28.83,13.44
$GC,5107,0.59,116.8,3509,2315,2520,2229,439.0,8.0,349,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2320,2374,2520,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5408,0.59,116.8,3509,2315,2519,2227,415.1,7.8,359,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2317,2373,2519,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5707,0.59,116.8,3509,2315,2518,2228,391.5,7.9,369,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2315,2372,2518,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,0.59,116.8,3509,2315,2514,2226,369.0,7.6,379,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2318,2371,2517,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6307,0.59,116.8,3509,2316,2517,2225,348.1,7.0,389,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2315,2370,2516,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6607,0.59,116.8,3509,2316,2517,2225,327.3,7.0,399,6617,0.00,2.53,0.00,0.000,260,0.000,0.106,3509,3753,2370,2516,2225,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6668,0.59,116.8,3509,3753,2513,2225,322.4,8.7,405,6678,0.00,2.42,0.00,0.000,1030,0.000,0.081,3509,2335,2369,2513,2225,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6997,0.59,116.8,3509,2334,2513,2224,298.9,7.1,418,7007,0.00,2.47,0.00,0.000,516,0.000,0.101,3509,912,2368,2513,2224,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7046,0.59,116.8,3509,913,2512,2225,295.3,6.9,423,7057,0.00,2.45,0.00,0.000,1030,0.000,0.086,3509,2339,2368,2513,2224,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7360,0.59,116.8,3509,2339,2512,2224,272.5,7.4,434,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2338,2368,2512,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7658,0.59,116.8,3509,2339,2513,2224,250.2,7.5,444,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2339,2366,2508,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7957,0.59,116.8,3509,2338,2512,2223,226.8,7.9,472,7969,0.00,2.47,0.00,0.000,516,0.000,0.102,3513,920,2367,2511,2223,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8029,0.59,116.8,3513,920,2512,2225,221.6,7.4,479,8039,0.00,2.42,0.00,0.000,1030,0.000,0.088,3510,2331,2367,2512,2222,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8280,0.59,116.8,3518,2331,2512,2223,203.0,7.5,504,8291,0.00,2.45,0.00,0.000,260,0.000,0.106,3513,3737,2366,2511,2222,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8332,0.59,116.8,3513,3741,2510,2223,198.6,8.7,509,8342,0.00,2.42,0.00,0.000,1030,0.000,0.083,3519,2322,2367,2511,2223,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8582,0.59,116.8,3519,2322,2512,2223,177.9,7.7,534,8593,0.00,2.47,0.00,0.000,516,0.000,0.103,3519,914,2367,2511,2223,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8696,0.60,116.8,3519,914,2511,2223,170.1,6.7,545,8707,0.00,2.42,0.00,0.000,1030,0.000,0.086,3520,2333,2366,2510,2223,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8946,0.60,116.8,3520,2329,2510,2218,151.5,7.5,570,8957,0.00,2.45,0.00,0.000,260,0.000,0.104,3519,3736,2366,2510,2223,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9018,0.60,116.8,3519,3736,2510,2223,145.5,8.8,577,9028,0.00,2.42,0.00,0.000,1030,0.000,0.083,3520,2324,2366,2510,2223,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9269,0.60,116.8,3519,2323,2510,2223,124.1,8.6,602,9279,0.00,2.45,0.00,0.000,516,0.000,0.105,3519,922,2366,2510,2223,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9339,0.60,116.8,3523,922,2508,2223,118.0,8.0,609,9350,0.00,2.42,0.00,0.000,1030,0.000,0.087,3520,2333,2366,2510,2223,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9591,0.67,209.0,3519,2332,2505,2223,103.4,3.5,634,9672,0.00,2.55,69.90,0.829,8452,0.000,0.102,3522,3731,2003,2167,1840,0,0,0,0,0,0,28.83,14.27,13.96
$GC,9773,0.69,209.0,3519,3732,2164,1840,94.1,6.5,652,9784,0.00,2.45,0.00,0.000,1030,0.000,0.080,3519,2325,2002,2164,1840,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10025,0.69,209.0,3519,2324,2164,1837,80.7,6.9,677,10036,0.00,2.47,0.00,0.000,516,0.000,0.101,3522,915,2001,2164,1838,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10266,0.69,209.0,3522,914,2163,1838,61.8,8.3,701,10277,0.00,2.45,0.00,0.000,1030,0.000,0.085,3521,2332,2000,2163,1837,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10517,0.69,209.0,3522,2331,2169,1836,43.5,6.9,726,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2332,1999,2163,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10767,0.72,209.0,3522,2331,2163,1836,27.3,5.5,751,10779,0.10,2.45,0.00,0.000,2564,0.178,0.093,3562,917,1999,2163,1836,0,0,0,0,0,0,14.54,14.52,28.83
$GC,10929,0.76,209.0,3562,921,2163,1836,18.0,5.4,767,10939,0.00,2.42,0.00,0.000,1030,0.000,0.085,3562,2333,1999,2163,1836,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11179,0.87,363.5,3562,2332,2163,1835,9.3,0.8,792,11260,0.12,2.47,68.45,0.133,10500,0.156,0.101,3614,3739,1375,1537,1214,0,0,0,0,0,0,14.56,14.50,14.47
$GC,11274,0.90,363.5,3614,3739,1537,1215,5.7,5.9,801,11285,0.00,2.42,0.00,0.000,1030,0.000,0.076,3614,2326,1376,1538,1215,0,0,0,0,0,0,28.83,14.51,28.83
$STATE,11290,end climb,SURFACE_DEPTH_REACHED
$STATE,11291,begin surface coast
$FINISH,0.9,1.023533
$STATE,11345,end surface coast,CONTROL_FINISHED_OK
$STATE,11345,begin surface
$SM_CCo,11371,5.30,0.108,0,0,1328,375.06
$SM_GC,3.56,9.35,0.20,5.30,0.090,0.132,0.108,403,2428,1328,-9.09,-0.62,375.06,0,0,0,0,0,0,14.48,14.52,14.50
$IRIDIUM_FIX,4732.49,-12510.28,130714,181845
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.54
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3902176
$PM_FREEKB,59416800
$24V_AH,13.4,26.403
$10V_AH,13.7,0.000
$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,23.650,93.650,327.150,5.300,0.000,0.000,0.000,204.450,0.000,0.000,13.561,1951.092,7155.572,534.578,1686.437,446.283,0.000,1604.282,0.000,1243.823,0.000,0.535,0.000
$DEVICE_MAMPS,415.395,157.590,1260.720,107.865,0.000,0.000,0.000,167.535,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11357.000,4787.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.962,4.132,0.000,0.000
$MEM,290816
$DATA_FILE_SIZE,26800,808
$CAP_FILE_SIZE,148853,0
$CFSIZE,260034560,247336960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13201.48,0x2378ba,7,5
$CURRENT,0.150,346.0,1
$GPS,140714,012355,4751.088,-12519.136,62,3.1,83,18.7