version: 66.12
glider: 187
mission: 4
dive: 114
start: 7 14 114 4 41 48
data:
$ID,187
$MISSION,4
$DIVE,114
$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,-1593348.9
$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,25
$R_STBD_OVSHOOT,20
$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
$GPS1,140714,043436,4750.652,-12518.706,31,1.1,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-71.5
$GPS2,140714,044119,4750.605,-12518.771,16,1.5,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,72.8,10843,-14.0,-7.333,-18.81,2445
$D_GRID,449
$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,-116.8,396,2427,1450,1215,0.0,0.0,0,90,0.00,0.00,-58.03,0.000,16386,0.000,0.000,394,2428,2850,2909,2792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,394,2428,2915,2793,3.6,-3.6,6,129,12.55,2.53,-8.93,0.000,18948,0.403,0.108,3126,1019,3338,3386,3290,0,0,0,0,0,0,14.20,14.38,14.59
$GC,360,-0.59,-116.8,3126,1019,3387,3294,51.8,-14.9,33,370,0.00,2.45,0.00,0.000,1030,0.000,0.087,3126,2426,3339,3387,3292,0,0,0,0,0,0,28.83,14.45,28.83
$GC,610,-0.59,-116.8,3126,2428,3389,3294,80.7,-11.5,58,617,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2428,3338,3385,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-0.59,-116.8,3126,2428,3389,3294,108.7,-11.4,83,869,0.00,2.45,0.00,0.000,516,0.000,0.088,3128,1017,3342,3390,3294,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1040,-0.59,-116.8,3126,1017,3390,3294,128.9,-11.8,101,1049,0.00,2.45,0.00,0.000,1030,0.000,0.087,3126,2429,3342,3390,3294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1290,-0.59,-116.8,3126,2429,3390,3294,155.7,-10.2,126,1298,0.00,2.45,0.00,0.000,260,0.000,0.105,3126,3838,3341,3389,3294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1330,-0.59,-116.8,3126,3838,3389,3294,160.1,-10.9,130,1338,0.00,2.40,0.00,0.000,1030,0.000,0.073,3126,2425,3342,3390,3294,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1580,-0.59,-116.8,3126,2424,3390,3294,187.9,-11.3,155,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2424,3343,3390,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1830,-0.59,-116.8,3126,2430,3389,3294,215.4,-10.7,180,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2424,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.59,-116.8,3126,2424,3389,3294,241.9,-11.0,205,2089,0.00,2.40,0.00,0.000,516,0.000,0.088,3126,1018,3341,3389,3294,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2140,-0.59,-116.8,3126,1016,3390,3294,248.5,-10.9,211,2149,0.00,2.45,0.00,0.000,1030,0.000,0.087,3127,2437,3342,3390,3294,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2400,-0.59,-116.8,3127,2436,3389,3293,274.4,-9.7,221,2408,0.00,2.45,0.00,0.000,260,0.000,0.106,3126,3849,3341,3389,3293,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2469,-0.59,-116.8,3126,3848,3388,3294,281.7,-10.7,228,2478,0.00,2.45,0.00,0.000,1030,0.000,0.076,3126,2426,3341,3389,3293,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2790,-0.59,-116.8,3126,2426,3389,3292,312.9,-9.3,240,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2426,3340,3389,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3090,-0.59,-116.8,3126,2426,3389,3290,338.8,-8.4,250,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2426,3340,3389,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3390,-0.59,-116.8,3126,2426,3389,3289,364.0,-8.5,260,3398,0.00,2.40,0.00,0.000,516,0.000,0.089,3126,1017,3338,3386,3290,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3439,-0.59,-116.8,3126,1017,3389,3290,368.7,-9.5,265,3449,0.00,2.47,0.00,0.000,1030,0.000,0.087,3128,2419,3339,3389,3290,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3752,-0.59,-116.8,3126,2421,3389,3289,396.8,-9.0,276,3761,0.00,2.47,0.00,0.000,260,0.000,0.106,3126,3847,3339,3389,3289,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3871,-0.59,-116.8,3126,3846,3388,3294,408.5,-9.7,288,3880,0.00,2.42,0.00,0.000,1030,0.000,0.076,3126,2417,3338,3388,3289,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4205,-0.59,-116.8,3126,2416,3383,3287,439.4,-10.0,301,4212,0.00,2.40,0.00,0.000,516,0.000,0.096,3126,1023,3338,3388,3288,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4271,-0.59,-116.8,3126,1023,3387,3288,447.7,-12.1,308,4280,0.00,2.47,0.00,0.000,1030,0.000,0.088,3126,2435,3335,3387,3284,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,4289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4289,begin apogee
$GC,4297,-0.25,0.0,3126,2330,3387,3287,450.0,-11.8,310,4395,0.40,0.00,91.78,1.251,10246,0.209,0.000,3241,2331,2858,2935,2781,0,0,0,0,0,0,14.50,28.83,13.63
$STATE,4398,end apogee,CONTROL_FINISHED_OK
$STATE,4398,begin climb
$GC,4402,0.59,116.8,3241,2330,2933,2776,456.9,0.0,313,4507,0.85,0.00,95.82,1.223,10758,0.155,0.000,3505,2330,2378,2522,2235,0,0,0,0,0,0,14.08,28.83,13.43
$GC,4803,0.59,116.8,3506,2330,2520,2230,436.2,7.6,329,4813,0.00,2.47,0.00,0.000,516,0.000,0.097,3505,928,2377,2525,2230,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4862,0.59,116.8,3506,927,2516,2230,431.3,8.1,335,4872,0.00,2.45,0.00,0.000,1030,0.000,0.086,3506,2332,2375,2521,2230,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5193,0.60,116.8,3505,2333,2514,2228,407.9,6.8,348,5203,0.00,2.47,0.00,0.000,260,0.000,0.103,3505,3739,2373,2518,2228,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5243,0.60,116.8,3506,3739,2521,2228,404.0,7.7,353,5254,0.00,2.42,0.00,0.000,1030,0.000,0.083,3505,2337,2372,2517,2228,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5556,0.63,116.8,3505,2336,2512,2228,384.9,5.8,364,5567,0.00,2.50,0.00,0.000,260,0.000,0.104,3505,3748,2371,2516,2227,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5636,0.63,116.8,3506,3746,2516,2227,379.3,7.0,372,5647,0.00,2.47,0.00,0.000,1030,0.000,0.083,3508,2319,2371,2515,2227,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5950,0.66,116.8,3508,2318,2514,2227,360.7,6.0,383,5960,0.00,2.45,0.00,0.000,516,0.000,0.103,3508,916,2370,2514,2227,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6019,0.69,116.8,3508,913,2514,2227,356.3,5.9,390,6030,0.12,2.45,0.00,0.000,3078,0.167,0.086,3552,2338,2370,2513,2227,0,0,0,0,0,0,14.57,14.56,28.83
$GC,6340,0.70,116.8,3551,2343,2513,2226,334.5,6.6,402,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2339,2370,2513,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6643,0.71,116.8,3551,2339,2513,2226,314.9,6.7,412,6653,0.00,2.47,0.00,0.000,516,0.000,0.100,3561,922,2369,2512,2226,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6742,0.71,116.8,3566,922,2513,2224,307.2,7.5,422,6752,0.00,2.42,0.00,0.000,1030,0.000,0.088,3562,2333,2369,2513,2226,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7066,0.71,116.8,3561,2333,2512,2226,280.3,8.7,434,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2332,2369,2512,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7364,0.71,116.8,3558,2332,2512,2225,254.5,8.5,444,7374,0.00,2.45,0.00,0.000,260,0.000,0.103,3561,3736,2368,2511,2225,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7425,0.71,116.8,3561,3736,2511,2225,248.9,9.8,450,7435,0.00,2.40,0.00,0.000,1030,0.000,0.080,3562,2331,2367,2510,2225,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7675,0.71,116.8,3563,2331,2510,2225,228.1,8.2,475,7686,0.00,2.47,0.00,0.000,516,0.000,0.103,3564,914,2368,2512,2225,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7846,0.71,116.8,3568,914,2509,2225,213.9,8.2,492,7857,0.00,2.45,0.00,0.000,1030,0.000,0.086,3568,2332,2367,2510,2225,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8098,0.71,116.8,3568,2329,2510,2225,192.4,8.9,517,8108,0.00,2.45,0.00,0.000,260,0.000,0.103,3568,3739,2367,2510,2225,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8148,0.71,116.8,3568,3739,2509,2225,187.5,9.6,522,8159,0.00,2.42,0.00,0.000,1030,0.000,0.083,3575,2327,2367,2509,2225,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8399,0.71,116.8,3575,2327,2508,2226,164.8,8.3,547,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2327,2367,2509,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8649,0.71,116.8,3574,2327,2509,2225,142.9,9.7,572,8660,0.00,2.45,0.00,0.000,516,0.000,0.100,3581,915,2367,2509,2225,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8730,0.71,116.8,3579,915,2509,2225,134.9,9.6,580,8741,0.00,2.42,0.00,0.000,1030,0.000,0.084,3579,2332,2367,2510,2225,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8981,0.71,116.8,3579,2331,2509,2225,110.7,8.9,605,8992,0.00,2.45,0.00,0.000,516,0.000,0.096,3588,917,2365,2509,2222,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9222,0.73,116.8,3588,917,2509,2225,90.7,6.7,629,9233,0.00,2.42,0.00,0.000,1030,0.000,0.085,3588,2332,2368,2509,2227,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9474,0.75,116.8,3588,2331,2509,2225,72.6,6.1,654,9484,0.00,2.45,0.00,0.000,516,0.000,0.095,3595,916,2367,2509,2225,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9524,0.80,179.9,3600,916,2509,2225,70.2,4.7,659,9585,0.00,2.42,47.92,0.796,9222,0.000,0.084,3595,2332,2120,2279,1961,0,0,0,0,0,0,28.83,14.59,14.04
$GC,9828,0.80,179.9,3595,2332,2279,1959,51.0,7.6,689,9839,0.00,2.45,0.00,0.000,260,0.000,0.099,3595,3733,2118,2278,1959,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10069,0.80,179.9,3595,3734,2270,1959,29.1,7.8,713,10080,0.00,2.45,0.00,0.000,1030,0.000,0.081,3601,2315,2120,2281,1959,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10320,0.88,292.8,3601,2314,2276,1958,13.0,2.6,738,10382,0.00,2.50,51.95,0.151,8708,0.000,0.096,3601,921,1666,1827,1505,0,0,0,0,0,0,28.83,14.47,14.43
$STATE,10528,end climb,SURFACE_DEPTH_REACHED
$STATE,10528,begin surface coast
$FINISH,0.9,1.024343
$STATE,10590,end surface coast,CONTROL_FINISHED_OK
$STATE,10590,begin surface
$SM_CCo,10618,35.35,0.104,0,0,1328,375.06
$SM_GC,2.27,9.23,2.67,35.35,0.082,0.091,0.104,398,2422,1328,-9.10,-0.68,375.06,0,0,0,0,0,0,14.52,14.52,14.50
$IRIDIUM_FIX,4732.49,-12510.28,140714,010138
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.29
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3901536
$PM_FREEKB,59392000
$24V_AH,13.4,26.712
$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,23.150,103.250,287.475,35.350,0.000,0.000,0.000,206.650,0.000,0.000,16.803,1822.542,6670.331,536.613,1598.350,427.044,0.000,1552.539,0.000,1186.945,0.000,0.536,0.000
$DEVICE_MAMPS,403.155,123.930,1250.775,104.040,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10603.000,4454.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.822,4.086,0.000,0.000
$MEM,290880
$DATA_FILE_SIZE,26715,765
$CAP_FILE_SIZE,140487,0
$CFSIZE,260034560,247189504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11359.54,0x2378ba,7,5
$CURRENT,0.130,315.0,1
$GPS,140714,074059,4751.127,-12517.954,41,1.4,47,18.7