version: 66.12
glider: 187
mission: 4
dive: 115
start: 7 14 114 7 48 57
data:
$ID,187
$MISSION,4
$DIVE,115
$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,-1593350.1
$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,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,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
$GPS1,140714,074059,4751.127,-12517.954,41,1.4,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-72.7
$GPS2,140714,074831,4751.095,-12518.060,16,1.3,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,91.6,9802,-14.0,-7.333,-18.81,2445
$D_GRID,424
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.59,-116.8,397,2423,1460,1199,0.0,0.0,0,90,0.00,0.00,-57.80,0.000,16386,0.000,0.000,397,2424,2834,2897,2772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,397,2424,2898,2776,3.3,-3.0,6,130,12.65,2.50,-8.98,0.000,18948,0.409,0.108,3125,1014,3337,3387,3288,0,0,0,0,0,0,14.19,14.40,14.61
$GC,360,-0.59,-116.8,3125,1015,3388,3293,51.0,-14.7,33,371,0.00,2.47,0.00,0.000,1030,0.000,0.086,3125,2435,3341,3389,3293,0,0,0,0,0,0,28.83,14.47,28.83
$GC,611,-0.59,-116.8,3125,2435,3390,3293,83.7,-13.0,58,622,0.00,2.45,0.00,0.000,516,0.000,0.086,3125,1010,3341,3390,3293,0,0,0,0,0,0,28.83,14.50,28.83
$GC,772,-0.59,-116.8,3126,1010,3391,3294,102.4,-11.2,74,783,0.00,2.45,0.00,0.000,1030,0.000,0.084,3125,2434,3342,3391,3294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1023,-0.59,-116.8,3125,2437,3390,3294,130.4,-10.6,99,1034,0.00,2.45,0.00,0.000,516,0.000,0.087,3125,1005,3342,3390,3294,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1136,-0.59,-116.8,3121,1005,3391,3294,141.9,-10.1,110,1148,0.00,2.45,0.00,0.000,1030,0.000,0.084,3125,2427,3342,3391,3293,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1389,-0.59,-116.8,3125,2427,3390,3294,164.3,-8.7,135,1399,0.00,2.45,0.00,0.000,260,0.000,0.105,3126,3835,3342,3390,3294,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1430,-0.59,-116.8,3125,3835,3390,3293,167.8,-8.8,139,1440,0.00,2.40,0.00,0.000,1030,0.000,0.075,3125,2418,3342,3390,3294,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1680,-0.59,-116.8,3125,2417,3390,3294,191.6,-9.7,164,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2417,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1930,-0.59,-116.8,3125,2417,3390,3293,216.1,-10.0,189,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2417,3341,3390,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2180,-0.59,-116.8,3125,2417,3390,3294,240.2,-10.0,214,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2417,3341,3390,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2441,-0.59,-116.8,3125,2417,3390,3293,265.4,-9.8,230,2451,0.00,2.40,0.00,0.000,516,0.000,0.090,3125,1013,3342,3390,3295,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2480,-0.59,-116.8,3125,1013,3390,3292,269.4,-9.9,234,2491,0.00,2.42,0.00,0.000,1030,0.000,0.085,3125,2423,3341,3390,3293,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2803,-0.59,-116.8,3126,2423,3389,3292,299.2,-9.2,246,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2423,3341,3391,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3101,-0.59,-116.8,3125,2423,3390,3290,325.9,-9.0,256,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2420,3338,3386,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3401,-0.59,-116.8,3125,2422,3390,3289,352.9,-8.6,266,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2423,3338,3390,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3701,-0.59,-116.8,3125,2423,3390,3288,379.7,-9.1,276,3712,0.00,2.40,0.00,0.000,516,0.000,0.091,3125,1022,3339,3390,3289,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3751,-0.59,-116.8,3125,1027,3390,3288,384.7,-10.7,281,3762,0.00,2.42,0.00,0.000,1030,0.000,0.087,3125,2434,3339,3390,3288,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4065,-0.59,-116.8,3126,2432,3389,3288,412.6,-8.8,292,4075,0.00,2.47,0.00,0.000,260,0.000,0.108,3125,3846,3338,3389,3288,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,4190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4193,begin apogee
$GC,4204,-0.25,0.0,3126,2319,3387,3288,424.8,-9.3,305,4302,0.40,0.00,90.90,1.219,10246,0.211,0.000,3240,2318,2857,2934,2781,0,0,0,0,0,0,14.52,28.83,13.66
$STATE,4304,end apogee,CONTROL_FINISHED_OK
$STATE,4304,begin climb
$GC,4308,0.59,116.8,3240,2318,2933,2777,429.3,0.0,308,4415,0.85,2.55,94.88,1.187,10756,0.158,0.098,3508,929,2377,2520,2235,0,0,0,0,0,0,14.11,13.89,13.47
$GC,4457,0.63,116.8,3508,929,2521,2235,424.5,5.6,321,4468,0.00,2.53,0.00,0.000,1030,0.000,0.086,3508,2340,2377,2521,2233,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4771,0.64,116.8,3508,2340,2524,2229,403.8,6.6,332,4781,0.00,2.50,0.00,0.000,260,0.000,0.104,3508,3750,2375,2520,2231,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4914,0.64,116.8,3508,3750,2517,2229,393.0,8.1,346,4926,0.00,2.47,0.00,0.000,1030,0.000,0.085,3505,2334,2374,2520,2229,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5224,0.64,116.8,3508,2334,2517,2228,370.7,7.3,357,5234,0.00,2.50,0.00,0.000,260,0.000,0.105,3508,3741,2372,2517,2228,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5303,0.64,116.8,3508,3741,2516,2228,363.8,8.8,365,5314,0.00,2.45,0.00,0.000,1030,0.000,0.083,3508,2331,2371,2515,2228,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5616,0.64,116.8,3508,2330,2514,2227,341.4,7.4,376,5626,0.00,2.47,0.00,0.000,516,0.000,0.102,3508,914,2370,2514,2227,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5686,0.64,116.8,3509,914,2514,2228,336.0,7.3,383,5696,0.00,2.45,0.00,0.000,1030,0.000,0.086,3508,2333,2370,2514,2227,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6009,0.64,116.8,3508,2333,2513,2226,312.0,7.6,395,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2338,2369,2514,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6307,0.64,116.8,3508,2333,2513,2226,290.1,7.3,405,6317,0.00,2.47,0.00,0.000,260,0.000,0.103,3505,3752,2369,2513,2225,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6386,0.64,116.8,3508,3752,2512,2232,283.5,8.1,413,6397,0.00,2.45,0.00,0.000,1030,0.000,0.080,3508,2320,2368,2511,2226,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6700,0.64,116.8,3508,2320,2511,2225,260.1,7.5,424,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2319,2368,2511,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6997,0.64,116.8,3509,2320,2512,2230,237.8,7.1,444,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2320,2368,2511,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7247,0.64,116.8,3509,2319,2512,2225,220.7,7.2,469,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2319,2367,2511,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7497,0.64,116.8,3509,2319,2511,2223,202.3,7.7,494,7508,0.00,2.50,0.00,0.000,260,0.000,0.103,3508,3742,2367,2511,2224,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7588,0.64,116.8,3513,3741,2512,2224,194.1,9.1,503,7599,0.00,2.40,0.00,0.000,1030,0.000,0.078,3508,2329,2365,2506,2224,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7838,0.64,116.8,3508,2327,2512,2224,174.7,7.7,528,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2327,2367,2512,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8088,0.64,116.8,3509,2327,2511,2224,155.7,7.6,553,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2330,2369,2514,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8338,0.64,116.8,3509,2327,2511,2224,136.1,7.7,578,8350,0.00,2.53,0.00,0.000,260,0.000,0.103,3508,3752,2367,2510,2224,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8380,0.64,116.8,3509,3752,2510,2223,133.0,7.4,582,8391,0.00,2.42,0.00,0.000,1030,0.000,0.080,3508,2331,2366,2510,2223,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8632,0.68,116.8,3509,2330,2510,2224,116.9,5.3,607,8643,0.10,2.45,0.00,0.000,2564,0.178,0.095,3548,916,2366,2510,2223,0,0,0,0,0,0,14.58,14.57,28.83
$GC,8874,0.69,116.8,3549,915,2509,2224,102.1,6.8,631,8885,0.00,2.42,0.00,0.000,1030,0.000,0.084,3549,2333,2367,2509,2225,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9125,0.73,116.8,3548,2332,2510,2224,84.7,5.6,656,9135,0.00,2.45,0.00,0.000,516,0.000,0.096,3549,922,2367,2510,2224,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9248,0.77,185.9,3547,922,2509,2223,78.8,4.4,668,9315,0.00,2.42,52.55,0.803,9222,0.000,0.084,3549,2333,2096,2259,1934,0,0,0,0,0,0,28.83,14.59,14.02
$GC,9559,0.77,185.9,3549,2334,2258,1932,55.6,10.0,699,9569,0.00,2.47,0.00,0.000,260,0.000,0.100,3548,3747,2095,2258,1932,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9682,0.77,185.9,3546,3747,2256,1931,44.1,7.9,711,9693,0.00,2.45,0.00,0.000,1030,0.000,0.080,3548,2336,2094,2257,1931,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9933,0.81,185.9,3548,2334,2256,1930,32.1,5.4,736,9943,0.12,0.00,0.00,0.000,2054,0.158,0.000,3602,2332,2093,2256,1930,0,0,0,0,0,0,14.52,28.83,28.83
$GC,10184,0.85,240.5,3600,2332,2255,1931,12.4,5.0,761,10218,0.00,2.55,24.52,0.146,8708,0.000,0.096,3602,911,1877,2036,1718,0,0,0,0,0,0,28.83,14.50,14.47
$STATE,10344,end climb,SURFACE_DEPTH_REACHED
$STATE,10344,begin surface coast
$FINISH,0.9,1.022942
$STATE,10425,end surface coast,CONTROL_FINISHED_OK
$STATE,10428,begin surface
$SM_CCo,10455,58.33,0.107,0,0,1328,375.06
$SM_GC,2.46,9.18,2.67,58.33,0.077,0.086,0.107,400,2423,1328,-9.10,-0.68,375.06,0,0,0,0,0,0,14.54,14.53,14.50
$IRIDIUM_FIX,4732.49,-12514.75,140714,040443
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.03
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3901216
$PM_FREEKB,59391968
$24V_AH,13.5,26.859
$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,23.300,89.000,262.850,58.325,0.000,0.000,0.000,226.350,0.000,0.000,17.770,1872.205,6414.813,522.308,1697.240,454.537,0.000,1612.487,0.000,1230.990,0.000,0.535,0.000
$DEVICE_MAMPS,408.510,107.865,1218.645,107.100,0.000,0.000,0.000,166.005,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10445.000,147.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.990,5.079,0.000,0.000
$MEM,290796
$DATA_FILE_SIZE,26655,785
$CAP_FILE_SIZE,145148,0
$CFSIZE,260034560,247107584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11228.67,0x2378ba,7,5
$CURRENT,0.126,324.4,1
$GPS,140714,104606,4751.426,-12517.230,64,1.2,65,18.7