version: 66.12
glider: 187
mission: 4
dive: 117
start: 7 14 114 13 36 23
data:
$ID,187
$MISSION,4
$DIVE,117
$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,-1593352.8
$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,19
$R_STBD_OVSHOOT,28
$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
$GPS1,140714,132753,4751.233,-12516.776,37,2.0,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-74.2
$GPS2,140714,133555,4751.206,-12516.746,14,2.0,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,78.7,8158,-14.0,-7.333,-18.81,2445
$D_GRID,392
$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,-0.59,-116.8,391,2438,1451,1208,0.0,0.0,0,90,0.00,0.00,-57.60,0.000,16386,0.000,0.000,391,2438,2843,2906,2781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,392,2439,2900,2781,3.5,-3.4,6,130,12.73,2.55,-9.05,0.000,18948,0.410,0.109,3125,1015,3338,3387,3290,0,0,0,0,0,0,14.20,14.39,14.60
$GC,360,-0.59,-116.8,3125,1010,3389,3294,51.6,-13.0,33,371,0.00,2.45,0.00,0.000,1030,0.000,0.085,3125,2419,3341,3388,3294,0,0,0,0,0,0,28.83,14.46,28.83
$GC,611,-0.59,-116.8,3124,2419,3390,3294,86.2,-12.4,58,622,0.00,2.42,0.00,0.000,516,0.000,0.084,3124,1003,3342,3391,3294,0,0,0,0,0,0,28.83,14.49,28.83
$GC,831,-0.59,-116.8,3125,1003,3388,3295,112.5,-11.1,80,843,0.00,2.47,0.00,0.000,1030,0.000,0.083,3124,2431,3342,3391,3294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1083,-0.59,-116.8,3123,2430,3390,3295,137.1,-9.2,105,1094,0.00,2.45,0.00,0.000,260,0.000,0.103,3121,3839,3342,3390,3294,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1133,-0.59,-116.8,3124,3839,3391,3294,141.8,-9.5,110,1144,0.00,2.40,0.00,0.000,1030,0.000,0.073,3125,2414,3342,3390,3294,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1384,-0.59,-116.8,3128,2413,3387,3294,164.9,-9.5,135,1395,0.00,2.38,0.00,0.000,516,0.000,0.090,3124,1025,3342,3391,3294,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1445,-0.59,-116.8,3125,1025,3390,3294,171.1,-10.3,141,1456,0.00,2.40,0.00,0.000,1030,0.000,0.085,3125,2422,3342,3390,3294,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1695,-0.59,-116.8,3124,2420,3390,3294,195.4,-9.6,166,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2421,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,-0.59,-116.8,3124,2421,3390,3294,218.6,-9.2,191,1956,0.00,2.40,0.00,0.000,516,0.000,0.086,3125,1023,3342,3390,3294,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1985,-0.59,-116.8,3125,1020,3396,3294,222.4,-9.8,195,1996,0.00,2.42,0.00,0.000,1030,0.000,0.084,3124,2432,3342,3390,3294,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2236,-0.59,-116.8,3125,2432,3390,3293,244.8,-8.9,220,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2432,3341,3390,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2509,-0.59,-116.8,3125,2432,3390,3292,268.0,-8.7,233,2519,0.00,2.42,0.00,0.000,516,0.000,0.090,3125,1021,3341,3390,3292,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2569,-0.59,-116.8,3125,1020,3390,3288,273.6,-9.4,239,2579,0.00,2.42,0.00,0.000,1030,0.000,0.086,3125,2432,3341,3390,3293,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2899,-0.59,-116.8,3125,2432,3387,3291,303.0,-9.3,252,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2434,3340,3390,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3199,-0.59,-116.8,3125,2432,3390,3290,330.6,-9.3,262,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2432,3340,3390,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3499,-0.59,-116.8,3125,2432,3389,3289,356.8,-8.4,272,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2432,3339,3390,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3799,-0.59,-116.8,3125,2432,3389,3289,380.6,-7.7,282,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2432,3337,3389,3285,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3946,begin apogee
$GC,3955,-0.25,0.0,3123,2331,3389,3288,392.3,-7.7,287,4052,0.40,0.00,90.47,1.180,10246,0.211,0.000,3239,2331,2857,2934,2781,0,0,0,0,0,0,14.54,28.83,13.71
$STATE,4055,end apogee,CONTROL_FINISHED_OK
$STATE,4055,begin climb
$GC,4058,0.59,116.8,3239,2331,2932,2777,395.6,0.0,290,4164,0.88,2.67,93.85,1.147,10500,0.155,0.103,3513,3738,2377,2519,2235,0,0,0,0,0,0,14.13,13.93,13.51
$GC,4196,0.59,116.8,3512,3739,2518,2235,389.3,7.2,301,4206,0.00,2.50,0.00,0.000,1030,0.000,0.080,3519,2337,2376,2518,2235,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4517,0.59,116.8,3519,2336,2518,2230,362.8,7.5,313,4527,0.00,2.50,0.00,0.000,516,0.000,0.098,3521,915,2374,2518,2230,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4586,0.59,116.8,3522,915,2517,2231,357.2,8.1,320,4597,0.00,2.47,0.00,0.000,1030,0.000,0.085,3522,2334,2373,2517,2230,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4909,0.59,116.8,3524,2333,2516,2229,333.1,7.5,332,4920,0.00,2.47,0.00,0.000,260,0.000,0.103,3522,3738,2372,2515,2229,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4979,0.59,116.8,3522,3739,2514,2229,327.0,8.4,339,4989,0.00,2.45,0.00,0.000,1030,0.000,0.083,3522,2326,2371,2513,2229,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5302,0.61,116.8,3522,2325,2513,2224,306.1,6.2,351,5313,0.00,2.50,0.00,0.000,260,0.000,0.103,3522,3739,2373,2518,2228,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5352,0.61,116.8,3522,3739,2512,2229,302.2,7.1,356,5364,0.00,2.45,0.00,0.000,1030,0.000,0.084,3522,2324,2370,2512,2228,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5665,0.65,116.8,3522,2323,2511,2228,283.9,5.4,367,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2323,2370,2512,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5966,0.68,116.8,3522,2323,2511,2227,266.7,5.9,377,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2323,2369,2512,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,0.71,116.8,3521,2322,2511,2226,248.5,6.1,387,6276,0.00,2.45,0.00,0.000,516,0.000,0.099,3522,912,2369,2511,2227,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6379,0.71,116.8,3522,912,2511,2226,240.3,7.2,398,6390,0.00,2.45,0.00,0.000,1030,0.000,0.085,3522,2335,2368,2511,2226,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6629,0.71,116.8,3522,2334,2510,2226,221.3,7.4,423,6640,0.00,2.45,0.00,0.000,260,0.000,0.103,3522,3737,2368,2510,2226,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6700,0.71,116.8,3522,3741,2511,2226,215.4,8.6,430,6710,0.00,2.42,0.00,0.000,1030,0.000,0.082,3522,2330,2368,2510,2226,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6952,0.73,116.8,3519,2329,2509,2226,198.2,6.0,455,6963,0.12,2.45,0.00,0.000,2564,0.163,0.094,3582,914,2366,2507,2226,0,0,0,0,0,0,14.60,14.57,28.83
$GC,7023,0.73,116.8,3582,914,2509,2226,192.5,8.4,462,7034,0.00,2.42,0.00,0.000,1030,0.000,0.084,3582,2332,2367,2509,2226,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7274,0.73,116.8,3579,2332,2509,2226,167.3,9.6,487,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2332,2367,2509,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7523,0.73,116.8,3582,2332,2508,2226,144.5,8.8,512,7534,0.00,2.45,0.00,0.000,260,0.000,0.102,3581,3737,2367,2509,2226,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7664,0.73,116.8,3583,3737,2508,2226,130.2,10.5,526,7675,0.00,2.42,0.00,0.000,1030,0.000,0.081,3587,2322,2367,2509,2226,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7915,0.73,116.8,3587,2320,2508,2226,107.7,10.0,551,7926,0.00,2.42,0.00,0.000,516,0.000,0.096,3598,912,2367,2508,2226,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8085,0.73,116.8,3598,915,2508,2226,90.0,8.8,568,8097,0.15,2.42,0.00,0.000,5126,0.276,0.083,3564,2332,2367,2509,2226,0,0,0,0,0,0,14.49,14.59,28.83
$GC,8338,0.80,219.0,3564,2334,2508,2226,75.0,3.0,593,8428,0.00,2.53,76.97,0.787,8708,0.000,0.096,3565,917,1961,2121,1801,0,0,0,0,0,0,28.83,14.28,13.96
$GC,8550,0.80,219.0,3565,917,2119,1804,59.5,8.4,614,8561,0.00,2.47,0.00,0.000,1030,0.000,0.084,3565,2333,1961,2122,1801,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8801,0.80,219.0,3565,2333,2113,1801,37.0,9.7,639,8811,0.00,2.47,0.00,0.000,260,0.000,0.100,3564,3747,1957,2114,1801,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8905,0.80,219.0,3564,3746,2110,1797,26.2,11.2,649,8916,0.00,2.45,0.00,0.000,1030,0.000,0.080,3564,2330,1954,2107,1801,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9156,0.87,317.0,3564,2330,2109,1800,11.9,3.2,674,9210,0.12,2.55,43.80,0.144,11012,0.159,0.095,3617,912,1565,1726,1404,0,0,0,0,0,0,14.52,14.47,14.45
$STATE,9286,end climb,SURFACE_DEPTH_REACHED
$STATE,9286,begin surface coast
$FINISH,1.0,1.004698
$STATE,9337,end surface coast,CONTROL_FINISHED_OK
$STATE,9337,begin surface
$SM_CCo,9365,25.08,0.107,0,0,1328,375.06
$SM_GC,1.49,9.32,2.67,25.08,0.084,0.083,0.107,392,2423,1328,-9.11,-0.68,375.06,0,0,0,0,0,0,14.48,14.50,14.49
$IRIDIUM_FIX,4735.69,-12513.98,140714,101013
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.50
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3900576
$PM_FREEKB,59372320
$24V_AH,13.5,27.141
$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,23.725,88.925,305.100,25.075,0.000,0.000,0.000,267.450,0.000,0.000,15.478,1666.165,5691.297,508.529,1588.429,418.891,0.000,1567.675,0.000,1065.433,0.000,0.536,0.000
$DEVICE_MAMPS,410.040,136.935,1179.630,107.100,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9351.000,146.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.978,5.359,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,23348,692
$CAP_FILE_SIZE,133492,0
$CFSIZE,260034560,246976512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9797.74,0x2378ba,7,5
$CURRENT,0.080,302.6,1
$GPS,140714,161436,4751.402,-12515.926,51,1.1,52,18.7