version: 66.12
glider: 187
mission: 4
dive: 118
start: 7 14 114 16 21 53
data:
$ID,187
$MISSION,4
$DIVE,118
$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,-1593354
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,140714,161436,4751.402,-12515.926,51,1.1,52,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-72.2
$GPS2,140714,162124,4751.337,-12515.910,9,1.9,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,76.6,7094,-14.0,-7.333,-18.81,2445
$D_GRID,360
$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,-116.8,389,2424,1448,1216,0.0,0.0,0,89,0.00,0.00,-59.17,0.000,16386,0.000,0.000,392,2424,2886,2942,2830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,392,2424,2943,2831,3.7,-3.4,6,129,12.60,2.55,-8.12,0.000,18948,0.405,0.114,3127,1008,3334,3381,3288,0,0,0,0,0,0,14.21,14.38,14.60
$GC,360,-0.59,-116.8,3127,1008,3387,3299,50.7,-13.9,33,369,0.00,2.47,0.00,0.000,1030,0.000,0.084,3127,2429,3334,3377,3292,0,0,0,0,0,0,28.83,14.42,28.83
$GC,610,-0.59,-116.8,3127,2426,3389,3293,83.4,-12.0,58,618,0.00,2.45,0.00,0.000,516,0.000,0.087,3128,1014,3341,3389,3293,0,0,0,0,0,0,28.83,14.49,28.83
$GC,743,-0.59,-116.8,3127,1014,3389,3293,98.0,-10.3,71,751,0.00,2.45,0.00,0.000,1030,0.000,0.085,3123,2424,3341,3384,3299,0,0,0,0,0,0,28.83,14.50,28.83
$GC,991,-0.59,-116.8,3127,2424,3389,3293,122.7,-10.0,96,1000,0.00,2.45,0.00,0.000,516,0.000,0.089,3128,1005,3342,3389,3295,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1081,-0.59,-116.8,3129,1005,3389,3293,132.1,-10.4,105,1090,0.00,2.45,0.00,0.000,1030,0.000,0.084,3127,2423,3341,3390,3293,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1331,-0.59,-116.8,3127,2423,3389,3293,155.1,-8.7,130,1340,0.00,2.50,0.00,0.000,260,0.000,0.105,3127,3843,3341,3389,3293,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1401,-0.59,-116.8,3126,3841,3389,3293,161.5,-9.1,137,1410,0.00,2.45,0.00,0.000,1030,0.000,0.076,3127,2409,3341,3389,3293,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1651,-0.59,-116.8,3127,2407,3389,3293,183.0,-8.2,162,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2408,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1901,-0.59,-116.8,3129,2407,3389,3294,203.9,-8.1,187,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2407,3342,3391,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2151,-0.59,-116.8,3126,2407,3389,3293,225.6,-8.8,212,2161,0.00,2.53,0.00,0.000,260,0.000,0.105,3127,3846,3341,3389,3293,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2191,-0.59,-116.8,3127,3846,3389,3292,229.3,-9.4,216,2200,0.00,2.40,0.00,0.000,1030,0.000,0.073,3127,2426,3340,3389,3292,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2441,-0.59,-116.8,3127,2426,3389,3292,249.2,-7.7,241,2450,0.00,2.42,0.00,0.000,516,0.000,0.086,3127,1016,3341,3389,3293,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2510,-0.59,-116.8,3127,1016,3390,3292,255.2,-8.6,248,2520,0.00,2.47,0.00,0.000,1030,0.000,0.086,3127,2422,3340,3389,3292,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2834,-0.59,-116.8,3128,2421,3389,3291,283.6,-9.5,260,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2421,3340,3389,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3131,-0.59,-116.8,3127,2418,3389,3290,314.4,-10.5,270,3138,0.00,2.40,0.00,0.000,516,0.000,0.087,3127,1023,3339,3389,3290,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3221,-0.59,-116.8,3127,1023,3389,3291,324.4,-11.5,279,3229,0.00,2.42,0.00,0.000,1030,0.000,0.087,3127,2431,3340,3390,3290,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3554,-0.59,-116.8,3127,2431,3389,3289,357.2,-9.2,292,3562,0.00,2.45,0.00,0.000,260,0.000,0.107,3127,3834,3338,3389,3288,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,3578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3578,begin apogee
$GC,3589,-0.25,0.0,3127,2321,3388,3289,360.1,-9.2,295,3684,0.40,0.00,90.40,1.134,10246,0.212,0.000,3242,2320,2855,2934,2777,0,0,0,0,0,0,14.50,28.83,13.70
$STATE,3688,end apogee,CONTROL_FINISHED_OK
$STATE,3688,begin climb
$GC,3692,0.59,116.8,3242,2320,2932,2776,364.4,0.0,298,3794,0.85,0.00,93.38,1.108,10758,0.156,0.000,3509,2320,2378,2521,2235,0,0,0,0,0,0,14.12,28.83,13.52
$GC,4092,0.62,116.8,3508,2320,2516,2231,343.7,6.0,314,4102,0.00,2.55,0.00,0.000,260,0.000,0.103,3508,3744,2374,2519,2230,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4181,0.62,116.8,3507,3744,2517,2231,337.7,6.9,323,4191,0.00,2.47,0.00,0.000,1030,0.000,0.083,3508,2326,2374,2517,2231,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4512,0.65,116.8,3508,2325,2512,2229,319.2,5.6,336,4522,0.00,2.47,0.00,0.000,516,0.000,0.101,3508,915,2373,2517,2230,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4562,0.68,116.8,3513,914,2517,2229,316.1,5.7,341,4573,0.12,2.45,0.00,0.000,3078,0.160,0.084,3552,2332,2373,2517,2229,0,0,0,0,0,0,14.49,14.47,28.83
$GC,4872,0.68,116.8,3557,2332,2516,2228,292.3,8.0,352,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2331,2372,2516,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5172,0.68,116.8,3554,2332,2515,2227,266.2,8.3,362,5182,0.00,2.45,0.00,0.000,516,0.000,0.095,3561,918,2371,2515,2227,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5282,0.68,116.8,3562,918,2515,2228,257.0,8.2,373,5292,0.00,2.42,0.00,0.000,1030,0.000,0.086,3561,2330,2371,2515,2227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5593,0.68,116.8,3561,2331,2513,2227,229.4,9.8,398,5603,0.00,2.47,0.00,0.000,260,0.000,0.103,3561,3747,2370,2513,2227,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5664,0.68,116.8,3561,3750,2511,2227,221.7,11.4,405,5674,0.00,2.45,0.00,0.000,1030,0.000,0.081,3561,2320,2369,2512,2227,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5914,0.68,116.8,3562,2320,2512,2227,197.7,9.3,430,5925,0.00,2.42,0.00,0.000,516,0.000,0.099,3562,925,2369,2511,2227,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6074,0.68,116.8,3562,920,2511,2233,182.4,9.3,446,6085,0.00,2.42,0.00,0.000,1030,0.000,0.086,3562,2334,2369,2511,2227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6325,0.68,116.8,3562,2333,2511,2227,157.9,9.9,471,6336,0.00,2.47,0.00,0.000,260,0.000,0.103,3562,3747,2368,2510,2227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6566,0.68,116.8,3562,3747,2505,2226,132.6,9.5,495,6576,0.00,2.42,0.00,0.000,1030,0.000,0.081,3562,2332,2368,2510,2227,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6816,0.68,116.8,3562,2332,2510,2227,113.6,7.1,520,6828,0.00,2.45,0.00,0.000,516,0.000,0.099,3564,918,2368,2510,2227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6988,0.70,116.8,3563,919,2509,2227,102.3,6.4,537,6999,0.00,2.42,0.00,0.000,1030,0.000,0.084,3564,2333,2372,2517,2227,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7238,0.70,116.8,3563,2333,2509,2227,83.9,8.1,562,7249,0.00,2.47,0.00,0.000,260,0.000,0.102,3564,3751,2368,2509,2227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7342,0.70,116.8,3564,3747,2509,2227,75.5,7.3,572,7354,0.00,2.42,0.00,0.000,1030,0.000,0.077,3578,2322,2367,2509,2226,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7595,0.80,251.6,3573,2321,2508,2227,65.2,1.7,597,7709,0.00,2.55,100.60,0.767,8708,0.000,0.096,3575,930,1829,1990,1668,0,0,0,0,0,0,28.83,14.21,13.90
$GC,7891,0.80,251.6,3575,930,1989,1667,45.2,8.5,626,7902,0.00,2.45,0.00,0.000,1030,0.000,0.083,3575,2334,1829,1992,1667,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8142,0.83,251.6,3575,2334,1989,1667,25.9,5.9,651,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2334,1831,1989,1673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,0.88,330.9,3575,2334,1989,1664,9.7,4.0,676,8436,0.00,2.55,34.85,0.133,8708,0.000,0.094,3576,918,1507,1672,1343,0,0,0,0,0,0,28.83,14.45,14.41
$STATE,8492,end climb,SURFACE_DEPTH_REACHED
$STATE,8492,begin surface coast
$FINISH,0.8,1.017284
$STATE,8553,end surface coast,CONTROL_FINISHED_OK
$STATE,8553,begin surface
$SM_CCo,8581,19.00,0.106,0,0,1328,375.06
$SM_GC,2.40,9.25,2.67,19.00,0.089,0.088,0.106,397,2421,1328,-9.10,-0.76,375.06,0,0,0,0,0,0,14.52,14.47,14.47
$IRIDIUM_FIX,4735.69,-12523.69,140714,131319
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.56
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3900256
$PM_FREEKB,59348704
$24V_AH,13.5,27.288
$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,23.225,89.000,319.225,19.000,0.000,0.000,0.000,216.925,0.000,0.000,15.450,1651.051,4997.572,519.693,1447.343,393.185,0.000,1442.344,0.000,1068.601,0.000,0.536,0.000
$DEVICE_MAMPS,404.685,113.985,1134.495,106.335,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8566.000,3724.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.263,4.106,0.000,0.000
$MEM,290796
$DATA_FILE_SIZE,23411,692
$CAP_FILE_SIZE,123186,0
$CFSIZE,260034560,246919168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9928.16,0x2378ba,7,5
$CURRENT,0.123,312.6,1
$GPS,140714,184723,4751.715,-12515.335,78,1.2,79,18.7