version: 66.12
glider: 187
mission: 4
dive: 119
start: 7 14 114 18 55 21
data:
$ID,187
$MISSION,4
$DIVE,119
$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,-1593355.2
$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,30
$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
$GPS1,140714,184723,4751.715,-12515.335,78,1.2,79,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-74.5
$GPS2,140714,185455,4751.610,-12515.424,14,1.5,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,91.1,6432,-14.0,-7.333,-18.81,2445
$D_GRID,318
$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,25,-0.59,-116.8,396,2422,1455,1209,0.0,0.0,0,91,0.00,0.00,-59.45,0.000,16386,0.000,0.000,397,2422,2898,2952,2844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,396,2422,2953,2844,3.4,-3.0,6,131,12.93,2.47,-7.72,0.000,18948,0.421,0.106,3120,1021,3340,3387,3294,0,0,0,0,0,0,14.18,14.39,14.61
$GC,361,-0.59,-116.8,3124,1024,3389,3291,50.5,-14.0,33,373,0.00,2.42,0.00,0.000,1030,0.000,0.083,3121,2422,3342,3390,3295,0,0,0,0,0,0,28.83,14.47,28.83
$GC,613,-0.59,-116.8,3121,2421,3392,3295,83.0,-12.7,58,623,0.00,2.42,0.00,0.000,516,0.000,0.086,3120,1024,3342,3389,3295,0,0,0,0,0,0,28.83,14.50,28.83
$GC,726,-0.59,-116.8,3121,1017,3391,3296,98.0,-13.1,69,737,0.00,2.45,0.00,0.000,1030,0.000,0.085,3121,2434,3343,3392,3295,0,0,0,0,0,0,28.83,14.49,28.83
$GC,978,-0.59,-116.8,3121,2437,3391,3296,123.5,-9.4,94,988,0.00,2.45,0.00,0.000,516,0.000,0.088,3121,1021,3344,3392,3296,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1028,-0.59,-116.8,3121,1020,3391,3301,128.6,-10.5,99,1039,0.00,2.42,0.00,0.000,1030,0.000,0.085,3121,2434,3343,3391,3296,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1279,-0.59,-116.8,3121,2429,3391,3292,153.6,-9.2,124,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2429,3343,3391,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1528,-0.59,-116.8,3121,2429,3391,3296,177.1,-9.0,149,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2429,3343,3392,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1779,-0.59,-116.8,3121,2429,3391,3296,198.7,-8.3,174,1790,0.00,2.42,0.00,0.000,516,0.000,0.092,3120,1022,3343,3391,3295,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1840,-0.59,-116.8,3121,1024,3392,3296,204.1,-9.0,180,1851,0.00,2.42,0.00,0.000,1030,0.000,0.087,3117,2421,3344,3393,3295,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2090,-0.59,-116.8,3121,2422,3391,3295,224.6,-8.2,205,2102,0.00,2.47,0.00,0.000,260,0.000,0.106,3120,3842,3343,3391,3295,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2142,-0.59,-116.8,3120,3848,3391,3295,229.2,-9.0,210,2153,0.00,2.40,0.00,0.000,1030,0.000,0.074,3120,2426,3341,3387,3295,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2393,-0.59,-116.8,3121,2426,3391,3294,249.0,-7.5,235,2404,0.00,2.42,0.00,0.000,516,0.000,0.090,3121,1009,3342,3391,3294,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2443,-0.59,-116.8,3121,1009,3391,3294,253.2,-8.4,240,2454,0.00,2.45,0.00,0.000,1030,0.000,0.086,3121,2430,3342,3391,3294,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2758,-0.59,-116.8,3121,2425,3391,3293,276.2,-7.7,251,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2425,3342,3391,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3054,-0.59,-116.8,3121,2426,3391,3292,301.8,-8.7,261,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2426,3341,3391,3292,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3260,begin apogee
$GC,3269,-0.25,0.0,3121,2324,3391,3292,319.4,-8.1,268,3366,0.40,0.00,90.30,1.080,10246,0.213,0.000,3235,2324,2856,2934,2778,0,0,0,0,0,0,14.53,28.83,13.76
$STATE,3368,end apogee,CONTROL_FINISHED_OK
$STATE,3369,begin climb
$GC,3372,0.59,116.8,3235,2324,2933,2776,323.0,0.0,271,3474,0.90,0.00,92.78,1.052,10502,0.161,0.000,3518,2324,2378,2521,2235,0,0,0,0,0,0,14.15,28.83,13.57
$GC,3773,0.59,116.8,3519,2324,2520,2230,296.1,8.1,287,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2323,2376,2521,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,0.59,116.8,3519,2326,2519,2228,271.8,8.3,297,4084,0.00,2.53,0.00,0.000,260,0.000,0.105,3519,3754,2373,2518,2229,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4213,0.59,116.8,3519,3753,2517,2229,258.8,9.6,311,4224,0.00,2.45,0.00,0.000,1030,0.000,0.080,3519,2334,2372,2516,2229,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4525,0.59,116.8,3521,2333,2517,2229,233.7,7.8,334,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2333,2371,2516,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4774,0.59,116.8,3519,2333,2516,2227,214.5,7.8,359,4785,0.00,2.47,0.00,0.000,516,0.000,0.099,3519,914,2371,2516,2227,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4825,0.59,116.8,3519,913,2516,2227,210.3,8.0,364,4836,0.00,2.47,0.00,0.000,1030,0.000,0.086,3519,2339,2371,2516,2227,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5075,0.59,116.8,3525,2339,2513,2227,190.1,8.0,389,5086,0.00,2.45,0.00,0.000,260,0.000,0.104,3520,3738,2370,2514,2227,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5216,0.59,116.8,3515,3738,2512,2229,177.4,9.5,403,5227,0.00,2.42,0.00,0.000,1030,0.000,0.081,3519,2324,2370,2513,2227,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5467,0.59,116.8,3519,2323,2513,2226,157.0,7.9,428,5478,0.00,2.45,0.00,0.000,516,0.000,0.099,3527,914,2369,2512,2227,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5537,0.59,116.8,3522,914,2512,2227,151.8,7.5,435,5548,0.00,2.45,0.00,0.000,1030,0.000,0.086,3522,2335,2369,2512,2227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5788,0.59,116.8,3522,2335,2512,2226,133.7,8.1,460,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2335,2369,2513,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6038,0.61,116.8,3522,2334,2512,2232,116.8,6.4,485,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2334,2369,2512,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6289,0.63,116.8,3522,2334,2512,2226,101.6,6.2,510,6300,0.00,2.47,0.00,0.000,516,0.000,0.098,3522,920,2369,2512,2226,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6393,0.63,116.8,3522,915,2512,2225,94.6,7.1,520,6404,0.00,2.45,0.00,0.000,1030,0.000,0.085,3523,2339,2369,2512,2227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6644,0.65,116.8,3522,2338,2511,2225,78.9,6.5,545,6655,0.00,2.45,0.00,0.000,260,0.000,0.103,3522,3738,2368,2511,2225,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6785,0.70,196.4,3522,3738,2511,2225,71.1,4.0,559,6857,0.00,2.42,60.35,0.787,9222,0.000,0.080,3522,2316,2052,2217,1888,0,0,0,0,0,0,28.83,14.57,14.01
$GC,7101,0.73,196.4,3522,2313,2214,1886,53.7,6.0,590,7112,0.12,2.45,0.00,0.000,2564,0.156,0.094,3577,918,2052,2218,1886,0,0,0,0,0,0,14.45,14.43,28.83
$GC,7205,0.73,196.4,3578,918,2218,1886,44.5,9.4,600,7215,0.00,2.45,0.00,0.000,1030,0.000,0.085,3577,2333,2052,2218,1886,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7455,0.73,196.4,3581,2333,2212,1882,24.0,8.5,625,7467,0.00,2.45,0.00,0.000,260,0.000,0.102,3577,3737,2050,2216,1885,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7696,0.80,299.7,3577,3737,2211,1885,7.6,3.0,649,7751,0.00,2.40,44.92,0.122,9222,0.000,0.078,3583,2327,1638,1799,1478,0,0,0,0,0,0,28.83,14.54,14.47
$STATE,7797,end climb,SURFACE_DEPTH_REACHED
$STATE,7797,begin surface coast
$FINISH,0.9,1.014453
$STATE,7870,end surface coast,CONTROL_FINISHED_OK
$STATE,7870,begin surface
$SM_CCo,7896,32.47,0.104,0,0,1328,375.06
$SM_GC,1.88,9.30,0.17,32.47,0.092,0.174,0.104,394,2424,1328,-9.11,-0.74,375.06,0,0,0,0,0,0,14.51,14.52,14.50
$IRIDIUM_FIX,4732.49,-12507.66,140714,161645
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.30
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3899936
$PM_FREEKB,59348672
$24V_AH,13.6,27.418
$10V_AH,13.8,0.000
$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,23.650,68.850,288.350,32.475,0.000,0.000,0.000,232.900,0.000,0.000,15.549,1605.099,4425.245,492.377,1464.730,390.035,0.000,1443.359,0.000,1047.875,0.000,0.536,0.000
$DEVICE_MAMPS,420.750,173.655,1080.180,104.040,0.000,0.000,0.000,157.590,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7882.000,112.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.487,5.253,0.000,0.000
$MEM,290856
$DATA_FILE_SIZE,23435,666
$CAP_FILE_SIZE,122522,0
$CFSIZE,260034560,246853632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9207.47,0x2378ba,7,5
$CURRENT,0.194,337.0,1
$GPS,140714,210831,4752.214,-12514.807,11,1.9,12,18.8