version: 66.12
glider: 187
mission: 4
dive: 120
start: 7 14 114 21 15 41
data:
$ID,187
$MISSION,4
$DIVE,120
$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,-1593356.5
$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,32
$R_STBD_OVSHOOT,21
$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
$GPS1,140714,210831,4752.214,-12514.807,11,1.9,12,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-73.6
$GPS2,140714,211513,4752.191,-12514.937,12,1.8,12,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,121.0,5819,-14.0,-7.333,-18.81,2445
$D_GRID,297
$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,-116.8,393,2424,1454,1205,0.0,0.0,0,92,0.00,0.00,-60.40,0.000,16386,0.000,0.000,394,2424,2927,2979,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,393,2425,2981,2879,3.6,-3.3,6,132,13.20,2.50,-7.15,0.000,18948,0.428,0.104,3126,1022,3336,3381,3292,0,0,0,0,0,0,14.19,14.40,14.61
$GC,361,-0.59,-116.8,3124,1021,3388,3294,50.7,-15.5,33,371,0.00,2.45,0.00,0.000,1030,0.000,0.086,3126,2424,3339,3384,3294,0,0,0,0,0,0,28.83,14.43,28.83
$GC,612,-0.59,-116.8,3126,2423,3390,3294,81.8,-11.8,58,620,0.00,2.42,0.00,0.000,516,0.000,0.087,3126,1019,3342,3390,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,764,-0.59,-116.8,3126,1018,3390,3295,99.0,-11.5,73,773,0.00,2.45,0.00,0.000,1030,0.000,0.087,3126,2433,3341,3387,3295,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1013,-0.59,-116.8,3126,2433,3390,3292,125.6,-9.9,98,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2433,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1263,-0.59,-116.8,3129,2433,3390,3295,150.3,-9.6,123,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2433,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1513,-0.59,-116.8,3126,2433,3390,3295,172.1,-8.3,148,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2433,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1763,-0.59,-116.8,3127,2433,3390,3295,193.7,-8.9,173,1773,0.00,2.42,0.00,0.000,516,0.000,0.090,3131,1024,3340,3390,3290,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1803,-0.59,-116.8,3126,1024,3389,3295,197.5,-9.3,177,1813,0.00,2.45,0.00,0.000,1030,0.000,0.086,3126,2433,3342,3389,3295,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2054,-0.59,-116.8,3126,2433,3390,3295,219.6,-9.1,202,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2433,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2303,-0.59,-116.8,3123,2433,3389,3294,242.9,-9.3,227,2312,0.00,2.47,0.00,0.000,260,0.000,0.108,3126,3838,3342,3390,3294,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2343,-0.59,-116.8,3126,3838,3389,3294,246.9,-10.2,231,2353,0.00,2.40,0.00,0.000,1030,0.000,0.075,3126,2421,3341,3389,3294,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2597,-0.59,-116.8,3127,2420,3385,3294,270.3,-9.6,242,2604,0.00,2.47,0.00,0.000,260,0.000,0.106,3126,3826,3341,3389,3294,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2674,-0.59,-116.8,3126,3829,3389,3294,277.8,-9.4,250,2683,0.00,2.38,0.00,0.000,1030,0.000,0.077,3126,2425,3340,3389,3292,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,2891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2891,begin apogee
$GC,2900,-0.25,0.0,3129,2316,3389,3293,298.4,-9.6,258,2996,0.40,0.00,90.20,1.055,10246,0.214,0.000,3240,2315,2855,2933,2778,0,0,0,0,0,0,14.50,28.83,13.74
$STATE,2999,end apogee,CONTROL_FINISHED_OK
$STATE,2999,begin climb
$GC,3003,0.59,116.8,3240,2315,2932,2775,303.1,0.0,261,3111,0.85,2.70,91.90,1.030,10500,0.159,0.099,3506,3745,2378,2521,2236,0,0,0,0,0,0,14.13,13.97,13.57
$GC,3179,0.59,116.8,3506,3745,2518,2236,296.2,7.9,280,3190,0.00,2.50,0.00,0.000,1030,0.000,0.078,3511,2340,2376,2518,2235,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3494,0.59,116.8,3507,2334,2518,2232,273.8,7.1,291,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2334,2375,2518,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3791,0.59,116.8,3507,2334,2518,2233,250.9,7.6,301,3801,0.00,2.50,0.00,0.000,260,0.000,0.101,3507,3742,2374,2518,2230,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4030,0.59,116.8,3506,3745,2515,2230,230.5,8.1,325,4041,0.00,2.45,0.00,0.000,1030,0.000,0.079,3507,2320,2373,2515,2231,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4281,0.59,116.8,3507,2319,2514,2229,212.0,7.9,350,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2319,2371,2514,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4532,0.59,116.8,3509,2319,2515,2228,193.6,7.0,375,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2319,2371,2514,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4781,0.59,116.8,3506,2319,2514,2227,175.7,7.1,400,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2319,2368,2509,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5031,0.59,116.8,3506,2319,2514,2227,157.5,7.2,425,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2319,2370,2514,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5281,0.61,116.8,3507,2319,2514,2227,140.7,6.4,450,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2319,2370,2514,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5533,0.63,116.8,3507,2318,2514,2226,123.9,6.3,475,5543,0.00,2.50,0.00,0.000,260,0.000,0.100,3507,3747,2369,2513,2226,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5604,0.63,116.8,3507,3745,2512,2227,118.8,7.5,482,5615,0.00,2.42,0.00,0.000,1030,0.000,0.076,3503,2324,2369,2512,2227,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5856,0.68,183.0,3507,2323,2512,2226,106.1,4.6,507,5917,0.12,2.55,50.15,0.831,10756,0.157,0.096,3562,914,2109,2272,1947,0,0,0,0,0,0,14.59,14.35,14.02
$GC,5937,0.68,183.0,3562,914,2271,1949,101.0,7.0,515,5947,0.00,2.45,0.00,0.000,1030,0.000,0.080,3562,2331,2110,2271,1949,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6187,0.68,183.0,3562,2331,2271,1948,80.0,8.3,540,6198,0.00,2.47,0.00,0.000,260,0.000,0.099,3562,3744,2109,2270,1948,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6228,0.68,183.0,3562,3744,2270,1948,76.5,8.5,544,6238,0.00,2.45,0.00,0.000,1030,0.000,0.078,3562,2318,2108,2269,1948,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6478,0.68,183.0,3562,2321,2269,1948,56.2,7.2,569,6489,0.00,2.42,0.00,0.000,516,0.000,0.095,3566,915,2108,2269,1948,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6549,0.68,183.0,3566,916,2269,1948,50.7,7.8,576,6559,0.00,2.42,0.00,0.000,1030,0.000,0.081,3567,2331,2108,2269,1948,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6800,0.70,183.0,3566,2331,2269,1947,34.4,6.0,601,6811,0.00,2.45,0.00,0.000,260,0.000,0.099,3565,3741,2108,2269,1947,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7040,0.70,183.0,3566,3741,2266,1947,13.4,8.5,625,7051,0.00,2.42,0.00,0.000,1030,0.000,0.080,3575,2337,2106,2266,1946,0,0,0,0,0,0,28.83,14.54,28.83
$FREEZE,9.35,12.927,-1.743,0,1,0
$STATE,7288,end climb,NO_VERTICAL_VELOCITY
$STATE,7288,begin surface
$SM_CCo,7293,178.65,0.118,0,0,470,585.78
$SM_GC,1.73,9.12,0.17,0.00,0.079,0.166,0.000,397,2425,472,-9.10,-0.71,585.29,0,0,0,0,0,0,14.49,14.50,28.83
$IRIDIUM_FIX,4732.49,-12512.13,140714,181850
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.85
$INTERNAL_PRESSURE,8.86438
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3899616
$PM_FREEKB,59326304
$24V_AH,13.6,27.548
$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,23.700,59.500,232.250,178.650,0.000,0.000,0.000,213.425,0.000,0.000,13.814,1558.248,4126.519,580.824,1363.640,356.915,0.000,1447.523,0.000,1006.849,0.000,0.535,0.000
$DEVICE_MAMPS,428.400,166.005,1054.935,117.810,0.000,0.000,0.000,157.590,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7301.000,3028.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.731,4.183,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,23408,650
$CAP_FILE_SIZE,114462,0
$CFSIZE,260034560,246796288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8419.25,0x2378ba,7,5
$CURRENT,0.162,349.1,1
$GPS,140714,232336,4752.370,-12514.280,41,1.6,41,18.8