version: 66.12
glider: 187
mission: 4
dive: 113
start: 7 14 114 1 32 27
data:
$ID,187
$MISSION,4
$DIVE,113
$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,-1593347.6
$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,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
$GPS1,140714,012355,4751.088,-12519.136,62,3.1,83,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-72.4
$GPS2,140714,013201,4751.023,-12519.182,14,1.9,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,106.4,11200,-14.0,-7.333,-18.81,2445
$D_GRID,440
$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,-116.8,403,2427,1466,1192,0.0,0.0,0,90,0.00,0.00,-57.83,0.000,16386,0.000,0.000,403,2428,2858,2917,2800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,402,2428,2918,2802,3.8,-4.2,6,130,12.55,2.55,-8.30,0.000,19204,0.405,0.124,3124,3833,3336,3386,3287,0,0,0,0,0,0,14.20,14.38,14.60
$GC,360,-0.59,-116.8,3129,3829,3388,3291,53.2,-14.7,33,371,0.00,2.42,0.00,0.000,1030,0.000,0.074,3123,2412,3341,3389,3293,0,0,0,0,0,0,28.83,14.47,28.83
$GC,611,-0.59,-116.8,3120,2408,3390,3292,85.5,-11.6,58,621,0.00,2.50,0.00,0.000,260,0.000,0.102,3125,3834,3341,3390,3292,0,0,0,0,0,0,28.83,14.47,28.83
$GC,851,-0.59,-116.8,3124,3831,3390,3292,114.3,-11.1,82,862,0.00,2.40,0.00,0.000,1030,0.000,0.076,3129,2424,3339,3390,3289,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1102,-0.59,-116.8,3124,2423,3390,3292,141.3,-10.8,107,1112,0.00,2.47,0.00,0.000,260,0.000,0.102,3124,3845,3341,3390,3292,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1342,-0.59,-116.8,3125,3845,3390,3292,167.3,-10.2,131,1353,0.00,2.42,0.00,0.000,1030,0.000,0.074,3124,2414,3341,3391,3292,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1593,-0.59,-116.8,3125,2413,3390,3292,190.1,-8.9,156,1604,0.00,2.50,0.00,0.000,260,0.000,0.103,3124,3846,3341,3390,3292,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1783,-0.59,-116.8,3124,3846,3390,3292,208.0,-9.4,175,1794,0.00,2.40,0.00,0.000,1030,0.000,0.075,3123,2426,3341,3390,3292,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2034,-0.59,-116.8,3124,2426,3390,3292,230.9,-9.2,200,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2426,3338,3390,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2284,-0.59,-116.8,3124,2426,3390,3291,253.4,-8.8,223,2294,0.00,2.40,0.00,0.000,516,0.000,0.088,3124,1019,3340,3390,3291,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2363,-0.59,-116.8,3124,1019,3389,3290,261.1,-9.5,231,2374,0.00,2.42,0.00,0.000,1030,0.000,0.086,3124,2423,3339,3389,3290,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2677,-0.59,-116.8,3121,2423,3390,3289,290.4,-9.8,242,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2423,3339,3390,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,-0.59,-116.8,3124,2423,3389,3288,319.7,-9.8,252,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2423,3338,3389,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,-0.59,-116.8,3124,2423,3389,3287,346.6,-8.4,262,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2423,3338,3389,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3574,-0.59,-116.8,3124,2423,3389,3287,370.6,-8.1,272,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2425,3341,3396,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3874,-0.59,-116.8,3124,2423,3389,3286,394.4,-8.1,282,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2423,3340,3395,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4174,-0.59,-116.8,3124,2423,3389,3286,418.7,-8.0,292,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2423,3337,3389,3286,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4441,begin apogee
$GC,4450,-0.25,0.0,3124,2317,3388,3286,441.3,-8.4,301,4548,0.40,0.00,91.00,1.242,10246,0.210,0.000,3240,2316,2857,2935,2779,0,0,0,0,0,0,14.54,28.83,13.66
$STATE,4550,end apogee,CONTROL_FINISHED_OK
$STATE,4551,begin climb
$GC,4554,0.59,116.8,3240,2316,2934,2776,445.1,0.0,304,4664,0.85,2.70,95.00,1.208,10500,0.155,0.103,3507,3743,2377,2520,2235,0,0,0,0,0,0,14.11,13.90,13.46
$GC,4726,0.59,116.8,3507,3743,2522,2235,436.7,8.4,323,4736,0.00,2.50,0.00,0.000,1030,0.000,0.080,3508,2339,2377,2522,2233,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5047,0.59,116.8,3507,2339,2521,2234,412.1,7.6,335,5057,0.00,2.50,0.00,0.000,516,0.000,0.099,3508,915,2376,2524,2229,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5107,0.59,116.8,3508,915,2521,2230,407.7,7.1,341,5117,0.00,2.47,0.00,0.000,1030,0.000,0.086,3508,2333,2373,2518,2229,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5437,0.59,116.8,3508,2333,2515,2228,383.0,7.5,354,5447,0.00,2.47,0.00,0.000,260,0.000,0.103,3508,3747,2374,2520,2228,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5517,0.59,116.8,3508,3747,2518,2228,376.0,9.1,362,5527,0.00,2.45,0.00,0.000,1030,0.000,0.083,3508,2329,2373,2518,2228,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5830,0.59,116.8,3508,2328,2518,2227,353.1,7.1,373,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2329,2373,2518,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6127,0.59,116.8,3508,2328,2519,2226,331.5,7.4,383,6137,0.00,2.47,0.00,0.000,516,0.000,0.101,3509,914,2372,2518,2227,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6208,0.59,116.8,3509,914,2518,2227,325.2,8.0,391,6219,0.00,2.45,0.00,0.000,1030,0.000,0.086,3509,2335,2372,2518,2227,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6522,0.59,116.8,3509,2335,2518,2226,299.2,8.8,402,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2335,2372,2518,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6818,0.59,116.8,3508,2338,2518,2225,273.1,8.5,412,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2335,2371,2518,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7118,0.59,116.8,3505,2335,2516,2225,250.5,7.1,422,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2335,2371,2517,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7418,0.63,116.8,3509,2335,2517,2220,232.6,5.5,450,7429,0.00,2.45,0.00,0.000,260,0.000,0.103,3506,3741,2370,2516,2224,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7489,0.64,116.8,3510,3741,2515,2226,228.1,6.7,457,7500,0.00,2.42,0.00,0.000,1030,0.000,0.080,3508,2320,2370,2516,2224,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7742,0.67,116.8,3509,2319,2516,2224,213.6,6.1,482,7753,0.08,2.42,0.00,0.000,2564,0.218,0.096,3552,918,2369,2515,2224,0,0,0,0,0,0,14.62,14.58,28.83
$GC,7835,0.68,116.8,3548,918,2515,2224,207.3,6.7,491,7846,0.00,2.42,0.00,0.000,1030,0.000,0.086,3548,2333,2369,2515,2224,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8086,0.68,116.8,3548,2333,2514,2221,188.5,7.9,516,8097,0.00,2.45,0.00,0.000,260,0.000,0.103,3545,3738,2369,2514,2224,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8166,0.68,116.8,3548,3740,2519,2224,181.1,9.3,524,8177,0.00,2.42,0.00,0.000,1030,0.000,0.085,3548,2322,2368,2513,2224,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8417,0.68,116.8,3552,2322,2515,2224,160.8,7.3,549,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2325,2368,2512,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8667,0.68,116.8,3548,2322,2513,2224,142.1,8.5,574,8678,0.00,2.42,0.00,0.000,516,0.000,0.102,3549,925,2368,2513,2224,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8780,0.68,116.8,3549,929,2513,2224,132.6,8.5,585,8792,0.00,2.42,0.00,0.000,1030,0.000,0.087,3549,2332,2369,2513,2225,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9032,0.68,116.8,3548,2332,2513,2224,112.1,8.2,610,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2329,2368,2513,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9282,0.73,185.1,3549,2332,2513,2224,96.5,4.5,635,9344,0.00,2.58,52.42,0.826,8708,0.000,0.096,3549,915,2101,2266,1936,0,0,0,0,0,0,28.83,14.35,14.02
$GC,9483,0.73,185.1,3549,915,2266,1940,82.8,9.0,655,9494,0.00,2.45,0.00,0.000,1030,0.000,0.084,3548,2331,2100,2266,1935,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9734,0.74,185.1,3549,2331,2265,1933,61.5,6.7,680,9745,0.00,2.45,0.00,0.000,260,0.000,0.101,3548,3739,2099,2265,1933,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9838,0.77,185.1,3549,3738,2264,1939,55.2,6.0,690,9849,0.00,2.42,0.00,0.000,1030,0.000,0.080,3548,2330,2098,2263,1934,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10089,0.77,185.1,3548,2328,2263,1932,40.2,8.3,715,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2329,2097,2263,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10339,0.81,247.6,3548,2329,2263,1932,24.7,4.7,740,10394,0.12,2.60,44.40,0.732,10500,0.161,0.103,3601,3743,1845,2010,1681,0,0,0,0,0,0,14.54,14.38,14.06
$GC,10504,0.81,247.6,3599,3742,2005,1681,11.4,8.9,756,10515,0.00,2.47,0.00,0.000,1030,0.000,0.081,3598,2322,1842,2005,1680,0,0,0,0,0,0,28.83,14.43,28.83
$STATE,10671,end climb,SURFACE_DEPTH_REACHED
$STATE,10671,begin surface coast
$FINISH,0.9,1.011451
$STATE,10764,end surface coast,CONTROL_FINISHED_OK
$STATE,10764,begin surface
$SM_CCo,10792,54.00,0.106,0,0,1328,375.06
$SM_GC,2.30,9.30,0.20,54.00,0.086,0.132,0.106,395,2427,1328,-9.11,-0.57,375.06,0,0,0,0,0,0,14.49,14.50,14.46
$IRIDIUM_FIX,4732.49,-12519.22,130714,222204
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.67
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3901856
$PM_FREEKB,59416768
$24V_AH,13.5,26.561
$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,23.300,79.325,282.825,54.000,0.000,0.000,0.000,262.175,0.000,0.000,14.934,1883.255,6761.535,505.236,1740.700,435.555,0.000,1641.541,0.000,1201.838,0.000,0.537,0.000
$DEVICE_MAMPS,405.450,156.825,1242.360,106.335,0.000,0.000,0.000,160.650,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10783.000,171.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.845,5.281,0.000,0.000
$MEM,290896
$DATA_FILE_SIZE,26692,782
$CAP_FILE_SIZE,145407,0
$CFSIZE,260034560,247259136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12020.73,0x2378ba,7,5
$CURRENT,0.067,311.0,1
$GPS,140714,043436,4750.652,-12518.706,31,1.1,32,18.7