version: 66.12
glider: 187
mission: 4
dive: 256
start: 8 20 114 16 5 41
data:
$ID,187
$MISSION,4
$DIVE,256
$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,4
$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,-1593743.6
$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,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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,48
$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
$GPS1,200814,155336,4750.648,-12515.061,28,1.9,29,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-72.0
$GPS2,200814,160515,4750.617,-12514.914,13,4.1,33,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,92.0,6262,-14.0,-7.333,-18.81,2445
$D_GRID,343
$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,24,begin dive
$GC,28,-0.59,-116.8,392,2402,1354,1044,0.0,0.0,0,92,0.00,0.00,-59.72,0.000,16386,0.000,0.000,394,2403,2773,2833,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.59,-116.8,396,2402,2841,2714,3.7,-3.3,6,132,12.43,2.50,-10.38,0.000,18692,0.382,0.116,3125,3816,3336,3385,3287,0,0,0,0,0,0,14.01,14.28,14.54
$GC,361,-0.59,-116.8,3125,3815,3386,3292,49.2,-12.9,33,371,0.00,2.47,0.00,0.000,1030,0.000,0.065,3125,2385,3337,3382,3292,0,0,0,0,0,0,28.83,14.34,28.83
$GC,612,-0.59,-116.8,3125,2382,3387,3293,80.3,-11.1,58,621,0.00,2.53,0.00,0.000,260,0.000,0.090,3125,3821,3342,3387,3298,0,0,0,0,0,0,28.83,14.31,28.83
$GC,853,-0.59,-116.8,3125,3821,3387,3293,110.4,-12.6,82,862,0.00,2.42,0.00,0.000,1030,0.000,0.065,3125,2392,3340,3387,3293,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1102,-0.59,-116.8,3125,2387,3387,3293,138.0,-10.3,107,1111,0.00,2.50,0.00,0.000,260,0.000,0.092,3125,3814,3340,3387,3293,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1342,-0.59,-116.8,3125,3814,3387,3298,163.4,-10.4,131,1351,0.00,2.42,0.00,0.000,1030,0.000,0.067,3125,2397,3340,3387,3293,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1592,-0.59,-116.8,3125,2394,3387,3293,188.6,-9.7,156,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1841,-0.59,-116.8,3125,2394,3387,3288,214.3,-10.0,181,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3339,3387,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2092,-0.59,-116.8,3127,2394,3387,3291,239.7,-10.0,206,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3340,3389,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2355,-0.59,-116.8,3125,2391,3387,3290,265.1,-9.7,222,2363,0.00,2.50,0.00,0.000,260,0.000,0.094,3125,3814,3342,3390,3294,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2412,-0.59,-116.8,3125,3814,3386,3290,271.0,-9.4,228,2420,0.00,2.42,0.00,0.000,1030,0.000,0.067,3125,2396,3338,3387,3290,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2746,-0.59,-116.8,3125,2394,3387,3289,299.3,-8.3,241,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3337,3387,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3042,-0.59,-116.8,3126,2394,3387,3285,326.9,-9.3,251,3050,0.00,2.53,0.00,0.000,260,0.000,0.095,3126,3821,3337,3387,3287,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3102,-0.59,-116.8,3129,3821,3387,3285,332.7,-9.7,257,3111,0.00,2.45,0.00,0.000,1030,0.000,0.068,3125,2388,3337,3387,3287,0,0,0,0,0,0,28.83,14.44,28.83
$STATE,3219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3219,begin apogee
$GC,3228,-0.25,0.0,3125,2315,3387,3286,343.7,-9.3,263,3323,0.40,0.00,90.70,1.116,10246,0.197,0.000,3240,2319,2856,2933,2780,0,0,0,0,0,0,14.28,28.83,13.66
$STATE,3327,end apogee,CONTROL_FINISHED_OK
$STATE,3327,begin climb
$GC,3331,0.59,116.8,3240,2314,2933,2776,348.2,0.0,266,3434,0.85,0.00,93.60,1.090,10246,0.142,0.000,3510,2311,2378,2521,2235,0,0,0,0,0,0,14.09,28.83,13.50
$GC,3732,0.59,116.8,3510,2315,2521,2232,325.6,7.0,280,3742,0.00,2.55,0.00,0.000,260,0.000,0.090,3510,3752,2376,2521,2232,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3822,0.59,116.8,3510,3755,2519,2232,318.2,8.7,289,3833,0.00,2.45,0.00,0.000,1030,0.000,0.070,3519,2337,2375,2519,2232,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4153,0.59,116.8,3519,2341,2519,2234,292.5,7.6,302,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2340,2374,2518,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4452,0.59,116.8,3519,2341,2518,2229,269.8,7.2,312,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2341,2373,2518,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4756,0.59,116.8,3519,2341,2517,2228,247.6,7.7,324,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2340,2371,2518,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5006,0.59,116.8,3519,2340,2517,2228,228.2,7.6,349,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2342,2372,2517,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5257,0.59,116.8,3519,2341,2516,2227,210.1,7.2,374,5268,0.00,2.47,0.00,0.000,516,0.000,0.086,3519,916,2370,2512,2228,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5318,0.60,116.8,3519,916,2517,2227,205.9,6.8,380,5328,0.00,2.45,0.00,0.000,1030,0.000,0.073,3520,2343,2371,2516,2227,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5568,0.62,116.8,3521,2343,2511,2227,190.0,6.2,405,5580,0.00,2.45,0.00,0.000,260,0.000,0.091,3522,3746,2371,2515,2227,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5649,0.62,116.8,3519,3746,2510,2227,184.0,7.4,413,5661,0.00,2.42,0.00,0.000,1030,0.000,0.072,3520,2332,2370,2514,2227,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5902,0.65,116.8,3519,2333,2514,2226,168.0,6.2,438,5913,0.00,2.45,0.00,0.000,516,0.000,0.086,3522,920,2371,2513,2229,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6053,0.68,116.8,3522,920,2513,2227,159.0,5.8,453,6064,0.00,2.42,0.00,0.000,1030,0.000,0.074,3522,2329,2370,2513,2227,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6305,0.71,116.8,3522,2328,2513,2227,144.6,5.6,478,6315,0.10,0.00,0.00,0.000,2054,0.168,0.000,3564,2329,2370,2513,2227,0,0,0,0,0,0,14.47,28.83,28.83
$GC,6555,0.71,116.8,3565,2328,2513,2227,125.9,7.3,503,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2329,2370,2514,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6806,0.71,116.8,3565,2328,2516,2233,107.2,8.3,528,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,2328,2369,2513,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7057,0.74,116.8,3565,2328,2513,2226,89.6,5.9,553,7069,0.00,2.47,0.00,0.000,260,0.000,0.090,3564,3746,2369,2512,2226,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7269,0.75,116.8,3565,3746,2511,2226,75.0,6.7,574,7280,0.00,2.42,0.00,0.000,1030,0.000,0.068,3575,2322,2368,2511,2226,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7520,0.82,211.4,3575,2325,2511,2226,64.6,3.4,599,7601,0.00,2.53,70.90,0.776,8708,0.000,0.086,3575,926,1993,2147,1840,0,0,0,0,0,0,28.83,14.28,13.93
$GC,7834,0.82,211.4,3576,925,2146,1840,39.1,9.1,630,7845,0.00,2.45,0.00,0.000,1030,0.000,0.075,3576,2335,1995,2146,1845,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8085,0.84,211.4,3574,2335,2146,1840,19.8,6.2,655,8095,0.00,2.50,0.00,0.000,516,0.000,0.085,3580,920,1993,2147,1840,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8325,0.95,372.8,3576,920,2146,1840,9.5,0.5,679,8408,0.17,2.45,72.43,0.130,11270,0.124,0.074,3644,2344,1339,1490,1188,0,0,0,0,0,0,14.40,14.39,14.29
$STATE,8468,end climb,SURFACE_DEPTH_REACHED
$STATE,8468,begin surface coast
$FINISH,1.0,1.007023
$STATE,8520,end surface coast,CONTROL_FINISHED_OK
$STATE,8520,begin surface
$SM_CCo,8546,1.20,0.102,0,0,1329,375.06
$SM_GC,3.30,9.35,0.10,1.20,0.074,0.200,0.102,399,2402,1329,-9.10,-0.74,375.06,1,0,0,0,0,0,14.34,14.35,14.36
$IRIDIUM_FIX,4735.69,-12513.98,200814,151509
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.25
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3856096
$PM_FREEKB,55190976
$24V_AH,13.5,62.161
$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,23.300,59.450,327.625,1.200,0.000,0.000,0.000,400.500,0.000,0.000,34.080,1672.802,5013.531,492.345,1640.025,418.195,0.000,1587.298,0.000,1088.155,0.000,0.536,0.000
$DEVICE_MAMPS,381.735,212.670,1116.135,101.745,0.000,0.000,0.000,143.820,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8535.000,3365.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.415,4.097,0.000,0.000
$MEM,290864
$DATA_FILE_SIZE,23464,698
$CAP_FILE_SIZE,123282,0
$CFSIZE,260034560,232443904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$INTR,0,11930.96,0x2378ba,7,5
$CURRENT,0.154,  1.4,1
$GPS,200814,183106,4750.892,-12514.052,126,1.0,127,18.7