version: 66.12
glider: 187
mission: 4
dive: 334
start: 9 10 114 9 32 41
data:
$ID,187
$MISSION,4
$DIVE,334
$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,-1593844.6
$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,30
$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
$GPS1,100914,092429,4750.522,-12515.569,38,1.9,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-74.2
$GPS2,100914,093215,4750.562,-12515.454,11,2.3,31,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,81.3,6922,-14.0,-7.333,-18.81,2445
$D_GRID,382
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,397,2408,1444,1212,0.0,0.0,0,80,0.00,0.00,-47.80,0.000,16386,0.000,0.000,397,2411,2538,2626,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,397,2411,2629,2451,3.2,-1.6,5,125,12.70,2.58,-18.38,0.000,18948,0.388,0.101,3125,988,3336,3380,3293,0,0,0,0,0,0,13.94,14.23,14.50
$GC,205,-0.59,-116.8,3126,988,3381,3294,22.0,-13.5,17,214,0.00,2.47,0.00,0.000,1030,0.000,0.073,3130,2394,3337,3381,3294,0,0,0,0,0,0,28.83,14.23,28.83
$GC,455,-0.59,-116.8,3126,2394,3381,3294,54.8,-13.4,42,464,0.00,2.45,0.00,0.000,516,0.000,0.073,3126,987,3338,3382,3294,0,0,0,0,0,0,28.83,14.25,28.83
$GC,695,-0.59,-116.8,3127,987,3383,3296,85.6,-12.4,66,704,0.00,2.47,0.00,0.000,1030,0.000,0.073,3126,2402,3339,3383,3295,0,0,0,0,0,0,28.83,14.26,28.83
$GC,945,-0.59,-116.8,3126,2404,3383,3296,111.4,-9.7,91,955,0.00,2.47,0.00,0.000,516,0.000,0.076,3126,987,3340,3384,3296,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1145,-0.59,-116.8,3126,988,3383,3296,133.4,-11.8,111,1154,0.00,2.47,0.00,0.000,1030,0.000,0.073,3126,2402,3339,3383,3295,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1396,-0.59,-116.8,3126,2402,3383,3296,159.6,-9.9,136,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3339,3383,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1645,-0.59,-116.8,3126,2402,3383,3295,184.2,-9.7,161,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3339,3383,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1895,-0.59,-116.8,3126,2402,3383,3295,207.2,-9.5,186,1904,0.00,2.50,0.00,0.000,260,0.000,0.092,3126,3818,3339,3383,3296,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1985,-0.59,-116.8,3126,3818,3389,3295,215.7,-9.8,195,1995,0.00,2.45,0.00,0.000,1030,0.000,0.067,3126,2386,3338,3382,3295,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2235,-0.59,-116.8,3122,2386,3383,3295,238.7,-10.0,220,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3338,3382,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2505,-0.59,-116.8,3126,2386,3382,3295,264.2,-9.3,237,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2805,-0.59,-116.8,3126,2386,3382,3295,288.3,-7.8,247,2813,0.00,2.42,0.00,0.000,516,0.000,0.080,3126,1001,3338,3383,3294,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2885,-0.59,-116.8,3125,1000,3383,3294,295.0,-8.6,255,2895,0.00,2.45,0.00,0.000,1030,0.000,0.073,3126,2403,3338,3382,3294,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3195,-0.59,-116.8,3126,2403,3383,3293,318.6,-7.4,266,3203,0.00,2.47,0.00,0.000,260,0.000,0.092,3125,3806,3337,3383,3292,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3285,-0.59,-116.8,3125,3805,3387,3293,325.8,-8.0,275,3295,0.00,2.40,0.00,0.000,1030,0.000,0.069,3128,2404,3338,3383,3293,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3618,-0.59,-116.8,3126,2403,3383,3293,348.9,-6.6,288,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3337,3383,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3916,-0.59,-116.8,3122,2403,3378,3291,369.7,-7.2,298,3923,0.00,2.47,0.00,0.000,516,0.000,0.078,3125,984,3336,3383,3290,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4035,-0.59,-116.8,3126,986,3383,3291,378.6,-7.1,310,4042,0.00,2.47,0.00,0.000,1030,0.000,0.073,3126,2401,3337,3383,3291,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,4092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4092,begin apogee
$GC,4100,-0.25,0.0,3126,2328,3383,3290,382.7,-6.8,314,4197,0.40,0.00,92.05,1.168,10246,0.183,0.000,3242,2328,2858,2932,2784,0,0,0,0,0,0,14.15,28.83,13.57
$STATE,4201,end apogee,CONTROL_FINISHED_OK
$STATE,4201,begin climb
$GC,4205,0.59,116.8,3242,2328,2931,2778,385.4,0.0,317,4308,0.82,0.00,94.65,1.141,10246,0.130,0.000,3507,2328,2380,2513,2248,0,0,0,0,0,0,14.06,28.83,13.41
$GC,4605,0.59,116.8,3503,2328,2510,2244,357.6,8.4,331,4616,0.00,2.50,0.00,0.000,516,0.000,0.083,3508,915,2377,2511,2244,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4785,0.59,116.8,3508,915,2517,2244,345.2,6.9,349,4795,0.00,2.47,0.00,0.000,1030,0.000,0.072,3506,2333,2377,2511,2244,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5116,0.64,179.6,3509,2332,2510,2241,328.2,4.7,362,5176,0.00,0.00,49.90,1.092,8198,0.000,0.000,3508,2332,2122,2271,1974,0,0,0,0,0,0,28.83,28.83,13.71
$GC,5478,0.64,179.6,3508,2332,2269,1974,302.6,7.4,374,5488,0.00,2.50,0.00,0.000,260,0.000,0.090,3508,3736,2121,2269,1973,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5548,0.64,179.6,3508,3735,2269,1971,296.1,9.7,381,5558,0.00,2.45,0.00,0.000,1030,0.000,0.070,3509,2325,2121,2269,1974,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5868,0.64,179.6,3508,2327,2269,1977,268.4,8.3,393,5878,0.00,2.47,0.00,0.000,516,0.000,0.087,3508,918,2120,2269,1972,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5948,0.64,179.6,3509,918,2269,1973,261.9,8.1,401,5958,0.00,2.47,0.00,0.000,1030,0.000,0.073,3509,2336,2121,2270,1973,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6259,0.64,179.6,3509,2336,2269,1973,238.8,7.0,422,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2336,2120,2268,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6508,0.64,179.6,3508,2336,2269,1972,221.0,7.0,447,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2335,2121,2270,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6759,0.64,179.6,3509,2336,2269,1972,203.4,7.4,472,6770,0.00,2.50,0.00,0.000,260,0.000,0.091,3508,3744,2120,2269,1971,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6820,0.64,179.6,3508,3744,2269,1971,198.5,8.8,478,6831,0.00,2.45,0.00,0.000,1030,0.000,0.073,3510,2338,2120,2269,1971,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7071,0.64,179.6,3508,2339,2269,1971,179.2,7.7,503,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2338,2119,2268,1971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7322,0.64,179.6,3509,2343,2268,1971,159.2,7.9,528,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2338,2119,2268,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,0.64,179.6,3508,2338,2268,1970,139.4,7.7,553,7582,0.00,2.47,0.00,0.000,516,0.000,0.082,3509,917,2119,2269,1970,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7622,0.64,179.6,3514,915,2268,1971,135.3,7.9,558,7633,0.00,2.47,0.00,0.000,1030,0.000,0.071,3509,2344,2119,2269,1970,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7874,0.64,179.6,3508,2344,2268,1970,116.3,7.8,583,7885,0.00,2.45,0.00,0.000,260,0.000,0.090,3509,3733,2119,2268,1970,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7894,0.64,179.6,3509,3733,2268,1970,114.6,8.1,585,7905,0.00,2.42,0.00,0.000,1030,0.000,0.067,3508,2322,2119,2268,1970,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8146,0.64,179.6,3509,2320,2268,1970,92.8,8.6,610,8156,0.00,2.45,0.00,0.000,516,0.000,0.084,3509,919,2119,2268,1970,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8186,0.64,179.6,3509,919,2274,1970,89.6,7.6,614,8197,0.00,2.45,0.00,0.000,1030,0.000,0.072,3509,2330,2119,2268,1970,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8437,0.64,179.6,3509,2334,2263,1971,71.5,6.9,639,8450,0.00,2.47,0.00,0.000,516,0.000,0.082,3509,918,2119,2268,1970,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8480,0.65,179.6,3509,918,2268,1970,68.7,6.4,643,8492,0.00,2.45,0.00,0.000,1030,0.000,0.071,3509,2330,2122,2268,1976,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8732,0.68,179.6,3508,2326,2268,1970,53.6,5.8,668,8744,0.12,2.50,0.00,0.000,2308,0.138,0.085,3569,3741,2117,2264,1970,0,0,0,0,0,0,14.37,14.29,28.83
$GC,8764,0.68,179.6,3571,3741,2268,1970,51.0,7.5,671,8776,0.00,2.45,0.00,0.000,1030,0.000,0.067,3575,2320,2119,2268,1970,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9017,0.68,179.6,3574,2320,2267,1970,30.9,7.0,696,9028,0.00,2.45,0.00,0.000,516,0.000,0.083,3576,915,2119,2268,1970,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9048,0.68,179.6,3576,921,2268,1970,28.6,7.1,699,9060,0.12,2.45,0.00,0.000,5126,0.246,0.070,3548,2331,2122,2274,1970,0,0,0,0,0,0,14.12,14.34,28.83
$GC,9301,0.76,294.4,3548,2330,2268,1970,20.1,2.5,724,9390,0.00,0.00,81.65,0.711,8710,0.000,0.000,3547,2330,1655,1810,1501,0,0,0,0,0,0,28.83,28.83,13.87
$STATE,9596,end climb,SURFACE_DEPTH_REACHED
$STATE,9596,begin surface coast
$FINISH,1.5,1.012374
$STATE,9658,end surface coast,CONTROL_FINISHED_OK
$STATE,9659,begin surface
$SM_CCo,9684,34.47,0.099,0,0,1328,375.06
$SM_GC,2.94,9.10,0.12,34.47,0.065,0.159,0.099,391,2409,1328,-9.11,-0.71,375.06,0,0,0,0,0,0,14.26,14.26,14.23
$IRIDIUM_FIX,4732.49,-12521.07,100914,060619
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.29
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3831136
$PM_FREEKB,52896160
$24V_AH,13.4,81.753
$10V_AH,13.6,0.000
$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,23.275,84.150,318.250,34.475,0.000,0.000,0.000,230.050,0.000,0.000,32.311,1813.417,5760.056,553.583,1595.054,457.540,0.000,1563.401,0.000,1177.892,0.000,0.535,0.000
$DEVICE_MAMPS,387.855,159.120,1168.155,99.450,0.000,0.000,0.000,163.710,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9674.000,4241.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.174,4.100,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,26719,760
$CAP_FILE_SIZE,136040,0
$CFSIZE,260034560,224292864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11356.01,0x2378ba,7,5
$CURRENT,0.059,348.9,1
$GPS,100914,121626,4750.789,-12514.300,33,2.6,54,18.7