version: 66.12
glider: 187
mission: 4
dive: 405
start: 9 29 114 11 25 44
data:
$ID,187
$MISSION,4
$DIVE,405
$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,-1593951.5
$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,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,26
$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
$GPS1,290914,111551,4751.678,-12517.317,18,2.4,39,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-73.4
$GPS2,290914,112515,4751.770,-12517.435,15,2.3,35,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,114.3,8907,-14.0,-7.333,-18.81,2445
$D_GRID,373
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.59,-116.8,385,2397,1448,1215,0.0,0.0,0,91,0.00,0.00,-59.12,0.000,16386,0.000,0.000,389,2398,2884,2939,2829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,385,2398,2939,2829,3.8,-3.1,6,131,12.65,2.58,-7.88,0.000,18692,0.378,0.112,3127,3804,3339,3378,3301,0,0,0,0,0,0,13.85,14.18,14.52
$GC,191,-0.59,-116.8,3123,3803,3379,3299,28.5,-15.8,16,201,0.00,2.42,0.00,0.000,1030,0.000,0.063,3123,2398,3341,3380,3303,0,0,0,0,0,0,28.83,14.20,28.83
$GC,442,-0.59,-116.8,3123,2394,3382,3303,57.7,-10.8,41,453,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2394,3342,3381,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,693,-0.59,-116.8,3123,2394,3382,3303,87.4,-11.9,66,704,0.00,2.53,0.00,0.000,260,0.000,0.088,3123,3806,3342,3382,3303,0,0,0,0,0,0,28.83,14.20,28.83
$GC,934,-0.59,-116.8,3123,3803,3382,3303,112.8,-10.5,90,945,0.00,2.42,0.00,0.000,1030,0.000,0.063,3123,2396,3343,3383,3303,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1185,-0.59,-116.8,3123,2394,3383,3303,140.3,-11.2,115,1196,0.00,2.53,0.00,0.000,260,0.000,0.090,3123,3804,3343,3383,3304,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1266,-0.59,-116.8,3124,3803,3383,3303,149.5,-11.1,123,1277,0.00,2.42,0.00,0.000,1030,0.000,0.063,3123,2395,3342,3382,3303,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1517,-0.59,-116.8,3124,2393,3386,3302,176.2,-10.9,148,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2393,3342,3382,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1768,-0.59,-116.8,3123,2393,3380,3303,200.2,-9.1,173,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2393,3346,3389,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2018,-0.59,-116.8,3123,2394,3382,3303,223.3,-9.1,198,2029,0.00,2.45,0.00,0.000,516,0.000,0.076,3123,987,3342,3382,3302,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2060,-0.59,-116.8,3123,987,3383,3306,227.2,-9.7,202,2070,0.00,2.47,0.00,0.000,1030,0.000,0.071,3123,2405,3342,3383,3302,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2311,-0.59,-116.8,3123,2404,3383,3302,250.1,-8.7,227,2321,0.00,2.50,0.00,0.000,260,0.000,0.091,3120,3802,3342,3383,3302,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2360,-0.59,-116.8,3123,3805,3382,3301,254.7,-9.2,232,2371,0.00,2.45,0.00,0.000,1030,0.000,0.067,3123,2390,3341,3382,3301,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2676,-0.59,-116.8,3123,2385,3383,3300,284.3,-10.1,243,2686,0.00,2.55,0.00,0.000,260,0.000,0.090,3123,3811,3341,3382,3300,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2745,-0.59,-116.8,3123,3810,3382,3300,292.1,-10.3,250,2755,0.00,2.45,0.00,0.000,1030,0.000,0.068,3123,2404,3341,3382,3300,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3066,-0.59,-116.8,3123,2401,3383,3298,323.4,-9.9,262,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3341,3383,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3366,-0.59,-116.8,3123,2401,3382,3298,351.6,-9.0,272,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3340,3382,3298,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3632,begin apogee
$GC,3642,-0.25,0.0,3127,2313,3378,3298,374.0,-7.7,281,3742,0.40,0.00,93.00,1.147,10246,0.184,0.000,3238,2314,2859,2928,2790,0,0,0,0,0,0,14.02,28.83,13.53
$STATE,3745,end apogee,CONTROL_FINISHED_OK
$STATE,3745,begin climb
$GC,3748,0.59,116.8,3239,2313,2926,2786,377.8,0.0,284,3852,0.85,0.00,94.90,1.123,10758,0.132,0.000,3513,2314,2380,2511,2250,0,0,0,0,0,0,14.05,28.83,13.38
$GC,4146,0.59,116.8,3517,2314,2506,2248,356.0,7.1,300,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2314,2377,2507,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,0.61,116.8,3512,2314,2507,2247,335.9,6.6,310,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2314,2375,2506,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4750,0.63,116.8,3513,2314,2506,2246,316.3,6.3,320,4760,0.00,2.55,0.00,0.000,260,0.000,0.087,3512,3747,2374,2506,2243,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4892,0.63,116.8,3513,3747,2506,2245,305.6,8.0,334,4903,0.00,2.45,0.00,0.000,1030,0.000,0.067,3519,2339,2376,2506,2246,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5203,0.63,116.8,3518,2339,2506,2244,283.5,7.1,345,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2338,2375,2506,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5501,0.63,116.8,3519,2339,2506,2243,263.0,6.9,355,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2339,2375,2506,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5800,0.64,116.8,3519,2339,2506,2243,242.9,6.7,371,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2339,2374,2506,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6050,0.66,116.8,3519,2340,2506,2242,225.5,6.5,396,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2339,2374,2506,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6300,0.66,116.8,3517,2339,2506,2241,209.3,7.0,421,6311,0.00,2.50,0.00,0.000,260,0.000,0.088,3519,3737,2375,2506,2245,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6424,0.66,116.8,3519,3737,2505,2242,199.6,8.1,433,6436,0.00,2.45,0.00,0.000,1030,0.000,0.066,3522,2329,2373,2506,2241,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6677,0.68,116.8,3519,2329,2512,2241,182.4,6.1,458,6687,0.00,2.47,0.00,0.000,516,0.000,0.081,3520,918,2373,2505,2241,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6867,0.71,116.8,3519,918,2505,2241,171.1,6.1,477,6879,0.00,2.47,0.00,0.000,1030,0.000,0.071,3520,2336,2373,2505,2241,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7119,0.74,116.8,3520,2336,2504,2241,156.7,5.7,502,7131,0.12,2.50,0.00,0.000,2308,0.142,0.086,3582,3741,2372,2504,2241,0,0,0,0,0,0,14.33,14.16,28.83
$GC,7241,0.74,116.8,3581,3740,2504,2241,147.3,7.9,514,7252,0.00,2.47,0.00,0.000,1030,0.000,0.070,3588,2322,2372,2504,2241,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7492,0.74,116.8,3588,2322,2505,2241,129.3,6.9,539,7503,0.00,2.47,0.00,0.000,516,0.000,0.085,3592,925,2372,2504,2241,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7733,0.74,116.8,3593,925,2504,2241,112.6,7.3,563,7743,0.00,2.45,0.00,0.000,1030,0.000,0.070,3592,2332,2373,2505,2241,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7983,0.74,116.8,3593,2331,2500,2241,92.3,8.3,588,7994,0.00,2.50,0.00,0.000,516,0.000,0.080,3601,920,2372,2503,2241,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8224,0.80,210.2,3601,919,2503,2241,76.5,3.4,612,8305,0.00,2.47,69.88,0.783,9222,0.000,0.071,3600,2339,2000,2140,1861,0,0,0,0,0,0,28.83,14.27,13.78
$GC,8544,0.80,210.2,3601,2340,2139,1861,56.4,7.7,644,8555,0.00,2.47,0.00,0.000,260,0.000,0.089,3601,3736,2005,2146,1864,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8668,0.80,210.2,3600,3734,2139,1861,44.8,10.0,656,8679,0.00,2.45,0.00,0.000,1030,0.000,0.070,3601,2337,2000,2140,1861,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8919,0.80,210.2,3601,2336,2135,1861,20.1,8.9,681,8931,0.00,2.53,0.00,0.000,260,0.000,0.088,3601,3735,2000,2140,1861,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9162,0.91,357.2,3606,3735,2139,1861,14.3,1.2,705,9242,0.00,2.45,69.57,0.146,9222,0.000,0.067,3602,2317,1401,1546,1256,0,0,0,0,0,0,28.83,14.26,14.16
$STATE,9338,end climb,SURFACE_DEPTH_REACHED
$STATE,9338,begin surface coast
$FINISH,1.1,1.018170
$STATE,9379,end surface coast,CONTROL_FINISHED_OK
$STATE,9380,begin surface
$SM_CCo,9406,7.78,0.098,0,0,1328,375.06
$SM_GC,3.76,9.25,0.15,7.78,0.067,0.141,0.098,395,2401,1328,-9.10,-0.79,375.06,0,0,0,0,0,0,14.27,14.31,14.23
$IRIDIUM_FIX,4738.89,-12510.58,290914,080838
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.47
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3808416
$PM_FREEKB,50744928
$24V_AH,13.4,99.637
$10V_AH,12.9,0.000
$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,23.275,69.725,327.350,7.775,0.000,0.000,0.000,289.250,0.000,0.000,36.199,1745.345,5595.339,496.325,1657.872,480.550,0.000,1574.053,0.000,1148.424,0.000,0.536,0.000
$DEVICE_MAMPS,377.910,156.060,1147.500,97.920,0.000,0.000,0.000,156.825,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9400.000,138.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.240,5.291,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,23403,727
$CAP_FILE_SIZE,133709,0
$CFSIZE,260034560,216780800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11121.61,0x2378ba,7,5
$CURRENT,0.161,352.2,1
$GPS,290914,140506,4751.926,-12516.679,97,1.3,98,18.8