version: 66.12
glider: 187
mission: 4
dive: 408
start: 9 29 114 19 17 0
data:
$ID,187
$MISSION,4
$DIVE,408
$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,-1593955.2
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,290914,190651,4751.870,-12516.145,34,2.1,54,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-71.3
$GPS2,290914,191633,4751.760,-12516.030,18,2.2,38,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,100.4,7165,-14.0,-7.333,-18.81,2445
$D_GRID,340
$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,28,-0.59,-116.8,389,2401,1445,1216,0.0,0.0,0,80,0.00,0.00,-48.22,0.000,16386,0.000,0.000,389,2403,2556,2640,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,388,2402,2641,2472,3.0,-1.8,5,131,12.55,2.58,-17.55,0.000,18692,0.375,0.111,3124,3809,3335,3379,3291,0,0,0,0,0,0,13.88,14.19,14.52
$GC,361,-0.59,-116.8,3127,3809,3380,3294,43.6,-12.1,33,371,0.00,2.47,0.00,0.000,1030,0.000,0.063,3127,2387,3340,3380,3300,0,0,0,0,0,0,28.83,14.20,28.83
$GC,612,-0.59,-116.8,3127,2382,3381,3297,74.7,-13.2,58,621,0.00,2.55,0.00,0.000,260,0.000,0.088,3127,3817,3337,3380,3295,0,0,0,0,0,0,28.83,14.21,28.83
$GC,852,-0.59,-116.8,3127,3818,3380,3296,102.8,-9.9,82,861,0.00,2.45,0.00,0.000,1030,0.000,0.062,3127,2403,3340,3386,3295,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1101,-0.59,-116.8,3127,2402,3381,3296,125.9,-9.3,107,1110,0.00,2.50,0.00,0.000,260,0.000,0.088,3127,3808,3338,3381,3295,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1341,-0.59,-116.8,3127,3807,3381,3301,148.6,-9.3,131,1350,0.00,2.45,0.00,0.000,1030,0.000,0.064,3127,2390,3337,3381,3294,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1591,-0.59,-116.8,3127,2386,3380,3295,170.5,-8.2,156,1600,0.00,2.55,0.00,0.000,260,0.000,0.089,3127,3814,3337,3381,3294,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1692,-0.59,-116.8,3127,3814,3381,3295,178.9,-8.5,166,1701,0.00,2.45,0.00,0.000,1030,0.000,0.063,3132,2393,3337,3381,3294,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1941,-0.59,-116.8,3127,2388,3381,3295,199.5,-8.6,191,1950,0.00,2.45,0.00,0.000,516,0.000,0.076,3127,990,3337,3380,3294,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2012,-0.59,-116.8,3127,991,3380,3294,206.1,-9.6,198,2021,0.00,2.47,0.00,0.000,1030,0.000,0.072,3127,2406,3338,3382,3294,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2262,-0.59,-116.8,3127,2405,3381,3293,229.1,-9.3,223,2271,0.00,2.53,0.00,0.000,260,0.000,0.091,3126,3816,3340,3387,3294,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2351,-0.59,-116.8,3127,3816,3381,3293,237.3,-9.0,232,2360,0.00,2.45,0.00,0.000,1030,0.000,0.067,3127,2402,3337,3381,3293,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2621,-0.59,-116.8,3127,2402,3381,3293,260.6,-8.6,251,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3337,3381,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2921,-0.59,-116.8,3125,2402,3381,3292,284.8,-7.9,261,2929,0.00,2.47,0.00,0.000,516,0.000,0.074,3127,984,3339,3387,3291,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2982,-0.59,-116.8,3129,983,3381,3291,289.7,-8.3,267,2989,0.00,2.47,0.00,0.000,1030,0.000,0.071,3127,2396,3334,3381,3288,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3314,-0.59,-116.8,3127,2395,3380,3296,315.6,-8.1,280,3321,0.00,2.50,0.00,0.000,260,0.000,0.090,3127,3811,3335,3381,3289,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3350,-0.59,-116.8,3127,3811,3379,3289,319.0,-8.7,284,3359,0.00,2.47,0.00,0.000,1030,0.000,0.063,3127,2405,3334,3380,3288,0,0,0,0,0,0,28.83,14.24,28.83
$STATE,3608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3608,begin apogee
$GC,3618,-0.25,0.0,3127,2315,3380,3289,340.6,-8.6,294,3715,0.40,0.00,91.78,1.099,10246,0.186,0.000,3243,2314,2858,2930,2787,0,0,0,0,0,0,14.07,28.83,13.56
$STATE,3718,end apogee,CONTROL_FINISHED_OK
$STATE,3718,begin climb
$GC,3722,0.59,116.8,3243,2315,2928,2784,344.1,0.0,297,3835,0.82,2.53,94.00,1.079,10756,0.132,0.079,3509,944,2378,2506,2250,0,0,0,0,0,0,14.06,13.94,13.41
$GC,3886,0.62,116.8,3510,944,2506,2250,338.7,6.0,315,3896,0.00,2.47,0.00,0.000,1030,0.000,0.070,3509,2339,2378,2506,2250,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4216,0.62,116.8,3509,2338,2507,2246,316.5,6.8,328,4226,0.00,2.47,0.00,0.000,260,0.000,0.088,3509,3735,2377,2505,2250,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4455,0.62,116.8,3509,3735,2506,2247,296.0,8.6,352,4466,0.00,2.42,0.00,0.000,1030,0.000,0.067,3509,2344,2377,2506,2248,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4786,0.62,116.8,3509,2343,2506,2246,272.1,7.1,365,4796,0.00,2.50,0.00,0.000,260,0.000,0.087,3509,3735,2375,2506,2245,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4816,0.62,116.8,3509,3735,2506,2246,269.7,7.5,368,4826,0.00,2.42,0.00,0.000,1030,0.000,0.067,3509,2330,2376,2507,2246,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5126,0.64,116.8,3509,2330,2506,2248,249.3,6.2,381,5137,0.00,2.53,0.00,0.000,260,0.000,0.088,3509,3746,2375,2506,2245,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5268,0.65,116.8,3509,3746,2506,2244,239.5,6.8,395,5278,0.00,2.47,0.00,0.000,1030,0.000,0.069,3509,2323,2375,2506,2245,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5519,0.69,116.8,3509,2322,2506,2244,224.3,5.6,420,5531,0.12,2.55,0.00,0.000,2308,0.135,0.085,3572,3746,2375,2506,2244,0,0,0,0,0,0,14.38,14.28,28.83
$GC,5614,0.69,116.8,3571,3746,2506,2244,216.9,8.4,429,5625,0.00,2.47,0.00,0.000,1030,0.000,0.070,3574,2331,2375,2506,2244,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5865,0.69,116.8,3575,2331,2506,2249,196.6,7.9,454,5878,0.00,2.50,0.00,0.000,260,0.000,0.087,3575,3735,2374,2505,2243,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5928,0.69,116.8,3575,3734,2505,2243,190.8,9.2,460,5939,0.15,2.45,0.00,0.000,5126,0.262,0.069,3552,2322,2374,2505,2243,0,0,0,0,0,0,14.02,14.30,28.83
$GC,6179,0.69,116.8,3552,2322,2505,2243,171.1,7.5,485,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2322,2374,2505,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6429,0.69,116.8,3552,2322,2505,2243,152.6,7.3,510,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2322,2374,2505,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6680,0.69,116.8,3552,2322,2505,2242,134.1,7.1,535,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2321,2374,2506,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,0.70,116.8,3552,2322,2505,2242,117.9,6.5,560,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2322,2373,2505,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7181,0.73,116.8,3552,2326,2505,2242,103.4,6.0,585,7191,0.00,2.47,0.00,0.000,516,0.000,0.080,3552,920,2374,2506,2242,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7294,0.76,116.8,3552,920,2505,2242,96.7,6.0,596,7305,0.00,2.45,0.00,0.000,1030,0.000,0.070,3552,2330,2373,2505,2242,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7545,0.79,116.8,3552,2329,2504,2245,82.0,5.6,621,7556,0.00,2.50,0.00,0.000,260,0.000,0.088,3552,3738,2372,2504,2241,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7786,0.87,234.6,3552,3735,2499,2241,71.3,2.4,645,7892,0.17,2.45,87.78,0.763,11270,0.116,0.066,3614,2318,1897,2031,1764,0,0,0,0,0,0,14.28,14.27,13.76
$GC,8132,0.87,234.6,3618,2318,2030,1765,36.8,10.9,679,8143,0.00,2.45,0.00,0.000,516,0.000,0.082,3617,932,1897,2030,1764,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8323,0.87,234.6,3614,932,2030,1761,19.7,7.0,698,8334,0.00,2.45,0.00,0.000,1030,0.000,0.070,3617,2335,1897,2030,1765,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8575,0.94,329.3,3617,2337,2031,1764,4.8,3.4,723,8606,0.00,0.00,25.08,0.101,8706,0.000,0.000,3617,2335,1661,1808,1515,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8608,end climb,SURFACE_DEPTH_REACHED
$STATE,8608,begin surface coast
$FINISH,1.2,1.006498
$STATE,8724,end surface coast,CONTROL_FINISHED_OK
$STATE,8725,begin surface
$SM_CCo,8751,36.17,0.099,0,0,1329,375.06
$SM_GC,2.32,9.25,0.10,36.17,0.064,0.170,0.099,395,2397,1329,-9.10,-0.90,375.06,0,0,0,0,0,0,14.32,14.34,14.27
$IRIDIUM_FIX,4729.30,-12512.13,290914,191920
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.06
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3807456
$PM_FREEKB,50703744
$24V_AH,13.4,100.078
$10V_AH,13.0,0.000
$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,23.475,84.625,298.625,36.175,0.000,0.000,0.000,282.300,0.000,0.000,38.835,1749.602,5055.611,506.978,1606.203,447.974,0.000,1534.640,0.000,1155.827,0.000,0.536,0.000
$DEVICE_MAMPS,374.850,169.830,1099.305,98.685,0.000,0.000,0.000,161.415,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8741.000,3752.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.407,4.114,0.000,0.000
$MEM,290864
$DATA_FILE_SIZE,26738,738
$CAP_FILE_SIZE,130151,0
$CFSIZE,260034560,216580096
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8576.52,0x2378ba,7,5
$INTR,1,5875.40,0x213680,1,24
$CURRENT,0.208,324.6,1
$GPS,290914,214505,4752.181,-12516.285,30,1.5,47,18.8