version: 66.12
glider: 187
mission: 4
dive: 415
start: 9 30 114 11 29 31
data:
$ID,187
$MISSION,4
$DIVE,415
$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,-1593964.1
$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
$GPS1,300914,112019,4753.282,-12516.587,11,1.6,11,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-71.8
$GPS2,300914,112905,4753.248,-12516.518,19,0.9,35,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,133.6,8137,-14.0,-7.333,-18.81,2445
$D_GRID,275
$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,-116.8,388,2399,1432,1233,0.0,0.0,0,91,0.00,0.00,-58.17,0.000,16386,0.000,0.000,389,2401,2886,2939,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,389,2402,2940,2829,4.3,-4.2,6,131,12.48,2.58,-7.90,0.000,18692,0.372,0.110,3126,3814,3339,3380,3299,0,0,0,0,0,0,13.87,14.22,14.54
$GC,362,-0.59,-116.8,3127,3814,3381,3302,48.1,-12.8,33,372,0.00,2.45,0.00,0.000,1030,0.000,0.063,3127,2389,3341,3381,3301,0,0,0,0,0,0,28.83,14.27,28.83
$GC,612,-0.59,-116.8,3127,2385,3382,3301,77.4,-12.2,58,623,0.00,2.55,0.00,0.000,260,0.000,0.088,3127,3819,3341,3382,3301,0,0,0,0,0,0,28.83,14.23,28.83
$GC,852,-0.59,-116.8,3127,3819,3386,3303,105.8,-11.3,82,863,0.00,2.42,0.00,0.000,1030,0.000,0.063,3127,2405,3345,3389,3302,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1103,-0.59,-116.8,3127,2403,3382,3302,130.6,-9.6,107,1114,0.00,2.50,0.00,0.000,260,0.000,0.088,3127,3815,3345,3382,3309,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1344,-0.59,-116.8,3127,3815,3382,3302,155.0,-10.0,131,1355,0.00,2.45,0.00,0.000,1030,0.000,0.064,3127,2393,3341,3382,3301,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1596,-0.59,-116.8,3127,2393,3382,3302,177.6,-9.0,156,1607,0.00,2.53,0.00,0.000,260,0.000,0.087,3127,3821,3342,3382,3302,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1667,-0.59,-116.8,3123,3821,3382,3302,184.2,-9.5,163,1678,0.00,2.45,0.00,0.000,1030,0.000,0.064,3127,2398,3342,3382,3302,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1918,-0.59,-116.8,3127,2394,3381,3302,205.2,-8.4,188,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2396,3341,3382,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,-0.59,-116.8,3127,2395,3382,3301,225.9,-8.0,213,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3341,3382,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2420,-0.59,-116.8,3127,2395,3382,3300,248.4,-8.3,238,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2395,3340,3381,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2690,-0.59,-116.8,3132,2395,3382,3299,270.7,-8.4,249,2700,0.00,2.53,0.00,0.000,260,0.000,0.089,3127,3809,3340,3382,3299,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,2735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2735,begin apogee
$GC,2747,-0.25,0.0,3127,2324,3382,3299,275.4,-9.1,254,2846,0.40,0.00,91.47,1.017,10246,0.182,0.000,3243,2321,2857,2931,2784,0,0,0,0,0,0,14.12,28.83,13.61
$STATE,2848,end apogee,CONTROL_FINISHED_OK
$STATE,2848,begin climb
$GC,2852,0.59,116.8,3243,2321,2930,2780,279.6,0.0,257,2952,0.82,0.00,92.72,0.998,10246,0.132,0.000,3510,2323,2380,2513,2248,0,0,0,0,0,0,14.09,28.83,13.47
$GC,3250,0.61,116.8,3511,2321,2509,2246,257.3,6.5,271,3260,0.00,2.53,0.00,0.000,260,0.000,0.086,3510,3739,2377,2509,2246,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3383,0.61,116.8,3511,3739,2509,2245,248.2,7.0,284,3394,0.00,2.47,0.00,0.000,1030,0.000,0.069,3518,2334,2377,2509,2245,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3635,0.63,116.8,3518,2330,2509,2244,232.6,6.1,309,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2336,2377,2510,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3885,0.66,116.8,3519,2336,2509,2242,217.6,6.0,334,3895,0.00,2.50,0.00,0.000,516,0.000,0.080,3519,913,2376,2509,2243,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4036,0.70,116.8,3519,912,2509,2243,209.1,5.5,349,4047,0.00,2.47,0.00,0.000,1030,0.000,0.069,3520,2331,2374,2508,2241,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4288,0.72,116.8,3519,2333,2509,2248,194.1,6.2,374,4299,0.12,2.50,0.00,0.000,2308,0.140,0.084,3582,3749,2375,2509,2241,0,0,0,0,0,0,14.33,14.28,28.83
$GC,4419,0.72,116.8,3582,3749,2509,2241,182.8,9.1,387,4430,0.00,2.47,0.00,0.000,1030,0.000,0.067,3587,2319,2375,2509,2241,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4669,0.72,116.8,3588,2319,2509,2241,161.2,9.2,412,4682,0.12,2.47,0.00,0.000,4612,0.274,0.077,3562,916,2376,2512,2241,0,0,0,0,0,0,14.09,14.20,28.83
$GC,4775,0.72,116.8,3562,915,2505,2241,152.4,8.6,422,4786,0.00,2.47,0.00,0.000,1030,0.000,0.070,3562,2345,2375,2509,2242,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5027,0.72,116.8,3562,2345,2509,2241,130.1,8.7,447,5037,0.00,2.50,0.00,0.000,516,0.000,0.081,3563,922,2375,2509,2241,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5097,0.72,116.8,3563,922,2508,2241,123.6,9.0,454,5108,0.00,2.45,0.00,0.000,1030,0.000,0.070,3563,2331,2377,2514,2241,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5348,0.74,116.8,3562,2330,2503,2240,105.6,6.1,479,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2330,2374,2508,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5599,0.80,197.7,3563,2330,2510,2241,94.0,3.9,504,5669,0.00,2.55,60.22,0.802,8452,0.000,0.087,3563,3733,2046,2187,1905,0,0,0,0,0,0,28.83,14.29,13.83
$GC,5740,0.80,197.7,3563,3733,2185,1904,85.1,8.9,518,5750,0.00,2.45,0.00,0.000,1030,0.000,0.067,3563,2325,2046,2189,1904,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5990,0.80,197.7,3563,2325,2189,1905,64.0,9.4,543,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2325,2047,2189,1906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6240,0.80,197.7,3563,2325,2189,1905,42.0,7.4,568,6251,0.00,2.45,0.00,0.000,516,0.000,0.081,3563,920,2047,2190,1905,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6282,0.80,197.7,3563,920,2189,1906,39.1,7.0,572,6293,0.00,2.45,0.00,0.000,1030,0.000,0.070,3563,2330,2048,2189,1907,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6535,0.83,197.7,3563,2330,2190,1906,25.3,5.6,597,6546,0.00,2.50,0.00,0.000,260,0.000,0.086,3563,3740,2047,2189,1905,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6629,0.85,197.7,3562,3740,2196,1906,19.2,6.4,606,6640,0.12,2.45,0.00,0.000,3078,0.138,0.067,3614,2319,2047,2189,1906,0,0,0,0,0,0,14.32,14.28,28.83
$GC,6881,0.97,366.2,3614,2322,2189,1906,18.5,0.3,631,6892,0.00,0.00,5.22,0.164,8706,0.000,0.000,3614,2318,2004,2150,1859,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,18.44,14.062,-1.756,0,1,0
$STATE,6894,end climb,NO_VERTICAL_VELOCITY
$STATE,6894,begin surface
$SM_CCo,6899,180.60,0.154,0,0,470,585.78
$SM_GC,2.08,9.23,0.15,0.00,0.060,0.132,0.000,389,2405,475,-9.11,-0.76,584.55,0,0,0,0,0,0,14.26,14.33,28.83
$IRIDIUM_FIX,4735.69,-12511.36,300914,090931
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.13
$INTERNAL_PRESSURE,8.91321
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3805216
$PM_FREEKB,50648224
$24V_AH,13.5,101.029
$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,23.300,64.900,249.650,180.600,0.000,0.000,0.000,256.775,0.000,0.000,36.096,1539.342,3726.178,596.888,1425.140,428.376,0.000,1515.409,0.000,987.562,0.000,0.535,0.000
$DEVICE_MAMPS,371.790,131.580,1017.450,153.765,0.000,0.000,0.000,157.590,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6913.000,91.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.797,5.023,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,20043,632
$CAP_FILE_SIZE,118635,0
$CFSIZE,260034560,216129536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8184.75,0x2378ba,7,5
$CURRENT,0.192,342.8,1
$GPS,300914,133045,4753.455,-12516.784,10,2.6,30,18.8