version: 66.12
glider: 187
mission: 4
dive: 418
start: 9 30 114 18 14 3
data:
$ID,187
$MISSION,4
$DIVE,418
$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,-1593967.9
$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,28
$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
$GPS1,300914,180536,4753.170,-12516.753,66,1.6,67,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-73.8
$GPS2,300914,181337,4753.175,-12516.851,11,1.7,11,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,108.7,8496,-14.0,-7.333,-18.81,2445
$D_GRID,293
$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,-116.8,395,2398,1438,1227,0.0,0.0,0,80,0.00,0.00,-48.15,0.000,16386,0.000,0.000,397,2400,2572,2661,2484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,397,2396,2665,2484,3.0,-1.9,5,124,12.75,2.58,-17.02,0.000,18692,0.385,0.111,3125,3803,3337,3381,3293,0,0,0,0,0,0,13.83,14.21,14.52
$GC,354,-0.59,-116.8,3125,3803,3382,3298,46.8,-13.4,32,363,0.00,2.45,0.00,0.000,1030,0.000,0.063,3125,2390,3339,3381,3297,0,0,0,0,0,0,28.83,14.25,28.83
$GC,605,-0.59,-116.8,3125,2386,3382,3298,79.6,-10.7,57,613,0.00,2.53,0.00,0.000,260,0.000,0.087,3125,3803,3340,3382,3298,0,0,0,0,0,0,28.83,14.20,28.83
$GC,844,-0.59,-116.8,3125,3803,3382,3299,103.4,-10.5,81,853,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2404,3341,3384,3299,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1094,-0.59,-116.8,3125,2401,3382,3299,130.5,-10.5,106,1103,0.00,2.50,0.00,0.000,260,0.000,0.088,3125,3803,3340,3382,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1334,-0.59,-116.8,3125,3802,3382,3299,153.0,-8.3,130,1344,0.00,2.47,0.00,0.000,1030,0.000,0.063,3125,2390,3340,3382,3299,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1584,-0.59,-116.8,3127,2389,3383,3299,173.9,-9.6,155,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2388,3340,3382,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1835,-0.59,-116.8,3125,2387,3382,3299,198.3,-8.9,180,1843,0.00,2.45,0.00,0.000,516,0.000,0.077,3125,1001,3340,3382,3299,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1914,-0.59,-116.8,3125,1001,3382,3298,205.6,-8.9,188,1923,0.00,2.45,0.00,0.000,1030,0.000,0.071,3125,2397,3340,3383,3298,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2164,-0.59,-116.8,3126,2398,3382,3298,227.1,-8.9,213,2173,0.00,2.45,0.00,0.000,516,0.000,0.075,3125,1000,3339,3382,3297,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2214,-0.59,-116.8,3125,1000,3383,3299,231.6,-9.2,218,2224,0.00,2.45,0.00,0.000,1030,0.000,0.072,3125,2404,3339,3382,3297,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2474,-0.59,-116.8,3125,2403,3382,3297,252.9,-7.9,242,2483,0.00,2.50,0.00,0.000,260,0.000,0.091,3125,3808,3339,3382,3297,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2524,-0.59,-116.8,3125,3808,3382,3296,256.8,-8.0,247,2533,0.00,2.42,0.00,0.000,1030,0.000,0.066,3125,2404,3339,3382,3297,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2838,-0.59,-116.8,3122,2403,3383,3300,280.3,-7.7,258,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3338,3382,3295,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3010,begin apogee
$GC,3019,-0.25,0.0,3125,2315,3382,3295,294.2,-8.1,264,3116,0.40,0.00,91.55,1.043,10246,0.189,0.000,3240,2315,2858,2930,2786,0,0,0,0,0,0,14.07,28.83,13.59
$STATE,3120,end apogee,CONTROL_FINISHED_OK
$STATE,3120,begin climb
$GC,3124,0.59,116.8,3240,2315,2928,2781,297.0,0.0,267,3228,0.82,2.67,92.78,1.022,11012,0.126,0.086,3509,3741,2377,2511,2243,0,0,0,0,0,0,14.08,14.00,13.45
$GC,3271,0.63,178.6,3514,3741,2510,2242,292.3,4.7,277,3332,0.00,2.47,48.97,1.013,9222,0.000,0.068,3510,2347,2125,2276,1975,0,0,0,0,0,0,28.83,14.03,13.42
$GC,3642,0.63,178.6,3510,2351,2275,1975,263.7,8.2,294,3652,0.00,2.53,0.00,0.000,516,0.000,0.086,3510,916,2125,2275,1976,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3712,0.63,178.6,3510,916,2276,1976,258.0,8.2,301,3722,0.00,2.47,0.00,0.000,1030,0.000,0.070,3510,2334,2125,2275,1975,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4023,0.63,178.6,3510,2333,2275,1975,233.5,7.8,326,4034,0.00,2.47,0.00,0.000,260,0.000,0.088,3510,3740,2124,2275,1974,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4084,0.63,178.6,3510,3739,2275,1973,228.0,9.5,332,4094,0.00,2.47,0.00,0.000,1030,0.000,0.073,3510,2325,2124,2275,1974,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4335,0.63,178.6,3510,2326,2275,1969,208.2,7.7,357,4345,0.00,2.47,0.00,0.000,516,0.000,0.090,3510,923,2127,2281,1974,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4458,0.63,178.6,3510,922,2275,1973,198.3,7.9,369,4469,0.00,2.47,0.00,0.000,1030,0.000,0.072,3510,2339,2124,2275,1973,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4708,0.63,178.6,3509,2338,2275,1973,178.5,7.2,394,4720,0.00,2.47,0.00,0.000,260,0.000,0.090,3510,3742,2122,2275,1970,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4761,0.63,178.6,3510,3742,2275,1973,174.3,8.2,399,4772,0.00,2.47,0.00,0.000,1030,0.000,0.074,3510,2332,2124,2275,1973,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5013,0.65,178.6,3510,2331,2275,1973,156.2,6.7,424,5024,0.00,2.50,0.00,0.000,516,0.000,0.085,3510,908,2124,2275,1973,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5065,0.66,178.6,3510,907,2274,1974,152.6,6.8,429,5075,0.00,2.47,0.00,0.000,1030,0.000,0.070,3514,2331,2124,2275,1974,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5315,0.66,178.6,3510,2331,2274,1974,134.1,7.0,454,5327,0.00,2.50,0.00,0.000,260,0.000,0.088,3510,3742,2127,2275,1980,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5367,0.66,178.6,3516,3741,2275,1973,130.0,8.3,459,5378,0.00,2.47,0.00,0.000,1030,0.000,0.072,3510,2327,2125,2278,1973,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5618,0.66,178.6,3507,2331,2275,1973,111.0,8.0,484,5629,0.00,2.50,0.00,0.000,516,0.000,0.088,3510,913,2124,2275,1974,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5690,0.66,178.6,3510,913,2275,1974,105.9,7.2,491,5700,0.00,2.47,0.00,0.000,1030,0.000,0.070,3510,2341,2124,2275,1974,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5941,0.66,178.6,3510,2337,2276,1973,86.9,7.6,516,5952,0.00,2.47,0.00,0.000,260,0.000,0.089,3509,3737,2123,2274,1973,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5981,0.66,178.6,3511,3736,2274,1973,83.8,7.6,520,5992,0.00,2.47,0.00,0.000,1030,0.000,0.071,3510,2329,2124,2274,1974,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6232,0.68,178.6,3510,2326,2275,1974,68.7,6.4,545,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2326,2124,2275,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6484,0.73,247.7,3510,2326,2274,1973,54.8,4.4,570,6546,0.12,2.58,51.30,0.763,10500,0.135,0.087,3574,3732,1843,1987,1699,0,0,0,0,0,0,14.34,14.31,13.85
$GC,6726,0.73,247.7,3574,3732,1986,1701,32.7,11.2,594,6738,0.00,2.45,0.00,0.000,1030,0.000,0.068,3575,2323,1842,1986,1698,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6980,0.77,313.6,3574,2322,1986,1703,16.2,4.6,619,7020,0.00,2.55,31.00,0.155,8708,0.000,0.084,3576,917,1580,1730,1430,0,0,0,0,0,0,28.83,14.21,14.14
$STATE,7206,end climb,SURFACE_DEPTH_REACHED
$STATE,7206,begin surface coast
$FINISH,1.2,1.023632
$STATE,7267,end surface coast,CONTROL_FINISHED_OK
$STATE,7267,begin surface
$SM_CCo,7295,26.98,0.097,0,0,1329,375.06
$SM_GC,1.97,9.05,2.65,26.98,0.057,0.071,0.097,389,2399,1329,-9.11,-0.71,375.06,0,0,0,0,0,0,14.29,14.30,14.27
$IRIDIUM_FIX,4732.49,-12522.93,300914,151534
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.18
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3804256
$PM_FREEKB,50612832
$24V_AH,13.4,101.443
$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,23.150,84.900,315.600,26.975,0.000,0.000,0.000,258.375,0.000,0.000,12.361,1562.559,3898.081,513.602,1406.972,416.844,0.000,1431.734,0.000,998.211,0.000,0.536,0.000
$DEVICE_MAMPS,384.795,169.065,1042.695,97.155,0.000,0.000,0.000,157.590,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7285.000,3147.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.743,4.110,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,23391,648
$CAP_FILE_SIZE,118140,0
$CFSIZE,260034560,215920640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8523.53,0x2378ba,7,5
$CURRENT,0.158,320.6,1
$GPS,300914,201727,4753.165,-12516.890,11,2.8,31,18.8