version: 66.12
glider: 187
mission: 4
dive: 419
start: 9 30 114 20 26 26
data:
$ID,187
$MISSION,4
$DIVE,419
$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,-1593969.1
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,300914,201727,4753.165,-12516.890,11,2.8,31,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-73.6
$GPS2,300914,202559,4753.166,-12516.954,33,1.1,43,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,111.7,8615,-14.0,-7.333,-18.81,2445
$D_GRID,316
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.59,-116.8,389,2400,1438,1229,0.0,0.0,0,79,0.00,0.00,-47.50,0.000,16386,0.000,0.000,389,2400,2556,2641,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,389,2400,2642,2466,3.1,-1.8,5,130,12.73,2.58,-16.80,0.000,18692,0.383,0.109,3125,3809,3337,3381,3293,0,0,0,0,0,0,13.88,14.19,14.54
$GC,360,-0.59,-116.8,3125,3809,3381,3298,46.5,-10.1,33,370,0.00,2.42,0.00,0.000,1030,0.000,0.062,3125,2401,3340,3382,3298,0,0,0,0,0,0,28.83,14.22,28.83
$GC,610,-0.59,-116.8,3125,2401,3381,3298,72.0,-10.6,58,621,0.00,2.53,0.00,0.000,260,0.000,0.088,3125,3812,3340,3383,3298,0,0,0,0,0,0,28.83,14.18,28.83
$GC,852,-0.59,-116.8,3129,3812,3382,3299,99.4,-10.3,82,863,0.00,2.42,0.00,0.000,1030,0.000,0.062,3125,2400,3340,3382,3299,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1104,-0.59,-116.8,3125,2400,3383,3299,123.3,-9.6,107,1115,0.00,2.50,0.00,0.000,260,0.000,0.087,3126,3809,3339,3383,3296,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1315,-0.59,-116.8,3125,3809,3382,3299,144.7,-10.3,128,1325,0.00,2.42,0.00,0.000,1030,0.000,0.063,3126,2400,3339,3383,3296,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1565,-0.59,-116.8,3126,2398,3382,3299,165.9,-8.0,153,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3341,3383,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1815,-0.59,-116.8,3125,2398,3382,3299,184.0,-7.3,178,1826,0.00,2.45,0.00,0.000,516,0.000,0.074,3125,987,3341,3384,3299,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1866,-0.59,-116.8,3126,984,3382,3298,188.0,-8.0,183,1877,0.00,2.47,0.00,0.000,1030,0.000,0.071,3126,2403,3342,3386,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2117,-0.59,-116.8,3126,2403,3383,3295,206.7,-7.3,208,2127,0.00,2.50,0.00,0.000,260,0.000,0.090,3123,3823,3340,3382,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2178,-0.59,-116.8,3126,3820,3382,3297,211.7,-8.1,214,2189,0.00,2.45,0.00,0.000,1030,0.000,0.063,3126,2389,3340,3383,3297,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2430,-0.59,-116.8,3125,2387,3387,3298,232.3,-8.0,239,2441,0.00,2.42,0.00,0.000,516,0.000,0.076,3126,998,3339,3383,3296,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2481,-0.59,-116.8,3128,998,3382,3296,236.9,-9.1,244,2492,0.00,2.45,0.00,0.000,1030,0.000,0.073,3126,2398,3339,3382,3296,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2732,-0.59,-116.8,3125,2397,3383,3297,258.8,-8.9,263,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3338,3382,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.59,-116.8,3125,2398,3383,3294,285.3,-8.7,273,3042,0.00,2.50,0.00,0.000,260,0.000,0.091,3125,3817,3338,3382,3294,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3174,-0.59,-116.8,3125,3816,3383,3293,297.9,-8.8,287,3185,0.00,2.45,0.00,0.000,1030,0.000,0.066,3125,2404,3337,3382,3293,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,3388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3388,begin apogee
$GC,3398,-0.25,0.0,3123,2314,3383,3293,316.0,-8.4,295,3497,0.40,0.00,91.65,1.079,10246,0.187,0.000,3241,2314,2857,2930,2785,0,0,0,0,0,0,14.09,28.83,13.57
$STATE,3499,end apogee,CONTROL_FINISHED_OK
$STATE,3499,begin climb
$GC,3503,0.59,116.8,3241,2314,2928,2782,319.8,0.0,298,3615,0.82,2.70,92.97,1.053,10500,0.135,0.087,3508,3754,2377,2510,2244,0,0,0,0,0,0,14.08,13.95,13.43
$GC,3674,0.59,116.8,3507,3754,2510,2244,312.4,7.4,317,3684,0.00,2.50,0.00,0.000,1030,0.000,0.066,3508,2341,2377,2510,2244,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3995,0.59,116.8,3508,2340,2508,2244,289.2,7.5,329,4005,0.00,2.50,0.00,0.000,516,0.000,0.081,3514,914,2377,2510,2244,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4128,0.61,116.8,3508,914,2510,2244,280.2,6.6,342,4138,0.00,2.53,0.00,0.000,1030,0.000,0.070,3508,2351,2378,2512,2244,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4448,0.61,116.8,3508,2351,2507,2244,259.0,6.8,354,4459,0.00,2.45,0.00,0.000,260,0.000,0.087,3509,3741,2376,2510,2242,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4658,0.61,116.8,3508,3742,2510,2242,243.1,7.2,375,4670,0.00,2.45,0.00,0.000,1030,0.000,0.069,3508,2328,2376,2511,2241,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4911,0.63,116.8,3508,2328,2509,2240,227.6,6.3,400,4921,0.00,2.47,0.00,0.000,516,0.000,0.083,3509,914,2375,2510,2241,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5025,0.64,116.8,3509,913,2509,2240,220.5,6.6,411,5037,0.00,2.47,0.00,0.000,1030,0.000,0.070,3509,2337,2375,2510,2240,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5278,0.64,116.8,3509,2337,2509,2240,202.0,7.1,436,5288,0.00,2.47,0.00,0.000,260,0.000,0.089,3508,3734,2374,2509,2240,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5369,0.64,116.8,3514,3734,2509,2240,194.7,8.0,445,5380,0.00,2.45,0.00,0.000,1030,0.000,0.069,3508,2327,2374,2509,2240,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5619,0.64,116.8,3508,2326,2509,2238,177.5,7.2,470,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2326,2373,2509,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5870,0.66,116.8,3508,2331,2509,2239,161.3,6.5,495,5881,0.00,2.47,0.00,0.000,516,0.000,0.084,3509,921,2373,2509,2238,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5996,0.68,116.8,3510,921,2509,2238,153.4,6.5,507,6007,0.00,2.45,0.00,0.000,1030,0.000,0.071,3508,2328,2370,2504,2237,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6248,0.71,116.8,3509,2328,2508,2237,138.4,5.6,532,6259,0.12,0.00,0.00,0.000,2054,0.135,0.000,3572,2328,2373,2509,2237,0,0,0,0,0,0,14.39,28.83,28.83
$GC,6498,0.71,116.8,3572,2326,2509,2237,121.0,7.3,557,6509,0.00,2.50,0.00,0.000,260,0.000,0.087,3572,3738,2372,2508,2237,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6739,0.72,116.8,3574,3738,2508,2236,101.8,6.6,581,6750,0.00,2.45,0.00,0.000,1030,0.000,0.066,3574,2321,2372,2508,2237,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6990,0.75,116.8,3574,2321,2508,2237,87.3,6.0,606,7001,0.00,2.47,0.00,0.000,516,0.000,0.081,3578,917,2372,2508,2237,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7231,0.80,184.6,3578,917,2508,2237,75.7,4.5,630,7293,0.00,2.47,50.90,0.786,9222,0.000,0.070,3579,2341,2103,2250,1956,0,0,0,0,0,0,28.83,14.28,13.85
$GC,7537,0.80,184.6,3578,2341,2249,1956,57.0,7.4,660,7548,0.00,2.50,0.00,0.000,516,0.000,0.080,3588,928,2103,2250,1957,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7651,0.80,184.6,3584,928,2249,1956,47.4,9.3,671,7663,0.00,2.45,0.00,0.000,1030,0.000,0.071,3587,2324,2103,2250,1956,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7903,0.82,184.6,3587,2324,2249,1956,29.9,6.2,696,7914,0.00,2.50,0.00,0.000,260,0.000,0.086,3587,3745,2103,2250,1956,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8145,0.92,320.4,3588,3745,2249,1955,18.2,1.6,720,8227,0.00,2.45,65.88,0.164,9222,0.000,0.067,3587,2328,1551,1695,1407,0,0,0,0,0,0,28.83,14.28,14.12
$STATE,8403,end climb,SURFACE_DEPTH_REACHED
$STATE,8404,begin surface coast
$FINISH,1.4,1.023439
$STATE,8455,end surface coast,CONTROL_FINISHED_OK
$STATE,8455,begin surface
$SM_CCo,8481,23.80,0.096,0,0,1328,375.06
$SM_GC,2.14,9.05,0.15,23.80,0.054,0.155,0.096,379,2418,1328,-9.11,-0.51,375.06,0,0,0,0,0,0,14.36,14.31,14.24
$IRIDIUM_FIX,4735.69,-12527.41,300914,181820
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.02
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3803936
$PM_FREEKB,50612800
$24V_AH,13.4,101.576
$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,23.125,84.575,301.400,23.800,0.000,0.000,0.000,235.025,0.000,0.000,44.700,1776.809,4647.280,498.473,1616.830,475.156,0.000,1513.954,0.000,1173.123,0.000,0.536,0.000
$DEVICE_MAMPS,382.500,172.125,1078.650,96.390,0.000,0.000,0.000,158.355,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8473.000,109.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.616,5.126,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,26695,751
$CAP_FILE_SIZE,133446,0
$CFSIZE,260034560,215830528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7941.76,0x2378ba,7,5
$CURRENT,0.202,323.4,1
$GPS,300914,224913,4753.454,-12517.235,11,1.9,11,18.8