version: 66.12
glider: 187
mission: 4
dive: 817
start: 1 20 115 19 32 27
data:
$ID,187
$MISSION,4
$DIVE,817
$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,350
$N_FILEKB,8
$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,-1595485.2
$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,35
$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,49
$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
$GPS1,200115,192115,4751.841,-12516.812,11,4.9,32,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-72.0
$GPS2,200115,193159,4751.882,-12516.936,40,1.1,45,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,115.6,8283,-14.0,-7.333,-18.81,2445
$D_GRID,343
$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,28,-0.59,-116.8,390,2399,1538,1326,0.0,0.0,0,60,0.00,0.00,-26.42,0.000,16386,0.000,0.000,390,2398,2123,2218,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.59,-116.8,390,2398,2212,2023,3.1,-2.6,3,141,12.25,2.55,-46.50,0.000,18948,0.357,0.091,3125,1001,3336,3379,3293,0,0,0,0,0,0,13.71,14.00,14.36
$GC,187,-0.59,-116.8,3121,1001,3382,3294,9.6,-11.3,15,198,0.00,2.50,0.00,0.000,1030,0.000,0.070,3125,2395,3338,3382,3294,0,0,0,0,0,0,28.83,13.95,28.83
$GC,439,-0.59,-116.8,3125,2395,3382,3295,40.1,-11.6,40,449,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3337,3382,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,690,-0.59,-116.8,3125,2395,3382,3294,67.6,-10.2,65,701,0.00,2.62,0.00,0.000,260,0.000,0.083,3125,3823,3338,3382,3294,0,0,0,0,0,0,28.83,13.79,28.83
$GC,774,-0.59,-116.8,3125,3822,3382,3294,76.3,-10.0,73,786,0.00,2.50,0.00,0.000,1030,0.000,0.057,3124,2405,3336,3379,3294,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1028,-0.59,-116.8,3125,2402,3382,3294,101.5,-10.1,98,1039,0.00,2.62,0.00,0.000,260,0.000,0.083,3125,3821,3336,3382,3290,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1080,-0.59,-116.8,3125,3821,3384,3294,107.0,-10.8,103,1091,0.00,2.53,0.00,0.000,1030,0.000,0.057,3125,2391,3337,3382,3293,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1332,-0.59,-116.8,3125,2387,3382,3295,130.2,-8.0,128,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2387,3338,3382,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1584,-0.59,-116.8,3125,2387,3383,3294,149.0,-6.9,153,1596,0.00,2.50,0.00,0.000,516,0.000,0.070,3130,997,3339,3383,3295,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1617,-0.59,-116.8,3125,996,3383,3295,151.3,-6.7,156,1628,0.00,2.53,0.00,0.000,1030,0.000,0.067,3126,2404,3339,3383,3295,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1869,-0.59,-116.8,3125,2404,3383,3295,169.1,-6.9,181,1880,0.00,2.58,0.00,0.000,260,0.000,0.084,3125,3814,3339,3383,3295,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2002,-0.59,-116.8,3125,3814,3384,3296,178.7,-7.6,194,2013,0.00,2.50,0.00,0.000,1030,0.000,0.057,3125,2402,3339,3383,3295,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2255,-0.59,-116.8,3125,2402,3383,3295,197.1,-6.9,219,2266,0.00,2.55,0.00,0.000,516,0.000,0.069,3125,992,3341,3383,3299,0,0,0,0,0,0,28.83,13.79,28.83
$GC,2297,-0.59,-116.8,3125,992,3378,3295,200.5,-7.8,223,2308,0.00,2.53,0.00,0.000,1030,0.000,0.067,3125,2400,3339,3383,3295,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2550,-0.59,-116.8,3124,2400,3383,3295,219.3,-7.1,248,2561,0.00,2.58,0.00,0.000,260,0.000,0.083,3125,3811,3339,3383,3295,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2666,-0.59,-116.8,3125,3811,3382,3295,227.6,-7.4,259,2677,0.00,2.53,0.00,0.000,1030,0.000,0.057,3125,2387,3339,3384,3295,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2919,-0.59,-116.8,3125,2383,3381,3295,245.0,-6.7,284,2929,0.00,2.50,0.00,0.000,516,0.000,0.070,3125,998,3339,3383,3295,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2972,-0.59,-116.8,3125,997,3383,3295,248.5,-6.9,289,2983,0.00,2.53,0.00,0.000,1030,0.000,0.068,3125,2403,3338,3383,3294,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3239,-0.59,-116.8,3125,2398,3383,3295,266.1,-6.7,299,3249,0.00,2.60,0.00,0.000,260,0.000,0.085,3125,3823,3338,3382,3295,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3385,-0.59,-116.8,3125,3822,3382,3294,276.7,-7.6,313,3396,0.00,2.53,0.00,0.000,1030,0.000,0.057,3125,2403,3338,3383,3294,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3694,-0.59,-116.8,3125,2401,3382,3294,301.2,-7.8,324,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3992,-0.59,-116.8,3128,2402,3384,3293,323.9,-7.5,334,4002,0.00,2.62,0.00,0.000,260,0.000,0.084,3121,3820,3337,3382,3293,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4083,-0.59,-116.8,3125,3820,3382,3293,331.1,-7.9,343,4093,0.00,2.53,0.00,0.000,1030,0.000,0.058,3125,2403,3335,3378,3293,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,4230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4230,begin apogee
$GC,4243,-0.25,0.0,3125,2306,3383,3293,343.3,-8.2,350,4345,0.40,0.00,95.15,1.100,10246,0.173,0.000,3240,2306,2858,2929,2788,0,0,0,0,0,0,13.56,28.83,13.43
$STATE,4347,end apogee,CONTROL_FINISHED_OK
$STATE,4347,begin climb
$GC,4352,0.59,116.8,3238,2306,2927,2784,348.3,0.0,353,4463,0.85,2.53,96.50,1.086,10756,0.122,0.071,3519,931,2378,2505,2252,0,0,0,0,0,0,13.86,13.95,13.31
$GC,4499,0.66,221.7,3519,931,2505,2253,348.0,2.9,364,4594,0.00,2.50,83.80,1.082,9222,0.000,0.066,3518,2341,1950,2087,1814,0,0,0,0,0,0,28.83,13.93,13.31
$GC,4892,0.68,221.7,3519,2341,2085,1812,324.9,6.5,383,4902,0.00,2.53,0.00,0.000,260,0.000,0.083,3519,3741,1950,2084,1816,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4963,0.68,221.7,3519,3741,2087,1816,319.3,8.0,390,4973,0.00,2.47,0.00,0.000,1030,0.000,0.061,3519,2339,1950,2085,1816,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5290,0.70,221.7,3520,2338,2085,1817,297.8,6.4,402,5300,0.00,2.53,0.00,0.000,516,0.000,0.076,3519,923,1951,2085,1817,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5371,0.72,221.7,3519,923,2085,1818,292.3,6.3,410,5383,0.10,2.50,0.00,0.000,3078,0.161,0.067,3566,2329,1951,2085,1818,0,0,0,0,0,0,14.00,14.03,28.83
$GC,5681,0.72,221.7,3566,2332,2085,1818,266.8,8.8,421,5691,0.00,2.55,0.00,0.000,260,0.000,0.083,3567,3741,1951,2084,1818,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5713,0.72,221.7,3566,3741,2084,1818,263.7,9.2,424,5723,0.00,2.50,0.00,0.000,1030,0.000,0.061,3574,2325,1951,2085,1818,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6024,0.72,221.7,3575,2324,2084,1819,232.3,10.1,447,6035,0.00,2.53,0.00,0.000,516,0.000,0.076,3576,927,1952,2085,1819,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6107,0.72,221.7,3581,926,2084,1819,223.2,10.9,455,6120,0.00,2.50,0.00,0.000,1030,0.000,0.067,3575,2331,1951,2084,1819,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6362,0.72,221.7,3575,2330,2085,1819,196.9,10.5,480,6373,0.00,2.55,0.00,0.000,260,0.000,0.083,3575,3738,1952,2085,1819,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6436,0.72,221.7,3577,3738,2084,1823,188.5,11.9,487,6447,0.00,2.53,0.00,0.000,1030,0.000,0.062,3575,2320,1952,2085,1819,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6689,0.72,221.7,3575,2320,2085,1819,162.8,10.0,512,6700,0.00,2.50,0.00,0.000,516,0.000,0.076,3576,930,1951,2084,1819,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6762,0.72,221.7,3576,930,2085,1819,155.5,10.0,519,6772,0.00,2.50,0.00,0.000,1030,0.000,0.067,3576,2329,1952,2085,1819,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7014,0.72,221.7,3575,2330,2085,1819,131.1,10.1,544,7025,0.00,2.55,0.00,0.000,260,0.000,0.082,3575,3738,1952,2085,1819,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7096,0.72,221.7,3580,3738,2085,1819,122.3,10.9,552,7107,0.00,2.50,0.00,0.000,1030,0.000,0.061,3576,2334,1951,2084,1819,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7348,0.73,221.7,3575,2333,2083,1819,102.9,6.7,577,7359,0.00,2.55,0.00,0.000,516,0.000,0.075,3577,914,1952,2085,1819,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7466,0.76,221.7,3576,916,2085,1820,95.9,6.1,588,7477,0.00,2.55,0.00,0.000,1030,0.000,0.066,3576,2336,1952,2085,1820,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7720,0.76,221.7,3581,2335,2083,1820,78.4,7.4,613,7730,0.00,2.55,0.00,0.000,260,0.000,0.083,3575,3741,1952,2085,1820,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7846,0.76,221.7,3575,3740,2085,1820,67.8,8.9,625,7856,0.00,2.53,0.00,0.000,1030,0.000,0.061,3575,2318,1954,2088,1820,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8098,0.79,273.4,3576,2318,2085,1820,53.0,5.2,650,8148,0.00,2.62,40.00,0.767,8452,0.000,0.083,3575,3737,1741,1884,1598,0,0,0,0,0,0,28.83,14.19,13.65
$GC,8259,0.79,273.4,3576,3736,1882,1595,41.5,8.3,666,8271,0.00,2.47,0.00,0.000,1030,0.000,0.061,3572,2336,1739,1883,1595,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8513,0.81,273.4,3576,2335,1882,1595,24.9,6.3,691,8524,0.00,2.55,0.00,0.000,516,0.000,0.073,3576,916,1739,1883,1595,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8575,0.83,273.4,3575,916,1882,1595,21.0,6.6,697,8586,0.00,2.53,0.00,0.000,1030,0.000,0.066,3576,2337,1738,1882,1595,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8828,0.84,273.4,3576,2336,1882,1595,5.1,6.7,722,8839,0.00,2.55,0.00,0.000,260,0.000,0.083,3576,3732,1738,1882,1595,0,0,0,0,0,0,28.83,13.92,28.83
$STATE,8845,end climb,SURFACE_DEPTH_REACHED
$STATE,8845,begin surface coast
$FINISH,1.6,1.013702
$STATE,8901,end surface coast,CONTROL_FINISHED_OK
$STATE,8901,begin surface
$SM_CCo,8932,33.03,0.093,0,0,1430,350.04
$SM_GC,3.20,9.10,2.40,33.03,0.050,0.060,0.093,392,2403,1430,-9.11,0.99,350.04,0,0,0,0,0,0,14.09,14.05,14.07
$IRIDIUM_FIX,4735.69,-12520.31,200115,161622
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.37
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3676544
$PM_FREEKB,36719616
$24V_AH,13.3,207.265
$10V_AH,13.1,0.000
$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,22.700,116.600,315.450,33.025,0.000,0.000,0.000,268.400,0.000,0.000,46.398,1740.724,4893.373,559.057,1667.183,733.420,0.000,1665.930,0.000,1161.398,0.000,0.538,0.000
$DEVICE_MAMPS,357.255,127.755,1100.070,92.565,0.000,0.000,0.000,163.710,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8934.000,139.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.369,5.059,0.000,0.000
$MEM,290844
$DATA_FILE_SIZE,26776,729
$CAP_FILE_SIZE,142943,0
$CFSIZE,260034560,171716608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11825.58,0x2378ba,7,5
$CURRENT,0.211,351.4,1
$GPS,200115,220335,4752.251,-12516.200,39,1.0,45,18.8