version: 66.12
glider: 187
mission: 4
dive: 818
start: 1 20 115 22 12 56
data:
$ID,187
$MISSION,4
$DIVE,818
$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,-1595486.5
$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,24
$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,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
$GPS1,200115,220335,4752.251,-12516.200,39,1.0,45,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-72.0
$GPS2,200115,221224,4752.308,-12516.302,15,1.0,20,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,121.5,7528,-14.0,-7.333,-18.81,2445
$D_GRID,325
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,30,-0.59,-116.8,394,2396,1552,1313,0.0,0.0,0,62,0.00,0.00,-27.42,0.000,16386,0.000,0.000,392,2396,2145,2242,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.59,-116.8,392,2394,2232,2043,3.1,-1.7,3,134,12.35,2.60,-44.90,0.000,18948,0.360,0.090,3125,982,3336,3380,3292,0,0,0,0,0,0,13.73,13.91,14.37
$GC,180,-0.59,-116.8,3125,982,3379,3305,8.6,-10.4,14,188,0.00,2.53,0.00,0.000,1030,0.000,0.067,3123,2393,3336,3380,3293,0,0,0,0,0,0,28.83,13.95,28.83
$GC,429,-0.59,-116.8,3125,2396,3380,3293,39.3,-12.2,39,438,0.00,2.58,0.00,0.000,260,0.000,0.083,3125,3814,3337,3381,3294,0,0,0,0,0,0,28.83,13.87,28.83
$GC,565,-0.59,-116.8,3125,3814,3381,3294,54.9,-11.7,52,574,0.00,2.53,0.00,0.000,1030,0.000,0.058,3125,2388,3336,3381,3291,0,0,0,0,0,0,28.83,13.93,28.83
$GC,815,-0.59,-116.8,3125,2383,3381,3294,83.7,-9.7,77,824,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3337,3381,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1066,-0.59,-116.8,3124,2383,3382,3290,106.4,-8.6,102,1075,0.00,2.62,0.00,0.000,260,0.000,0.083,3127,3814,3338,3382,3294,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1116,-0.59,-116.8,3125,3814,3382,3294,111.0,-9.2,107,1125,0.00,2.50,0.00,0.000,1030,0.000,0.058,3124,2402,3338,3382,3294,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1366,-0.59,-116.8,3124,2399,3382,3294,133.1,-8.6,132,1375,0.00,2.55,0.00,0.000,516,0.000,0.068,3125,987,3338,3382,3294,0,0,0,0,0,0,28.83,13.84,28.83
$GC,1398,-0.59,-116.8,3124,989,3383,3295,135.6,-8.6,135,1406,0.00,2.55,0.00,0.000,1030,0.000,0.067,3125,2407,3338,3382,3295,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1647,-0.59,-116.8,3128,2410,3381,3295,157.4,-8.5,160,1656,0.00,2.58,0.00,0.000,260,0.000,0.085,3125,3818,3338,3382,3295,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1783,-0.59,-116.8,3125,3818,3382,3295,168.9,-8.6,173,1793,0.00,2.53,0.00,0.000,1030,0.000,0.058,3122,2387,3338,3382,3294,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2036,-0.59,-116.8,3125,2383,3382,3301,192.5,-9.1,198,2044,0.00,2.50,0.00,0.000,516,0.000,0.070,3121,996,3339,3383,3295,0,0,0,0,0,0,28.83,13.78,28.83
$GC,2076,-0.59,-116.8,3125,999,3386,3294,196.3,-9.7,202,2085,0.00,2.53,0.00,0.000,1030,0.000,0.067,3124,2396,3338,3382,3295,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2326,-0.59,-116.8,3125,2398,3377,3295,218.3,-8.6,227,2335,0.00,2.62,0.00,0.000,260,0.000,0.085,3125,3822,3338,3382,3294,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2428,-0.59,-116.8,3125,3821,3382,3295,226.9,-8.4,237,2438,0.00,2.53,0.00,0.000,1030,0.000,0.057,3125,2400,3338,3382,3295,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2680,-0.59,-116.8,3125,2400,3382,3295,247.2,-8.0,262,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3337,3381,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2930,-0.59,-116.8,3125,2399,3381,3294,266.7,-7.7,273,2939,0.00,2.65,0.00,0.000,260,0.000,0.084,3125,3824,3338,3382,3294,0,0,0,0,0,0,28.83,13.78,28.83
$GC,2999,-0.59,-116.8,3125,3820,3382,3294,272.0,-7.5,280,3006,0.00,2.53,0.00,0.000,1030,0.000,0.058,3126,2402,3338,3382,3294,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3325,-0.59,-116.8,3125,2400,3383,3293,294.9,-7.0,292,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.59,-116.8,3125,2400,3382,3293,315.2,-6.8,302,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3337,3382,3293,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3765,begin apogee
$GC,3778,-0.25,0.0,3125,2310,3382,3293,326.0,-7.2,307,3877,0.40,0.00,94.22,1.078,10246,0.171,0.000,3239,2312,2858,2929,2788,0,0,0,0,0,0,13.59,28.83,13.44
$STATE,3881,end apogee,CONTROL_FINISHED_OK
$STATE,3881,begin climb
$GC,3886,0.59,116.8,3239,2312,2926,2784,329.9,0.0,310,3999,0.85,2.55,96.03,1.060,10756,0.122,0.073,3519,936,2377,2504,2251,0,0,0,0,0,0,13.87,13.98,13.32
$GC,4035,0.64,182.1,3520,936,2504,2252,326.7,4.6,321,4098,0.00,2.50,52.70,1.053,9222,0.000,0.066,3519,2345,2113,2257,1969,0,0,0,0,0,0,28.83,13.95,13.32
$GC,4394,0.64,182.1,3520,2344,2256,1967,302.5,7.1,337,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2344,2111,2255,1967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4696,0.64,182.1,3519,2344,2256,1968,279.8,7.4,347,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2344,2112,2256,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4994,0.64,182.1,3519,2344,2263,1967,258.2,7.1,357,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2344,2114,2256,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5294,0.64,182.1,3519,2344,2256,1964,236.7,7.1,379,5305,0.00,2.53,0.00,0.000,260,0.000,0.084,3519,3731,2112,2256,1968,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5347,0.64,182.1,3519,3734,2256,1968,232.7,8.1,384,5358,0.00,2.47,0.00,0.000,1030,0.000,0.061,3520,2337,2112,2256,1968,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5600,0.66,182.1,3519,2333,2256,1968,215.3,6.4,409,5611,0.00,2.55,0.00,0.000,516,0.000,0.075,3519,917,2112,2256,1968,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5664,0.67,182.1,3520,919,2257,1968,211.2,6.4,415,5675,0.00,2.53,0.00,0.000,1030,0.000,0.067,3520,2329,2111,2256,1967,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5917,0.69,182.1,3519,2329,2256,1968,195.6,6.7,440,5928,0.00,2.58,0.00,0.000,260,0.000,0.083,3519,3747,2109,2256,1963,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5969,0.69,182.1,3520,3746,2256,1968,191.8,7.2,445,5981,0.00,2.53,0.00,0.000,1030,0.000,0.060,3519,2319,2112,2256,1968,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6223,0.70,182.1,3520,2315,2256,1968,174.7,6.5,470,6233,0.00,2.50,0.00,0.000,516,0.000,0.073,3520,924,2112,2256,1968,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6296,0.72,182.1,3520,924,2256,1965,170.1,6.6,477,6308,0.12,2.50,0.00,0.000,3078,0.135,0.066,3579,2330,2112,2256,1968,0,0,0,0,0,0,13.99,14.00,28.83
$GC,6551,0.72,182.1,3580,2330,2256,1968,149.7,8.3,502,6562,0.00,2.58,0.00,0.000,260,0.000,0.082,3579,3751,2112,2256,1968,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6594,0.72,182.1,3581,3751,2256,1968,146.0,8.3,506,6604,0.00,2.53,0.00,0.000,1030,0.000,0.060,3587,2323,2110,2256,1965,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6846,0.72,182.1,3587,2322,2256,1968,126.1,7.8,531,6857,0.00,2.53,0.00,0.000,516,0.000,0.076,3588,925,2112,2256,1968,0,0,0,0,0,0,28.83,13.89,28.83
$GC,6898,0.72,182.1,3593,926,2256,1968,122.3,7.2,536,6910,0.12,2.55,0.00,0.000,5126,0.236,0.065,3557,2345,2112,2256,1968,0,0,0,0,0,0,13.69,13.90,28.83
$GC,7151,0.76,182.1,3560,2346,2256,1968,107.1,5.4,561,7163,0.00,2.55,0.00,0.000,260,0.000,0.082,3561,3736,2112,2256,1968,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7207,0.79,182.1,3561,3736,2256,1968,104.0,5.8,566,7217,0.00,2.53,0.00,0.000,1030,0.000,0.060,3562,2320,2112,2256,1968,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7460,0.83,246.2,3562,2319,2263,1968,91.9,4.6,591,7519,0.00,2.62,49.12,0.806,8452,0.000,0.083,3562,3741,1850,1991,1710,0,0,0,0,0,0,28.83,14.23,13.64
$GC,7610,0.83,246.2,3564,3736,1991,1710,81.1,8.3,606,7621,0.00,2.50,0.00,0.000,1030,0.000,0.060,3562,2333,1850,1991,1709,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7863,0.87,296.6,3562,2332,1990,1709,65.6,5.2,631,7913,0.12,2.55,38.97,0.770,10756,0.132,0.073,3630,923,1644,1792,1497,0,0,0,0,0,0,14.09,14.16,13.63
$GC,7977,0.87,296.6,3630,923,1791,1499,56.2,9.2,642,7988,0.00,2.50,0.00,0.000,1030,0.000,0.067,3630,2329,1644,1791,1497,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8230,0.87,296.6,3629,2328,1791,1497,33.6,8.5,667,8241,0.00,2.55,0.00,0.000,260,0.000,0.081,3629,3744,1644,1791,1497,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8282,0.87,296.6,3630,3744,1791,1497,28.2,10.5,672,8293,0.00,2.50,0.00,0.000,1030,0.000,0.060,3630,2322,1644,1791,1497,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8534,0.87,296.6,3630,2321,1792,1497,11.9,7.4,697,8545,0.00,2.50,0.00,0.000,516,0.000,0.074,3630,919,1643,1791,1496,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8587,0.87,296.6,3629,924,1788,1497,7.2,8.7,702,8598,0.00,2.50,0.00,0.000,1030,0.000,0.064,3630,2335,1644,1791,1497,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,8624,end climb,SURFACE_DEPTH_REACHED
$STATE,8625,begin surface coast
$FINISH,1.5,1.012720
$STATE,8671,end surface coast,CONTROL_FINISHED_OK
$STATE,8671,begin surface
$SM_CCo,8701,22.73,0.092,0,0,1429,350.04
$SM_GC,2.69,9.40,0.10,22.73,0.064,0.154,0.092,393,2394,1429,-9.09,-0.93,350.04,0,0,0,0,0,0,14.14,14.19,14.08
$IRIDIUM_FIX,4735.69,-12510.58,200115,191950
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.77
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3676224
$PM_FREEKB,36698208
$24V_AH,13.3,207.427
$10V_AH,13.4,0.000
$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,23.375,101.825,331.050,22.725,0.000,0.000,0.000,231.650,0.000,0.000,21.583,1720.108,4782.296,550.558,1538.459,654.041,0.000,1555.264,0.000,1094.253,0.000,0.536,0.000
$DEVICE_MAMPS,360.315,153.765,1077.885,91.800,0.000,0.000,0.000,167.535,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8703.000,3931.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.448,4.132,0.000,0.000
$MEM,290816
$DATA_FILE_SIZE,23374,710
$CAP_FILE_SIZE,135390,0
$CFSIZE,260034560,171651072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9627.99,0x2378ba,7,5
$CURRENT,0.128,336.2,1
$GPS,210115,003951,4752.117,-12515.896,11,3.0,32,18.8