version: 66.12
glider: 187
mission: 4
dive: 819
start: 1 21 115 0 50 23
data:
$ID,187
$MISSION,4
$DIVE,819
$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,-1595487.9
$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,36
$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,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
$GPS1,210115,003951,4752.117,-12515.896,11,3.0,32,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-73.9
$GPS2,210115,004951,4752.153,-12516.010,17,2.9,37,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,106.5,7144,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,28,-0.59,-116.8,393,2396,1541,1319,0.0,0.0,0,70,0.00,0.00,-36.20,0.000,16386,0.000,0.000,394,2396,2357,2453,2262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.59,-116.8,396,2396,2450,2258,3.1,-1.8,4,132,12.32,2.58,-28.65,0.000,18692,0.360,0.109,3127,3815,3336,3380,3292,0,0,0,0,0,0,13.76,13.99,14.39
$GC,368,-0.59,-116.8,3128,3814,3380,3293,38.3,-12.4,33,380,0.00,2.47,0.00,0.000,1030,0.000,0.059,3128,2406,3337,3381,3294,0,0,0,0,0,0,28.83,13.97,28.83
$GC,623,-0.59,-116.8,3128,2404,3381,3294,68.4,-10.1,58,634,0.00,2.53,0.00,0.000,516,0.000,0.070,3128,994,3337,3381,3294,0,0,0,0,0,0,28.83,13.88,28.83
$GC,759,-0.59,-116.8,3124,994,3376,3294,82.4,-10.7,71,769,0.00,2.55,0.00,0.000,1030,0.000,0.069,3128,2404,3339,3384,3294,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1010,-0.59,-116.8,3128,2404,3381,3294,107.1,-8.9,96,1021,0.00,2.55,0.00,0.000,260,0.000,0.084,3128,3805,3340,3387,3294,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1141,-0.59,-116.8,3128,3804,3381,3296,119.5,-9.7,109,1153,0.00,2.50,0.00,0.000,1030,0.000,0.057,3128,2388,3335,3381,3290,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1396,-0.59,-116.8,3130,2383,3382,3295,143.8,-9.1,134,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2380,3338,3382,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1647,-0.59,-116.8,3128,2383,3382,3295,167.0,-8.7,159,1658,0.00,2.65,0.00,0.000,260,0.000,0.083,3129,3819,3339,3382,3296,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1730,-0.59,-116.8,3128,3818,3382,3295,173.9,-8.3,167,1741,0.00,2.50,0.00,0.000,1030,0.000,0.057,3128,2404,3338,3381,3295,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1983,-0.59,-116.8,3128,2402,3382,3301,193.0,-7.3,192,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3338,3382,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2235,-0.59,-116.8,3128,2402,3381,3295,212.0,-7.8,217,2247,0.00,2.65,0.00,0.000,260,0.000,0.083,3128,3821,3338,3382,3295,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2298,-0.59,-116.8,3125,3821,3383,3294,216.9,-7.6,223,2309,0.00,2.53,0.00,0.000,1030,0.000,0.057,3128,2402,3340,3387,3294,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2550,-0.59,-116.8,3128,2399,3382,3298,235.3,-7.2,248,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3337,3381,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-0.59,-116.8,3132,2401,3382,3294,254.5,-6.8,271,2831,0.00,2.62,0.00,0.000,260,0.000,0.083,3128,3809,3338,3383,3294,0,0,0,0,0,0,28.83,13.82,28.83
$GC,2912,-0.59,-116.8,3128,3807,3381,3294,260.8,-6.8,280,2922,0.00,2.50,0.00,0.000,1030,0.000,0.057,3123,2404,3337,3381,3294,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3243,-0.59,-116.8,3124,2399,3382,3293,283.5,-6.8,293,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3337,3381,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3544,-0.59,-116.8,3128,2397,3377,3298,305.1,-7.0,303,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3335,3381,3290,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3844,begin apogee
$GC,3856,-0.25,0.0,3128,2312,3378,3298,326.5,-7.0,313,3962,0.40,0.00,94.47,1.078,10246,0.173,0.000,3242,2312,2855,2926,2784,0,0,0,0,0,0,13.58,28.83,13.43
$STATE,3964,end apogee,CONTROL_FINISHED_OK
$STATE,3964,begin climb
$GC,3971,0.59,116.8,3242,2312,2925,2782,331.5,0.0,317,4087,0.85,2.55,95.47,1.061,10756,0.120,0.074,3519,935,2382,2505,2259,0,0,0,0,0,0,13.83,13.98,13.32
$GC,4127,0.64,188.5,3519,936,2506,2254,328.3,4.3,333,4196,0.00,2.50,58.30,1.055,9222,0.000,0.067,3519,2339,2086,2231,1942,0,0,0,0,0,0,28.83,13.95,13.31
$GC,4508,0.64,188.5,3519,2339,2230,1941,303.1,7.2,351,4518,0.00,2.53,0.00,0.000,260,0.000,0.084,3519,3733,2086,2231,1941,0,0,0,0,0,0,28.83,13.98,28.83
$GC,4558,0.64,188.5,3519,3733,2230,1946,299.0,8.0,356,4569,0.00,2.47,0.00,0.000,1030,0.000,0.060,3519,2334,2085,2230,1941,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4875,0.64,188.5,3519,2333,2230,1941,274.4,7.7,367,4885,0.00,2.53,0.00,0.000,516,0.000,0.075,3519,920,2086,2230,1942,0,0,0,0,0,0,28.83,13.98,28.83
$GC,4966,0.64,188.5,3519,920,2230,1942,267.4,6.9,376,4976,0.00,2.50,0.00,0.000,1030,0.000,0.067,3519,2329,2086,2230,1942,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5278,0.69,264.3,3519,2328,2230,1944,247.6,4.1,391,5347,0.00,2.60,59.25,0.980,8452,0.000,0.083,3519,3743,1774,1921,1628,0,0,0,0,0,0,28.83,14.17,13.54
$GC,5410,0.69,264.3,3519,3746,1921,1631,238.6,8.9,404,5420,0.00,2.50,0.00,0.000,1030,0.000,0.062,3519,2321,1774,1918,1630,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5664,0.69,264.3,3519,2319,1922,1633,218.4,8.5,429,5675,0.00,2.50,0.00,0.000,516,0.000,0.076,3519,925,1776,1921,1631,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5726,0.69,264.3,3519,925,1920,1631,212.8,8.9,435,5737,0.00,2.50,0.00,0.000,1030,0.000,0.067,3519,2336,1776,1921,1631,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5980,0.69,264.3,3520,2336,1921,1631,192.5,7.6,460,5990,0.00,2.55,0.00,0.000,260,0.000,0.083,3519,3744,1776,1921,1631,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6052,0.69,264.3,3520,3744,1921,1631,185.9,9.3,467,6063,0.00,2.50,0.00,0.000,1030,0.000,0.061,3519,2335,1776,1921,1631,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6304,0.69,264.3,3516,2332,1921,1630,166.8,7.2,492,6314,0.00,2.53,0.00,0.000,516,0.000,0.076,3519,924,1776,1921,1631,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6387,0.69,264.3,3519,924,1921,1631,160.5,7.2,500,6397,0.00,2.50,0.00,0.000,1030,0.000,0.067,3523,2330,1774,1921,1627,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6640,0.69,264.3,3519,2330,1921,1631,142.7,6.9,525,6650,0.00,2.55,0.00,0.000,516,0.000,0.076,3520,918,1776,1922,1631,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6672,0.69,264.3,3519,918,1921,1631,140.4,7.0,528,6682,0.00,2.50,0.00,0.000,1030,0.000,0.065,3519,2330,1776,1921,1631,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6925,0.72,264.3,3520,2329,1921,1631,125.6,5.9,553,6937,0.12,2.58,0.00,0.000,2308,0.136,0.080,3588,3737,1775,1921,1630,0,0,0,0,0,0,14.07,13.94,28.83
$GC,6989,0.72,264.3,3588,3737,1921,1631,119.5,11.0,559,7000,0.00,2.50,0.00,0.000,1030,0.000,0.060,3588,2321,1776,1921,1631,0,0,0,0,0,0,28.83,14.01,28.83
$GC,7241,0.72,264.3,3588,2320,1921,1631,97.7,8.1,584,7251,0.00,2.50,0.00,0.000,516,0.000,0.076,3588,928,1776,1921,1631,0,0,0,0,0,0,28.83,13.92,28.83
$GC,7294,0.72,264.3,3588,928,1921,1631,93.0,8.9,589,7304,0.00,2.50,0.00,0.000,1030,0.000,0.066,3588,2330,1776,1921,1631,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7547,0.72,264.3,3588,2331,1921,1631,67.8,9.4,614,7559,0.00,2.55,0.00,0.000,260,0.000,0.082,3588,3735,1776,1921,1631,0,0,0,0,0,0,28.83,13.86,28.83
$GC,7654,0.72,264.3,3587,3735,1920,1630,58.1,8.4,624,7664,0.00,2.53,0.00,0.000,1030,0.000,0.060,3588,2324,1775,1921,1629,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7906,0.72,264.3,3586,2324,1921,1630,40.6,7.2,649,7917,0.12,2.53,0.00,0.000,4612,0.235,0.071,3562,922,1777,1922,1633,0,0,0,0,0,0,13.78,13.90,28.83
$GC,7983,0.74,264.3,3562,920,1921,1630,35.7,6.7,656,7993,0.00,2.53,0.00,0.000,1030,0.000,0.066,3558,2341,1776,1922,1630,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8235,0.77,264.3,3562,2341,1925,1630,19.7,5.9,681,8245,0.00,2.55,0.00,0.000,260,0.000,0.083,3562,3734,1775,1921,1630,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8288,0.77,264.3,3562,3734,1921,1630,16.2,6.9,686,8300,0.00,2.50,0.00,0.000,1030,0.000,0.060,3560,2321,1775,1921,1630,0,0,0,0,0,0,28.83,13.97,28.83
$STATE,8486,end climb,SURFACE_DEPTH_REACHED
$STATE,8486,begin surface coast
$FINISH,1.6,1.012195
$STATE,8557,end surface coast,CONTROL_FINISHED_OK
$STATE,8557,begin surface
$SM_CCo,8593,37.12,0.092,0,0,1430,350.04
$SM_GC,3.03,9.25,0.15,37.12,0.063,0.122,0.092,396,2398,1430,-9.10,-0.82,350.04,0,0,0,0,0,0,14.04,14.09,14.05
$IRIDIUM_FIX,4735.69,-12510.58,200115,222213
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.73
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3675904
$PM_FREEKB,36698176
$24V_AH,13.3,207.584
$10V_AH,12.4,0.000
$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,23.075,96.450,307.500,37.125,0.000,0.000,0.000,243.475,0.000,0.000,37.927,1701.681,4710.012,526.951,1596.301,688.563,0.000,1563.968,0.000,1124.797,0.000,0.536,0.000
$DEVICE_MAMPS,360.315,141.525,1077.885,91.800,0.000,0.000,0.000,164.475,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8589.000,131.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.442,5.178,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,23416,713
$CAP_FILE_SIZE,134602,0
$CFSIZE,260034560,171581440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9446.10,0x2378ba,7,5
$CURRENT,0.158,320.1,1
$GPS,210115,031542,4752.253,-12515.763,15,1.2,32,18.8