version: 66.12
glider: 187
mission: 4
dive: 820
start: 1 21 115 3 25 3
data:
$ID,187
$MISSION,4
$DIVE,820
$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,-1595489.1
$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,34
$R_STBD_OVSHOOT,24
$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
$GPS1,210115,031542,4752.253,-12515.763,15,1.2,32,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-72.7
$GPS2,210115,032435,4752.267,-12515.885,16,0.8,32,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,107.6,7005,-14.0,-7.333,-18.81,2445
$D_GRID,299
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.59,-116.8,395,2400,1535,1328,0.0,0.0,0,82,0.00,0.00,-47.45,0.000,16386,0.000,0.000,395,2400,2649,2731,2568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.59,-116.8,394,2400,2732,2569,3.3,-1.5,5,126,12.48,2.60,-15.38,0.000,18948,0.367,0.094,3124,1000,3337,3382,3292,0,0,0,0,0,0,13.72,13.99,14.38
$GC,198,-0.59,-116.8,3125,999,3382,3295,19.1,-12.5,16,206,0.00,2.53,0.00,0.000,1030,0.000,0.069,3124,2406,3338,3382,3294,0,0,0,0,0,0,28.83,13.97,28.83
$GC,447,-0.59,-116.8,3126,2404,3382,3294,50.3,-12.7,41,456,0.00,2.58,0.00,0.000,260,0.000,0.084,3124,3817,3338,3382,3294,0,0,0,0,0,0,28.83,13.88,28.83
$GC,527,-0.59,-116.8,3121,3820,3382,3294,60.6,-12.5,49,536,0.00,2.50,0.00,0.000,1030,0.000,0.057,3124,2407,3338,3382,3294,0,0,0,0,0,0,28.83,13.95,28.83
$GC,778,-0.59,-116.8,3125,2401,3378,3294,88.9,-10.2,74,786,0.00,2.60,0.00,0.000,260,0.000,0.083,3124,3813,3340,3382,3299,0,0,0,0,0,0,28.83,13.86,28.83
$GC,859,-0.59,-116.8,3124,3813,3383,3294,97.2,-10.1,82,868,0.00,2.50,0.00,0.000,1030,0.000,0.057,3124,2392,3338,3382,3294,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1110,-0.59,-116.8,3124,2387,3385,3294,120.1,-9.6,107,1119,0.00,2.50,0.00,0.000,516,0.000,0.070,3129,989,3339,3383,3295,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1150,-0.59,-116.8,3125,986,3382,3295,124.0,-9.3,111,1160,0.00,2.53,0.00,0.000,1030,0.000,0.067,3124,2404,3339,3383,3295,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1403,-0.59,-116.8,3125,2402,3383,3295,147.9,-9.4,136,1412,0.00,2.58,0.00,0.000,260,0.000,0.083,3124,3811,3341,3387,3295,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1528,-0.59,-116.8,3124,3811,3383,3297,159.3,-8.8,148,1537,0.00,2.50,0.00,0.000,1030,0.000,0.056,3124,2398,3338,3381,3295,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1778,-0.59,-116.8,3125,2397,3383,3295,178.4,-6.3,173,1787,0.00,2.53,0.00,0.000,516,0.000,0.070,3125,996,3339,3383,3295,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1862,-0.59,-116.8,3121,996,3383,3296,183.4,-5.8,181,1870,0.00,2.53,0.00,0.000,1030,0.000,0.067,3124,2397,3340,3386,3295,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2111,-0.59,-116.8,3124,2397,3383,3295,198.3,-6.0,206,2120,0.00,2.62,0.00,0.000,260,0.000,0.083,3126,3821,3339,3383,3296,0,0,0,0,0,0,28.83,13.78,28.83
$GC,2237,-0.59,-116.8,3129,3821,3383,3293,206.3,-6.7,218,2245,0.00,2.53,0.00,0.000,1030,0.000,0.057,3124,2400,3345,3388,3302,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2487,-0.59,-116.8,3124,2400,3383,3296,224.6,-7.8,243,2497,0.00,2.62,0.00,0.000,260,0.000,0.083,3126,3814,3338,3382,3295,0,0,0,0,0,0,28.83,13.82,28.83
$GC,2539,-0.59,-116.8,3124,3814,3382,3295,228.6,-8.1,248,2547,0.00,2.50,0.00,0.000,1030,0.000,0.057,3124,2402,3340,3386,3295,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2788,-0.59,-116.8,3124,2402,3382,3295,247.2,-7.2,273,2797,0.00,2.62,0.00,0.000,260,0.000,0.082,3124,3813,3339,3383,3295,0,0,0,0,0,0,28.83,13.82,28.83
$GC,2848,-0.59,-116.8,3124,3813,3383,3295,251.7,-7.4,279,2857,0.00,2.53,0.00,0.000,1030,0.000,0.058,3120,2391,3338,3382,3295,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3185,-0.59,-116.8,3124,2387,3383,3300,274.3,-6.5,292,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3337,3383,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3478,-0.59,-116.8,3125,2386,3383,3294,296.2,-7.5,302,3486,0.00,2.65,0.00,0.000,260,0.000,0.085,3124,3814,3338,3382,3294,0,0,0,0,0,0,28.83,13.81,28.83
$STATE,3514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3514,begin apogee
$GC,3529,-0.25,0.0,3128,2326,3382,3294,299.3,-7.6,306,3629,0.40,0.00,94.07,1.043,10246,0.172,0.000,3237,2324,2859,2930,2789,0,0,0,0,0,0,13.61,28.83,13.45
$STATE,3632,end apogee,CONTROL_FINISHED_OK
$STATE,3632,begin climb
$GC,3637,0.59,116.8,3238,2326,2928,2785,303.8,0.0,309,3753,0.85,2.58,95.18,1.030,10756,0.121,0.072,3519,919,2378,2504,2253,0,0,0,0,0,0,13.89,13.99,13.35
$GC,3804,0.61,116.8,3519,919,2505,2252,299.7,6.4,328,3814,0.00,2.53,0.00,0.000,1030,0.000,0.066,3519,2342,2379,2505,2253,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4126,0.66,183.0,3519,2341,2504,2249,283.4,4.6,340,4192,0.00,2.58,52.95,1.008,8452,0.000,0.083,3520,3735,2107,2251,1964,0,0,0,0,0,0,28.83,14.09,13.47
$GC,4314,0.66,183.0,3519,3732,2251,1964,270.9,8.9,359,4324,0.00,2.47,0.00,0.000,1030,0.000,0.060,3519,2329,2107,2250,1964,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4641,0.69,183.0,3519,2329,2251,1961,250.1,5.6,371,4652,0.00,2.50,0.00,0.000,516,0.000,0.076,3519,927,2107,2250,1965,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4759,0.72,183.0,3520,926,2250,1969,243.0,5.8,382,4770,0.12,2.50,0.00,0.000,3078,0.136,0.067,3578,2327,2108,2252,1965,0,0,0,0,0,0,13.97,13.95,28.83
$GC,5011,0.72,183.0,3578,2324,2250,1966,223.6,7.6,407,5023,0.00,2.55,0.00,0.000,260,0.000,0.081,3578,3733,2111,2251,1971,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5106,0.72,183.0,3578,3733,2250,1965,215.7,9.1,416,5117,0.00,2.50,0.00,0.000,1030,0.000,0.060,3577,2328,2107,2250,1965,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5359,0.72,183.0,3578,2325,2251,1965,195.6,8.0,441,5370,0.00,2.53,0.00,0.000,516,0.000,0.077,3578,916,2108,2251,1965,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5401,0.72,183.0,3582,914,2250,1965,192.1,8.2,445,5412,0.00,2.50,0.00,0.000,1030,0.000,0.066,3578,2329,2108,2251,1965,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5654,0.72,183.0,3582,2328,2250,1965,170.3,9.4,470,5665,0.00,2.55,0.00,0.000,260,0.000,0.082,3581,3735,2107,2250,1965,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5736,0.72,183.0,3579,3734,2251,1965,161.7,10.8,478,5747,0.00,2.50,0.00,0.000,1030,0.000,0.060,3578,2320,2111,2251,1971,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5988,0.72,183.0,3578,2320,2251,1965,138.0,8.9,503,5999,0.00,2.50,0.00,0.000,516,0.000,0.073,3581,920,2105,2250,1961,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6210,0.72,183.0,3582,920,2250,1965,119.4,7.4,525,6221,0.00,2.53,0.00,0.000,1030,0.000,0.067,3581,2329,2108,2251,1965,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6463,0.74,183.0,3582,2329,2251,1965,102.1,6.7,550,6474,0.00,2.58,0.00,0.000,260,0.000,0.083,3581,3746,2108,2251,1965,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6625,0.74,183.0,3582,3746,2250,1966,90.2,7.5,566,6636,0.00,2.53,0.00,0.000,1030,0.000,0.060,3587,2320,2108,2251,1965,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6878,0.78,247.9,3587,2319,2251,1965,76.3,4.6,591,6937,0.00,2.62,49.20,0.786,8452,0.000,0.082,3587,3737,1842,1980,1705,0,0,0,0,0,0,28.83,14.21,13.66
$GC,7018,0.78,247.9,3593,3737,1983,1704,68.9,6.9,605,7029,0.00,2.50,0.00,0.000,1030,0.000,0.060,3590,2327,1844,1984,1704,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7270,0.80,247.9,3588,2329,1984,1704,54.2,6.3,630,7281,0.00,2.50,0.00,0.000,516,0.000,0.076,3587,931,1842,1984,1700,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7482,0.80,247.9,3588,931,1984,1705,39.6,6.9,651,7494,0.00,2.50,0.00,0.000,1030,0.000,0.066,3589,2330,1846,1984,1708,0,0,0,0,0,0,28.83,14.01,28.83
$GC,7737,0.80,247.9,3588,2330,1984,1706,23.0,6.9,676,7748,0.00,2.53,0.00,0.000,516,0.000,0.073,3588,921,1844,1983,1706,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7789,0.80,247.9,3588,921,1984,1706,19.2,6.9,681,7799,0.00,2.50,0.00,0.000,1030,0.000,0.066,3588,2332,1845,1984,1706,0,0,0,0,0,0,28.83,13.94,28.83
$STATE,8025,end climb,SURFACE_DEPTH_REACHED
$STATE,8025,begin surface coast
$FINISH,1.5,1.011923
$STATE,8091,end surface coast,CONTROL_FINISHED_OK
$STATE,8091,begin surface
$SM_CCo,8120,44.25,0.090,0,0,1430,350.04
$SM_GC,2.76,9.10,0.12,44.25,0.045,0.146,0.090,379,2411,1430,-9.12,-0.68,350.04,0,0,0,0,0,0,14.15,14.10,14.08
$IRIDIUM_FIX,4742.09,-13136.13,210115,000027
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.98
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3675584
$PM_FREEKB,36678144
$24V_AH,13.3,207.732
$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,22.950,106.900,291.400,44.250,0.000,0.000,0.000,228.575,0.000,0.000,33.096,1701.490,4318.624,514.210,1513.729,638.399,0.000,1475.443,0.000,1118.023,0.000,0.537,0.000
$DEVICE_MAMPS,367.200,146.115,1043.460,90.270,0.000,0.000,0.000,166.005,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8122.000,3658.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.637,4.112,0.000,0.000
$MEM,290820
$DATA_FILE_SIZE,23375,711
$CAP_FILE_SIZE,128659,0
$CFSIZE,260034560,171515904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9278.74,0x2378ba,7,5
$CURRENT,0.243,340.1,1
$GPS,210115,054235,4752.835,-12515.622,12,1.7,29,18.8