version: 66.12
glider: 187
mission: 4
dive: 422
start: 10 1 114 3 32 19
data:
$ID,187
$MISSION,4
$DIVE,422
$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,-1593972.9
$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,28
$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,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
$GPS1,011014,032348,4753.450,-12516.748,43,1.6,49,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-70.0
$GPS2,011014,033152,4753.422,-12516.662,42,1.5,43,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,121.7,8409,-14.0,-7.333,-18.81,2445
$D_GRID,275
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,397,2398,1434,1228,0.0,0.0,0,80,0.00,0.00,-48.22,0.000,16386,0.000,0.000,398,2400,2574,2658,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,403,2400,2661,2489,3.1,-2.0,5,123,12.73,2.60,-16.38,0.000,18692,0.384,0.110,3126,3821,3336,3382,3290,0,0,0,0,0,0,13.85,14.17,14.52
$GC,354,-0.59,-116.8,3126,3825,3382,3295,42.0,-12.9,32,363,0.00,2.45,0.00,0.000,1030,0.000,0.061,3126,2395,3338,3382,3295,0,0,0,0,0,0,28.83,14.26,28.83
$GC,604,-0.59,-116.8,3126,2396,3383,3295,69.7,-11.1,57,612,0.00,2.53,0.00,0.000,260,0.000,0.088,3126,3805,3339,3383,3295,0,0,0,0,0,0,28.83,14.19,28.83
$GC,843,-0.59,-116.8,3126,3805,3383,3302,95.5,-11.0,81,852,0.00,2.47,0.00,0.000,1030,0.000,0.064,3126,2384,3338,3383,3293,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1093,-0.59,-116.8,3127,2382,3383,3297,120.9,-9.7,106,1102,0.00,2.55,0.00,0.000,260,0.000,0.087,3126,3808,3338,3379,3297,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1228,-0.59,-116.8,3126,3808,3383,3298,134.3,-10.1,119,1238,0.00,2.42,0.00,0.000,1030,0.000,0.063,3126,2403,3338,3380,3297,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1478,-0.59,-116.8,3126,2399,3381,3297,157.4,-8.5,144,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3339,3381,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1728,-0.59,-116.8,3126,2399,3383,3297,178.5,-8.7,169,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3342,3388,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1977,-0.59,-116.8,3126,2399,3383,3297,201.9,-10.1,194,1986,0.00,2.47,0.00,0.000,516,0.000,0.075,3126,983,3337,3378,3296,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2018,-0.59,-116.8,3125,983,3387,3291,206.1,-10.5,198,2027,0.00,2.47,0.00,0.000,1030,0.000,0.070,3126,2398,3339,3383,3296,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2267,-0.59,-116.8,3126,2397,3383,3295,230.1,-9.3,223,2277,0.00,2.53,0.00,0.000,260,0.000,0.089,3126,3813,3339,3383,3295,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2348,-0.59,-116.8,3126,3815,3383,3297,237.5,-9.3,231,2358,0.00,2.45,0.00,0.000,1030,0.000,0.065,3126,2391,3339,3383,3295,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2609,-0.59,-116.8,3126,2389,3387,3299,261.5,-9.4,249,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2784,begin apogee
$GC,2793,-0.25,0.0,3126,2323,3383,3293,277.2,-8.8,255,2891,0.38,0.00,91.53,1.023,10246,0.190,0.000,3237,2326,2856,2929,2783,0,0,0,0,0,0,14.05,28.83,13.59
$STATE,2894,end apogee,CONTROL_FINISHED_OK
$STATE,2894,begin climb
$GC,2898,0.59,116.8,3235,2326,2928,2779,281.7,0.0,258,2999,0.85,0.00,92.53,1.004,10246,0.140,0.000,3506,2326,2382,2514,2250,0,0,0,0,0,0,14.07,28.83,13.45
$GC,3299,0.61,116.8,3507,2326,2517,2245,262.6,6.2,272,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2326,2377,2510,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3599,0.64,116.8,3507,2326,2505,2244,244.6,5.8,288,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2326,2376,2510,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3849,0.66,116.8,3506,2326,2510,2242,228.8,6.4,313,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2327,2376,2510,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4100,0.69,116.8,3507,2330,2510,2241,213.7,6.1,338,4111,0.12,2.53,0.00,0.000,2308,0.141,0.086,3568,3742,2375,2510,2241,0,0,0,0,0,0,14.36,14.26,28.83
$GC,4221,0.69,116.8,3568,3739,2509,2241,204.0,8.6,350,4232,0.00,2.45,0.00,0.000,1030,0.000,0.067,3575,2335,2375,2509,2241,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4472,0.69,116.8,3575,2335,2508,2237,183.3,8.2,375,4483,0.00,2.47,0.00,0.000,516,0.000,0.078,3585,914,2375,2509,2241,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4613,0.69,116.8,3586,914,2508,2241,171.6,8.4,389,4624,0.15,2.47,0.00,0.000,5126,0.259,0.070,3552,2340,2375,2509,2241,0,0,0,0,0,0,14.05,14.31,28.83
$GC,4865,0.69,116.8,3553,2340,2508,2240,153.4,7.0,414,4876,0.00,2.50,0.00,0.000,516,0.000,0.083,3552,925,2376,2513,2240,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4936,0.69,116.8,3551,925,2512,2240,148.5,6.9,421,4947,0.00,2.45,0.00,0.000,1030,0.000,0.072,3552,2324,2375,2509,2241,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5187,0.70,116.8,3552,2327,2508,2239,131.9,6.5,446,5197,0.00,2.50,0.00,0.000,260,0.000,0.088,3552,3740,2373,2508,2239,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5367,0.70,116.8,3554,3739,2507,2239,119.1,6.9,464,5378,0.00,2.45,0.00,0.000,1030,0.000,0.067,3552,2325,2373,2507,2239,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5620,0.73,116.8,3552,2325,2503,2238,103.5,5.8,489,5631,0.00,2.55,0.00,0.000,260,0.000,0.088,3551,3747,2372,2507,2238,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5831,0.76,116.8,3552,3746,2509,2237,90.4,6.2,510,5842,0.00,2.45,0.00,0.000,1030,0.000,0.067,3552,2333,2370,2507,2234,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6082,0.81,189.9,3552,2334,2504,2237,77.5,4.3,535,6151,0.00,2.55,55.33,0.785,8708,0.000,0.080,3552,917,2084,2233,1935,0,0,0,0,0,0,28.83,14.31,13.83
$GC,6384,0.81,189.9,3553,916,2228,1936,56.0,6.9,565,6396,0.10,2.47,0.00,0.000,3078,0.158,0.070,3594,2334,2081,2227,1936,0,0,0,0,0,0,14.23,14.24,28.83
$GC,6636,0.82,189.9,3594,2333,2232,1935,37.9,6.8,590,6647,0.00,2.50,0.00,0.000,516,0.000,0.081,3601,915,2081,2228,1935,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6698,0.84,189.9,3600,916,2228,1936,33.9,6.3,596,6709,0.00,2.50,0.00,0.000,1030,0.000,0.070,3600,2337,2082,2228,1937,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6950,0.87,189.9,3600,2337,2228,1935,18.9,5.8,621,6961,0.00,2.47,0.00,0.000,260,0.000,0.088,3604,3742,2082,2228,1936,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7151,0.97,327.6,3600,3741,2227,1935,8.8,1.5,641,7224,0.10,2.45,62.10,0.123,11270,0.165,0.068,3638,2326,1523,1665,1382,0,0,0,0,0,0,14.24,14.28,14.21
$STATE,7283,end climb,SURFACE_DEPTH_REACHED
$STATE,7283,begin surface coast
$FINISH,1.3,1.011479
$STATE,7334,end surface coast,CONTROL_FINISHED_OK
$STATE,7335,begin surface
$SM_CCo,7361,20.92,0.099,0,0,1328,375.06
$SM_GC,2.09,9.30,0.12,20.92,0.063,0.168,0.099,394,2397,1328,-9.10,-0.99,375.06,0,0,0,0,0,0,14.32,14.31,14.26
$IRIDIUM_FIX,4732.49,-12511.36,011014,010122
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.43
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3802976
$PM_FREEKB,50576672
$24V_AH,13.5,101.981
$10V_AH,13.7,0.000
$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,23.725,64.950,301.475,20.925,0.000,0.000,0.000,231.550,0.000,0.000,44.314,1605.390,3941.194,480.499,1423.085,412.603,0.000,1362.680,0.000,1037.138,0.000,0.535,0.000
$DEVICE_MAMPS,384.030,174.420,1022.805,98.685,0.000,0.000,0.000,159.885,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7351.000,2922.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.912,4.116,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,23348,659
$CAP_FILE_SIZE,116835,0
$CFSIZE,260034560,215650304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8468.48,0x2378ba,7,5
$CURRENT,0.100,347.2,1
$GPS,011014,053714,4753.274,-12516.379,42,2.2,62,18.8