version: 66.12
glider: 187
mission: 4
dive: 426
start: 10 1 114 12 11 47
data:
$ID,187
$MISSION,4
$DIVE,426
$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,-1593978
$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,25
$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
$GPS1,011014,120425,4753.274,-12516.036,20,1.3,20,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-71.0
$GPS2,011014,121118,4753.318,-12516.096,15,1.2,15,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,135.2,7682,-14.0,-7.333,-18.81,2445
$D_GRID,257
$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,28,-0.59,-116.8,386,2399,1439,1221,0.0,0.0,0,81,0.00,0.00,-49.22,0.000,16386,0.000,0.000,385,2399,2596,2682,2510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,385,2399,2682,2510,3.2,-2.1,5,124,12.55,2.58,-16.05,0.000,18692,0.375,0.111,3123,3804,3337,3381,3293,0,0,0,0,0,0,13.87,14.21,14.52
$GC,355,-0.59,-116.8,3124,3804,3382,3298,46.1,-12.8,32,363,0.00,2.45,0.00,0.000,1030,0.000,0.063,3124,2390,3340,3382,3298,0,0,0,0,0,0,28.83,14.24,28.83
$GC,604,-0.59,-116.8,3123,2386,3382,3298,73.6,-10.9,57,613,0.00,2.55,0.00,0.000,260,0.000,0.089,3124,3818,3343,3383,3304,0,0,0,0,0,0,28.83,14.20,28.83
$GC,844,-0.59,-116.8,3124,3818,3383,3299,101.4,-10.6,81,854,0.00,2.42,0.00,0.000,1030,0.000,0.062,3124,2407,3340,3382,3299,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1094,-0.59,-116.8,3124,2403,3383,3299,125.5,-9.5,106,1104,0.00,2.53,0.00,0.000,260,0.000,0.087,3124,3815,3341,3383,3299,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1217,-0.59,-116.8,3124,3815,3382,3294,138.0,-10.4,118,1227,0.00,2.45,0.00,0.000,1030,0.000,0.063,3124,2390,3341,3383,3299,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1467,-0.59,-116.8,3124,2386,3380,3299,162.7,-9.3,143,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3341,3383,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1717,-0.59,-116.8,3124,2386,3383,3299,186.0,-9.2,168,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3340,3382,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1967,-0.59,-116.8,3122,2386,3383,3299,208.8,-9.3,193,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2386,3341,3383,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2217,-0.59,-116.8,3124,2385,3383,3299,232.0,-9.7,218,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2468,-0.59,-116.8,3124,2385,3382,3298,256.6,-9.7,239,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3341,3384,3299,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2493,begin apogee
$GC,2502,-0.25,0.0,3124,2317,3382,3304,259.5,-9.6,240,2599,0.40,0.00,91.47,1.002,10246,0.187,0.000,3239,2318,2856,2929,2784,0,0,0,0,0,0,14.07,28.83,13.59
$STATE,2602,end apogee,CONTROL_FINISHED_OK
$STATE,2602,begin climb
$GC,2606,0.59,116.8,3239,2317,2927,2781,263.7,0.0,243,2710,0.85,2.65,92.25,0.976,10500,0.137,0.085,3511,3737,2377,2509,2246,0,0,0,0,0,0,14.08,13.97,13.48
$GC,2750,0.63,116.8,3511,3737,2509,2245,259.9,5.5,251,2760,0.00,2.47,0.00,0.000,1030,0.000,0.065,3519,2340,2378,2512,2245,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3061,0.64,116.8,3518,2338,2508,2247,240.0,6.6,272,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2338,2376,2509,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3312,0.66,116.8,3519,2337,2504,2239,224.0,6.4,297,3323,0.00,2.50,0.00,0.000,516,0.000,0.079,3519,907,2375,2508,2243,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3435,0.68,116.8,3519,907,2508,2243,216.2,6.2,309,3446,0.00,2.47,0.00,0.000,1030,0.000,0.068,3519,2329,2375,2508,2243,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3686,0.72,116.8,3519,2329,2508,2242,200.9,5.6,334,3698,0.12,2.50,0.00,0.000,2308,0.138,0.083,3583,3749,2375,2508,2243,0,0,0,0,0,0,14.36,14.26,28.83
$GC,3791,0.72,116.8,3583,3749,2505,2241,192.1,9.3,344,3803,0.15,2.50,0.00,0.000,5126,0.274,0.067,3555,2316,2374,2508,2241,0,0,0,0,0,0,14.02,14.31,28.83
$GC,4044,0.72,116.8,3555,2313,2507,2241,174.1,7.0,369,4054,0.00,2.53,0.00,0.000,260,0.000,0.086,3555,3737,2372,2508,2236,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4114,0.72,116.8,3555,3737,2507,2240,168.4,8.5,376,4125,0.00,2.45,0.00,0.000,1030,0.000,0.067,3562,2321,2372,2504,2241,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4365,0.74,116.8,3562,2320,2507,2240,150.5,6.1,401,4375,0.00,2.45,0.00,0.000,516,0.000,0.082,3562,925,2373,2507,2240,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4435,0.74,116.8,3562,925,2507,2240,145.7,7.0,408,4446,0.00,2.45,0.00,0.000,1030,0.000,0.069,3562,2335,2373,2507,2240,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4686,0.75,116.8,3562,2334,2507,2240,129.1,6.8,433,4697,0.00,2.47,0.00,0.000,260,0.000,0.088,3562,3735,2373,2507,2239,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4757,0.75,116.8,3562,3735,2507,2239,123.6,8.0,440,4768,0.00,2.45,0.00,0.000,1030,0.000,0.068,3562,2322,2372,2506,2239,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5009,0.77,116.8,3562,2321,2506,2238,106.6,6.6,465,5019,0.00,2.47,0.00,0.000,516,0.000,0.084,3562,921,2372,2506,2239,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5231,0.80,116.8,3562,916,2506,2237,93.6,5.5,487,5242,0.00,2.47,0.00,0.000,1030,0.000,0.070,3562,2340,2373,2507,2239,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5483,0.85,185.8,3562,2339,2506,2238,80.8,4.4,512,5545,0.12,2.55,52.00,0.789,10500,0.145,0.088,3617,3745,2097,2242,1953,0,0,0,0,0,0,14.35,14.32,13.82
$GC,5625,0.85,185.8,3613,3740,2242,1957,68.5,11.2,526,5636,0.00,2.47,0.00,0.000,1030,0.000,0.070,3617,2325,2098,2242,1954,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5877,0.85,185.8,3617,2325,2245,1954,44.6,9.0,551,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,3617,2325,2097,2242,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6127,0.86,185.8,3618,2325,2241,1953,26.1,6.8,576,6138,0.00,2.47,0.00,0.000,516,0.000,0.085,3613,916,2098,2242,1954,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6369,0.96,328.7,3617,918,2241,1956,17.2,1.3,600,6449,0.00,2.45,68.80,0.161,9222,0.000,0.070,3617,2327,1517,1662,1372,0,0,0,0,0,0,28.83,14.29,14.16
$STATE,6596,end climb,SURFACE_DEPTH_REACHED
$STATE,6596,begin surface coast
$FINISH,1.3,1.023766
$STATE,6641,end surface coast,CONTROL_FINISHED_OK
$STATE,6641,begin surface
$SM_CCo,6667,20.33,0.099,0,0,1328,375.06
$SM_GC,3.01,9.15,0.12,20.33,0.055,0.162,0.099,379,2409,1328,-9.11,-0.76,375.06,0,0,0,0,0,0,14.38,14.33,14.24
$IRIDIUM_FIX,4732.49,-12511.36,011014,101034
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.70
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3801696
$PM_FREEKB,50543488
$24V_AH,13.5,102.511
$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,23.350,60.000,304.525,20.325,0.000,0.000,0.000,198.875,0.000,0.000,15.892,1523.163,3408.414,477.815,1310.082,380.580,0.000,1295.485,0.000,977.767,0.000,0.535,0.000
$DEVICE_MAMPS,374.850,182.835,1002.150,98.685,0.000,0.000,0.000,161.415,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6655.000,2626.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.015,4.136,0.000,0.000
$MEM,290864
$DATA_FILE_SIZE,20086,627
$CAP_FILE_SIZE,110569,0
$CFSIZE,260034560,215404544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7544.70,0x2378ba,7,5
$CURRENT,0.180,  6.9,1
$GPS,011014,140500,4753.436,-12515.835,55,1.1,55,18.8