version: 66.12
glider: 187
mission: 4
dive: 427
start: 10 1 114 14 13 44
data:
$ID,187
$MISSION,4
$DIVE,427
$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,-1593979.2
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,011014,140500,4753.436,-12515.835,55,1.1,55,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-74.1
$GPS2,011014,141318,4753.536,-12515.787,14,2.0,14,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,139.6,7472,-14.0,-7.333,-18.81,2445
$D_GRID,232
$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,26,-0.59,-116.8,379,2412,1435,1229,0.0,0.0,0,80,0.00,0.00,-47.90,0.000,16386,0.000,0.000,379,2410,2570,2654,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,379,2410,2655,2486,3.1,-1.9,5,130,12.68,2.53,-16.70,0.000,18692,0.379,0.110,3124,3801,3337,3382,3293,0,0,0,0,0,0,13.89,14.17,14.54
$GC,360,-0.59,-116.8,3124,3800,3382,3297,44.6,-12.7,33,370,0.00,2.40,0.00,0.000,1030,0.000,0.060,3124,2401,3342,3387,3298,0,0,0,0,0,0,28.83,14.27,28.83
$GC,610,-0.59,-116.8,3124,2396,3383,3298,76.7,-12.7,58,621,0.00,2.50,0.00,0.000,260,0.000,0.088,3124,3798,3340,3383,3298,0,0,0,0,0,0,28.83,14.17,28.83
$GC,811,-0.59,-116.8,3125,3798,3383,3299,98.3,-9.6,78,822,0.00,2.40,0.00,0.000,1030,0.000,0.061,3124,2398,3341,3383,3299,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1062,-0.59,-116.8,3124,2394,3384,3299,122.2,-9.5,103,1074,0.00,2.45,0.00,0.000,516,0.000,0.075,3124,990,3341,3383,3299,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1144,-0.59,-116.8,3124,989,3384,3299,130.8,-10.6,111,1156,0.00,2.45,0.00,0.000,1030,0.000,0.071,3124,2393,3341,3384,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1396,-0.59,-116.8,3128,2392,3384,3299,156.7,-9.7,136,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2392,3341,3384,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1646,-0.59,-116.8,3124,2392,3383,3298,181.7,-9.7,161,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2392,3344,3389,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1896,-0.59,-116.8,3123,2393,3384,3299,207.5,-10.9,186,1907,0.00,2.53,0.00,0.000,260,0.000,0.090,3125,3811,3339,3381,3298,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1977,-0.59,-116.8,3124,3812,3383,3298,215.8,-10.0,194,1987,0.00,2.42,0.00,0.000,1030,0.000,0.062,3124,2398,3339,3384,3294,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,2143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2144,begin apogee
$GC,2152,-0.25,0.0,3124,2312,3383,3297,232.0,-9.3,211,2250,0.38,0.00,90.12,0.959,10246,0.187,0.000,3235,2312,2857,2930,2784,0,0,0,0,0,0,14.03,28.83,13.64
$STATE,2255,end apogee,CONTROL_FINISHED_OK
$STATE,2255,begin climb
$GC,2260,0.59,116.8,3235,2312,2928,2779,237.1,0.0,221,2359,0.85,0.00,90.70,0.945,10246,0.138,0.000,3508,2315,2380,2511,2249,0,0,0,0,0,0,14.09,28.83,13.49
$GC,2603,0.63,166.7,3508,2311,2515,2248,223.6,5.2,256,2653,0.00,2.58,39.35,0.931,8452,0.000,0.085,3508,3749,2175,2320,2030,0,0,0,0,0,0,28.83,14.15,13.62
$GC,2702,0.63,166.7,3508,3749,2319,2030,217.1,7.7,266,2713,0.00,2.45,0.00,0.000,1030,0.000,0.065,3509,2341,2175,2320,2030,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2953,0.64,166.7,3508,2341,2319,2030,200.0,6.6,291,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2341,2175,2320,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3204,0.64,166.7,3508,2345,2318,2030,182.2,7.2,316,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2341,2175,2320,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3453,0.64,166.7,3508,2340,2320,2030,162.5,7.8,341,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2341,2173,2320,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3704,0.64,166.7,3508,2341,2326,2030,143.6,7.4,366,3715,0.00,2.50,0.00,0.000,516,0.000,0.080,3508,915,2172,2315,2029,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3808,0.64,166.7,3509,914,2319,2029,136.2,7.0,376,3819,0.00,2.47,0.00,0.000,1030,0.000,0.069,3508,2344,2175,2320,2030,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4059,0.66,166.7,3514,2345,2325,2029,118.7,6.6,401,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2343,2176,2324,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4309,0.67,166.7,3508,2343,2319,2029,101.8,6.5,426,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2343,2174,2320,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4559,0.72,236.6,3508,2343,2319,2029,88.2,4.4,451,4622,0.12,2.58,52.45,0.797,10756,0.137,0.081,3576,920,1891,2031,1752,0,0,0,0,0,0,14.41,14.34,13.85
$GC,4682,0.72,236.6,3576,920,2031,1757,79.4,7.6,463,4693,0.00,2.47,0.00,0.000,1030,0.000,0.071,3576,2334,1891,2031,1752,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4935,0.72,236.6,3576,2333,2031,1752,56.2,9.7,488,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2334,1891,2031,1752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5184,0.72,236.6,3576,2333,2030,1752,32.9,9.5,513,5195,0.00,2.47,0.00,0.000,260,0.000,0.087,3576,3734,1891,2031,1752,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5314,0.72,236.6,3576,3734,2030,1752,19.3,10.2,526,5325,0.00,2.42,0.00,0.000,1030,0.000,0.066,3576,2332,1890,2030,1751,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5566,0.80,349.0,3576,2331,2031,1752,10.2,2.6,551,5627,0.00,2.60,50.83,0.127,8452,0.000,0.087,3575,3746,1436,1581,1291,0,0,0,0,0,0,28.83,14.23,14.21
$STATE,5673,end climb,SURFACE_DEPTH_REACHED
$STATE,5673,begin surface coast
$FINISH,1.3,1.023773
$STATE,5714,end surface coast,CONTROL_FINISHED_OK
$STATE,5714,begin surface
$SM_CCo,5742,11.45,0.099,0,0,1328,375.06
$SM_GC,3.23,9.05,2.38,11.45,0.059,0.064,0.099,393,2406,1328,-9.11,0.93,375.06,0,0,0,0,0,0,14.31,14.31,14.26
$IRIDIUM_FIX,4735.69,-12520.31,011014,121251
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.53
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3801376
$PM_FREEKB,50543456
$24V_AH,13.5,102.635
$10V_AH,13.6,0.000
$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,23.075,44.725,323.450,11.450,0.000,0.000,0.000,254.100,0.000,0.000,15.059,1328.079,2814.622,445.952,1270.941,390.042,0.000,1291.599,0.000,897.703,0.000,0.536,0.000
$DEVICE_MAMPS,378.675,143.820,958.545,98.685,0.000,0.000,0.000,156.060,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5730.000,76.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.251,5.092,0.000,0.000
$MEM,290884
$DATA_FILE_SIZE,20119,566
$CAP_FILE_SIZE,101051,0
$CFSIZE,260034560,215347200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7315.53,0x2378ba,7,5
$CURRENT,0.163, 15.8,1
$GPS,011014,155112,4753.449,-12515.289,32,1.4,43,18.8