version: 66.12
glider: 187
mission: 4
dive: 428
start: 10 1 114 15 58 50
data:
$ID,187
$MISSION,4
$DIVE,428
$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,-1593980.5
$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,21
$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
$GPS1,011014,155112,4753.449,-12515.289,32,1.4,43,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-73.2
$GPS2,011014,155821,4753.515,-12515.221,9,2.2,29,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,141.7,6816,-14.0,-7.333,-18.81,2445
$D_GRID,220
$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,28,-0.59,-116.8,392,2396,1445,1217,0.0,0.0,0,91,0.00,0.00,-58.40,0.000,16386,0.000,0.000,393,2396,2879,2930,2829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,393,2396,2931,2830,3.9,-3.4,6,130,12.57,2.58,-8.25,0.000,18692,0.377,0.109,3125,3808,3339,3381,3297,0,0,0,0,0,0,13.85,14.24,14.55
$GC,362,-0.59,-116.8,3124,3808,3381,3299,49.5,-13.6,33,371,0.00,2.45,0.00,0.000,1030,0.000,0.062,3124,2386,3338,3381,3295,0,0,0,0,0,0,28.83,14.26,28.83
$GC,611,-0.59,-116.8,3125,2381,3383,3300,80.9,-11.3,58,620,0.00,2.55,0.00,0.000,260,0.000,0.088,3121,3818,3341,3382,3300,0,0,0,0,0,0,28.83,14.17,28.83
$GC,771,-0.59,-116.8,3125,3818,3382,3300,100.7,-11.9,74,780,0.00,2.42,0.00,0.000,1030,0.000,0.061,3131,2403,3340,3381,3300,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1021,-0.59,-116.8,3124,2402,3381,3298,125.9,-9.8,99,1030,0.00,2.45,0.00,0.000,516,0.000,0.073,3125,991,3341,3383,3300,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1081,-0.59,-116.8,3125,991,3382,3301,131.9,-10.3,105,1090,0.00,2.45,0.00,0.000,1030,0.000,0.070,3126,2396,3341,3382,3300,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1331,-0.59,-116.8,3127,2395,3383,3300,156.0,-9.9,130,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2393,3341,3382,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1581,-0.59,-116.8,3125,2395,3382,3301,180.0,-9.4,155,1589,0.00,2.50,0.00,0.000,260,0.000,0.089,3125,3813,3341,3382,3300,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1611,-0.59,-116.8,3125,3813,3382,3300,182.8,-9.3,158,1619,0.00,2.42,0.00,0.000,1030,0.000,0.060,3125,2400,3341,3382,3300,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1863,-0.59,-116.8,3125,2399,3382,3300,204.7,-8.6,183,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3340,3382,3298,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2057,begin apogee
$GC,2066,-0.25,0.0,3125,2313,3377,3300,220.8,-7.9,203,2162,0.38,0.00,90.03,0.948,10246,0.187,0.000,3239,2312,2857,2930,2784,0,0,0,0,0,0,14.04,28.83,13.64
$STATE,2168,end apogee,CONTROL_FINISHED_OK
$STATE,2168,begin climb
$GC,2172,0.59,116.8,3239,2312,2928,2780,224.9,0.0,213,2275,0.85,2.53,90.97,0.929,10756,0.142,0.077,3510,939,2379,2513,2246,0,0,0,0,0,0,14.09,14.01,13.52
$GC,2318,0.64,187.1,3506,938,2509,2247,221.3,4.4,228,2385,0.00,2.47,55.05,0.923,9222,0.000,0.068,3510,2343,2092,2241,1944,0,0,0,0,0,0,28.83,14.07,13.47
$GC,2626,0.64,187.1,3515,2342,2241,1944,197.4,8.0,259,2636,0.00,2.47,0.00,0.000,260,0.000,0.087,3510,3735,2092,2241,1944,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2749,0.64,187.1,3510,3735,2241,1943,186.3,9.4,271,2760,0.00,2.42,0.00,0.000,1030,0.000,0.065,3510,2341,2092,2241,1943,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3000,0.64,187.1,3510,2340,2237,1943,166.5,7.9,296,3011,0.00,2.47,0.00,0.000,516,0.000,0.080,3510,921,2092,2241,1944,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3061,0.64,187.1,3510,922,2241,1944,161.8,7.4,302,3072,0.00,2.45,0.00,0.000,1030,0.000,0.070,3510,2328,2090,2241,1939,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3311,0.64,187.1,3510,2328,2242,1944,143.1,7.4,327,3322,0.00,2.47,0.00,0.000,260,0.000,0.086,3510,3738,2090,2238,1943,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3373,0.64,187.1,3510,3738,2241,1944,138.1,8.8,333,3384,0.00,2.42,0.00,0.000,1030,0.000,0.067,3506,2331,2092,2241,1943,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3624,0.66,187.1,3510,2331,2241,1944,120.3,6.4,358,3635,0.00,2.47,0.00,0.000,516,0.000,0.083,3510,921,2092,2242,1943,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3739,0.67,187.1,3510,921,2241,1942,113.1,6.7,369,3749,0.00,2.45,0.00,0.000,1030,0.000,0.071,3510,2330,2092,2241,1943,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3989,0.68,187.1,3510,2330,2241,1943,96.7,6.8,394,4000,0.10,0.00,0.00,0.000,2054,0.158,0.000,3560,2330,2093,2241,1945,0,0,0,0,0,0,14.40,28.83,28.83
$GC,4239,0.68,187.1,3561,2330,2241,1943,74.1,10.0,419,4250,0.00,2.47,0.00,0.000,516,0.000,0.080,3562,922,2092,2241,1943,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4331,0.68,187.1,3562,922,2240,1943,66.2,8.2,428,4342,0.00,2.45,0.00,0.000,1030,0.000,0.070,3562,2327,2092,2241,1943,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4582,0.68,187.1,3562,2330,2241,1943,47.1,7.6,453,4593,0.00,2.50,0.00,0.000,260,0.000,0.087,3561,3748,2092,2241,1943,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4823,0.68,187.1,3562,3748,2241,1943,30.2,7.9,477,4834,0.00,2.45,0.00,0.000,1030,0.000,0.066,3562,2322,2092,2241,1943,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5075,0.72,187.1,3562,2325,2241,1943,15.2,5.7,502,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2325,2090,2237,1943,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,14.50,13.293,-1.756,0,1,0
$STATE,5272,end climb,NO_VERTICAL_VELOCITY
$STATE,5272,begin surface
$SM_CCo,5277,186.10,0.138,0,0,470,585.78
$SM_GC,2.29,9.38,0.15,0.00,0.087,0.132,0.000,393,2407,475,-9.11,-0.71,584.55,0,0,0,0,0,0,14.24,14.33,28.83
$IRIDIUM_FIX,4732.49,-12518.46,011014,141400
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.54
$INTERNAL_PRESSURE,8.89367
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3801056
$PM_FREEKB,50531072
$24V_AH,13.5,102.754
$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,23.275,54.625,236.050,186.100,0.000,0.000,0.000,201.825,0.000,0.000,30.753,1250.348,2705.841,549.031,1146.016,355.349,0.000,1290.592,0.000,811.097,0.000,0.536,0.000
$DEVICE_MAMPS,377.145,154.530,947.835,138.465,0.000,0.000,0.000,159.120,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5283.000,2183.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.448,4.152,0.000,0.000
$MEM,290856
$DATA_FILE_SIZE,16728,522
$CAP_FILE_SIZE,96276,0
$CFSIZE,260034560,215298048
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6304.89,0x2378ba,7,5
$INTR,1,2222.63,0x234488,1,24
$CURRENT,0.109, 19.5,1
$GPS,011014,173306,4753.285,-12514.835,29,1.4,29,18.8