version: 66.12
glider: 187
mission: 4
dive: 429
start: 10 1 114 17 40 57
data:
$ID,187
$MISSION,4
$DIVE,429
$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,-1593981.8
$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,28
$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
$GPS1,011014,173306,4753.285,-12514.835,29,1.4,29,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-71.5
$GPS2,011014,174031,4753.327,-12514.714,12,1.4,12,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,126.5,6098,-14.0,-7.333,-18.81,2445
$D_GRID,197
$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,-116.8,392,2408,532,421,0.0,0.0,0,119,0.00,0.00,-87.15,0.000,16386,0.000,0.000,392,2408,2830,2891,2769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.59,-116.8,392,2408,2892,2774,4.0,-3.7,9,160,12.45,2.55,-9.23,0.000,18692,0.371,0.110,3126,3804,3338,3387,3289,0,0,0,0,0,0,13.87,14.20,14.56
$GC,390,-0.59,-116.8,3126,3802,3383,3294,45.5,-12.2,36,400,0.00,2.40,0.00,0.000,1030,0.000,0.062,3126,2407,3340,3388,3293,0,0,0,0,0,0,28.83,14.28,28.83
$GC,640,-0.59,-116.8,3128,2403,3389,3294,75.4,-11.3,61,652,0.00,2.50,0.00,0.000,260,0.000,0.086,3126,3812,3341,3389,3294,0,0,0,0,0,0,28.83,14.18,28.83
$GC,882,-0.59,-116.8,3126,3811,3389,3293,100.2,-9.7,85,893,0.00,2.42,0.00,0.000,1030,0.000,0.062,3127,2400,3342,3390,3294,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1134,-0.59,-116.8,3127,2399,3388,3290,125.3,-10.4,110,1145,0.00,2.50,0.00,0.000,260,0.000,0.087,3127,3809,3341,3389,3294,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1195,-0.59,-116.8,3127,3808,3389,3294,131.2,-9.6,116,1205,0.00,2.42,0.00,0.000,1030,0.000,0.062,3126,2390,3341,3389,3294,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1446,-0.59,-116.8,3127,2385,3389,3290,153.2,-8.3,141,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1698,-0.59,-116.8,3127,2385,3389,3294,176.3,-8.8,166,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1923,begin apogee
$GC,1932,-0.25,0.0,3127,2314,3389,3294,197.1,-7.8,189,2030,0.35,0.00,89.80,0.916,10246,0.194,0.000,3232,2314,2857,2935,2780,0,0,0,0,0,0,14.01,28.83,13.70
$STATE,2035,end apogee,CONTROL_FINISHED_OK
$STATE,2035,begin climb
$GC,2038,0.59,116.8,3233,2314,2933,2776,201.6,0.0,199,2144,0.88,2.65,90.28,0.893,10500,0.141,0.084,3512,3742,2377,2517,2238,0,0,0,0,0,0,14.11,14.02,13.54
$GC,2214,0.59,116.8,3512,3736,2516,2237,194.4,7.0,217,2225,0.00,2.45,0.00,0.000,1030,0.000,0.063,3519,2340,2376,2516,2237,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2466,0.61,116.8,3519,2340,2519,2237,178.8,6.3,242,2476,0.00,2.47,0.00,0.000,516,0.000,0.078,3519,923,2375,2516,2235,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2636,0.65,116.8,3519,924,2523,2234,168.7,5.4,259,2647,0.00,2.45,0.00,0.000,1030,0.000,0.070,3519,2329,2375,2516,2234,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2888,0.69,116.8,3519,2330,2517,2237,155.0,5.4,284,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2330,2375,2516,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3138,0.71,116.8,3520,2330,2516,2238,139.9,6.3,309,3150,0.10,2.50,0.00,0.000,2308,0.164,0.084,3568,3744,2375,2516,2235,0,0,0,0,0,0,14.35,14.27,28.83
$GC,3243,0.71,116.8,3568,3744,2520,2237,131.4,8.7,319,3254,0.00,2.47,0.00,0.000,1030,0.000,0.068,3572,2328,2376,2516,2237,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3494,0.73,116.8,3575,2327,2511,2237,113.7,6.4,344,3504,0.00,2.45,0.00,0.000,516,0.000,0.080,3581,920,2376,2516,2237,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3565,0.74,116.8,3582,920,2515,2237,109.2,6.7,351,3576,0.00,2.45,0.00,0.000,1030,0.000,0.070,3581,2331,2376,2516,2237,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3816,0.74,116.8,3582,2331,2515,2237,93.2,7.3,376,3826,0.00,2.47,0.00,0.000,260,0.000,0.086,3581,3741,2376,2516,2236,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3986,0.78,116.8,3582,3741,2515,2236,83.1,5.4,393,3998,0.00,2.45,0.00,0.000,1030,0.000,0.068,3588,2323,2375,2515,2236,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4239,0.85,211.5,3587,2322,2515,2243,71.5,3.4,418,4320,0.00,2.53,70.15,0.767,8708,0.000,0.083,3587,930,1991,2140,1842,0,0,0,0,0,0,28.83,14.26,13.81
$GC,4480,0.85,211.5,3589,930,2139,1842,54.2,7.4,442,4490,0.00,2.45,0.00,0.000,1030,0.000,0.070,3589,2332,1990,2139,1842,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4731,0.86,211.5,3589,2333,2139,1843,37.3,6.5,467,4742,0.00,2.47,0.00,0.000,260,0.000,0.087,3587,3739,1990,2138,1843,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4972,0.86,211.5,3589,3739,2139,1844,18.1,8.4,491,4983,0.00,2.45,0.00,0.000,1030,0.000,0.068,3591,2334,1991,2139,1844,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5224,0.96,353.1,3592,2333,2139,1844,12.7,1.4,516,5304,0.12,2.58,64.68,0.136,10500,0.144,0.086,3649,3741,1418,1561,1275,0,0,0,0,0,0,14.35,14.28,14.20
$GC,5327,0.96,353.1,3650,3746,1561,1278,6.7,8.2,526,5338,0.00,2.45,0.00,0.000,1030,0.000,0.066,3656,2319,1419,1561,1278,0,0,0,0,0,0,28.83,14.29,28.83
$STATE,5355,end climb,SURFACE_DEPTH_REACHED
$STATE,5355,begin surface coast
$FINISH,1.3,1.013682
$STATE,5390,end surface coast,CONTROL_FINISHED_OK
$STATE,5390,begin surface
$SM_CCo,5416,9.80,0.097,0,0,1328,375.06
$SM_GC,3.47,9.27,0.15,9.80,0.060,0.130,0.097,397,2411,1328,-9.10,-0.82,375.06,0,0,0,0,0,0,14.30,14.35,14.26
$IRIDIUM_FIX,4735.69,-12425.05,011014,151549
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.27
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3800736
$PM_FREEKB,50531040
$24V_AH,13.5,102.866
$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,23.175,54.800,314.900,9.800,0.000,0.000,0.000,205.925,0.000,0.000,13.635,1248.744,2616.117,469.657,1168.309,366.312,0.000,1240.625,0.000,839.782,0.000,0.536,0.000
$DEVICE_MAMPS,371.025,180.540,915.705,97.155,0.000,0.000,0.000,157.590,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5404.000,70.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.963,5.209,0.000,0.000
$MEM,290884
$DATA_FILE_SIZE,16751,532
$CAP_FILE_SIZE,97440,0
$CFSIZE,260034560,215240704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6126.05,0x2378ba,7,5
$CURRENT,0.075, 29.0,1
$GPS,011014,191309,4753.129,-12514.296,36,2.9,56,18.8