version: 66.12
glider: 187
mission: 4
dive: 430
start: 10 1 114 19 20 50
data:
$ID,187
$MISSION,4
$DIVE,430
$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,-1593983
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,011014,191309,4753.129,-12514.296,36,2.9,56,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-74.9
$GPS2,011014,192021,4753.121,-12514.159,15,2.9,35,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,116.1,5312,-14.0,-7.333,-18.81,2445
$D_GRID,191
$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,24,begin dive
$GC,28,-0.59,-116.8,396,2411,1437,1224,0.0,0.0,0,80,0.00,0.00,-47.78,0.000,16386,0.000,0.000,402,2417,2573,2661,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,397,2410,2661,2486,3.1,-1.9,5,123,12.55,2.55,-16.73,0.000,18692,0.378,0.111,3125,3802,3338,3383,3293,0,0,0,0,0,0,13.88,14.23,14.54
$GC,353,-0.59,-116.8,3125,3801,3382,3296,42.7,-14.4,32,362,0.00,2.42,0.00,0.000,1030,0.000,0.061,3125,2389,3339,3383,3295,0,0,0,0,0,0,28.83,14.26,28.83
$GC,604,-0.59,-116.8,3125,2386,3383,3296,74.7,-13.2,57,612,0.00,2.53,0.00,0.000,260,0.000,0.088,3125,3802,3340,3384,3296,0,0,0,0,0,0,28.83,14.21,28.83
$GC,843,-0.59,-116.8,3122,3799,3384,3298,101.3,-10.6,81,852,0.00,2.45,0.00,0.000,1030,0.000,0.062,3125,2402,3340,3384,3297,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1093,-0.59,-116.8,3125,2402,3384,3298,127.8,-10.3,106,1102,0.00,2.50,0.00,0.000,260,0.000,0.087,3125,3811,3343,3388,3298,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1333,-0.59,-116.8,3125,3813,3384,3298,153.0,-10.4,130,1343,0.00,2.47,0.00,0.000,1030,0.000,0.062,3124,2403,3341,3384,3298,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1584,-0.59,-116.8,3125,2398,3384,3298,180.0,-10.3,155,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3339,3385,3294,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1689,begin apogee
$GC,1698,-0.25,0.0,3124,2317,3384,3298,191.7,-10.9,166,1794,0.38,0.00,90.30,0.902,10246,0.194,0.000,3235,2312,2857,2933,2782,0,0,0,0,0,0,13.98,28.83,13.67
$STATE,1801,end apogee,CONTROL_FINISHED_OK
$STATE,1801,begin climb
$GC,1804,0.59,116.8,3235,2311,2931,2777,198.1,0.0,176,1910,0.85,2.65,90.43,0.887,10500,0.142,0.084,3507,3733,2377,2512,2242,0,0,0,0,0,0,14.10,14.02,13.55
$GC,1952,0.65,203.6,3507,3735,2510,2242,196.2,3.7,191,2032,0.00,2.45,66.62,0.878,9222,0.000,0.063,3507,2339,2025,2175,1876,0,0,0,0,0,0,28.83,14.09,13.48
$GC,2272,0.65,203.6,3507,2339,2174,1877,174.8,7.6,223,2283,0.00,2.50,0.00,0.000,516,0.000,0.080,3507,913,2025,2174,1876,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2375,0.65,203.6,3508,913,2174,1876,166.9,8.1,233,2386,0.00,2.45,0.00,0.000,1030,0.000,0.068,3511,2324,2025,2174,1876,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2626,0.65,203.6,3508,2323,2174,1876,146.8,7.9,258,2637,0.00,2.47,0.00,0.000,260,0.000,0.086,3513,3733,2025,2174,1876,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2718,0.65,203.6,3508,3735,2174,1876,139.2,8.8,267,2729,0.00,2.42,0.00,0.000,1030,0.000,0.067,3508,2324,2025,2174,1876,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2969,0.65,203.6,3508,2327,2175,1876,120.5,7.2,292,2980,0.00,2.45,0.00,0.000,516,0.000,0.083,3508,928,2027,2174,1881,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3040,0.65,203.6,3508,928,2174,1876,115.3,7.1,299,3051,0.00,2.45,0.00,0.000,1030,0.000,0.070,3508,2341,2025,2174,1876,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3290,0.65,203.6,3508,2341,2174,1873,97.6,7.3,324,3301,0.00,2.45,0.00,0.000,260,0.000,0.088,3508,3732,2025,2174,1877,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3351,0.65,203.6,3508,3735,2174,1876,92.8,8.4,330,3362,0.00,2.42,0.00,0.000,1030,0.000,0.067,3508,2332,2025,2174,1876,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3603,0.66,203.6,3508,2332,2174,1876,75.4,6.8,355,3614,0.00,2.47,0.00,0.000,516,0.000,0.083,3509,914,2025,2174,1876,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3784,0.66,203.6,3509,914,2174,1877,62.9,7.0,373,3794,0.00,2.45,0.00,0.000,1030,0.000,0.069,3508,2328,2025,2174,1877,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4035,0.70,203.6,3508,2327,2175,1877,47.3,5.6,398,4047,0.12,2.50,0.00,0.000,2308,0.137,0.084,3574,3744,2025,2174,1876,0,0,0,0,0,0,14.40,14.31,28.83
$GC,4197,0.72,203.6,3574,3744,2174,1882,35.5,6.3,414,4208,0.00,2.45,0.00,0.000,1030,0.000,0.067,3575,2320,2023,2171,1876,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4450,0.75,203.6,3575,2324,2174,1877,21.8,5.8,439,4461,0.00,2.55,0.00,0.000,260,0.000,0.086,3571,3746,2026,2175,1877,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4521,0.77,203.6,3575,3746,2174,1876,17.2,6.2,446,4533,0.00,2.45,0.00,0.000,1030,0.000,0.067,3575,2333,2026,2174,1879,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4774,0.89,369.8,3574,2333,2174,1878,12.8,0.3,471,4862,0.12,0.00,77.05,0.140,10758,0.141,0.000,3634,2329,1351,1496,1207,0,0,0,0,0,0,14.38,28.83,14.19
$STATE,4929,end climb,SURFACE_DEPTH_REACHED
$STATE,4929,begin surface coast
$FINISH,1.2,1.023590
$STATE,4960,end surface coast,CONTROL_FINISHED_OK
$STATE,4960,begin surface
$SM_CCo,4986,2.85,0.097,0,0,1328,375.06
$SM_GC,3.83,9.25,0.12,2.85,0.062,0.170,0.097,395,2402,1328,-9.10,-0.85,375.06,0,0,0,0,0,0,14.30,14.34,14.26
$IRIDIUM_FIX,4732.49,-12518.46,011014,171756
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.43
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3800416
$PM_FREEKB,50520416
$24V_AH,13.5,102.980
$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,23.275,54.775,324.400,2.850,0.000,0.000,0.000,200.250,0.000,0.000,36.402,1157.167,2396.973,439.406,1098.964,330.474,0.000,1153.923,0.000,773.369,0.000,0.535,0.000
$DEVICE_MAMPS,377.910,169.830,901.935,97.155,0.000,0.000,0.000,158.355,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4972.000,1817.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.093,4.170,0.000,0.000
$MEM,290864
$DATA_FILE_SIZE,16760,490
$CAP_FILE_SIZE,89869,0
$CFSIZE,260034560,215195648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5991.90,0x2378ba,7,5
$CURRENT,0.058,  3.8,1
$GPS,011014,204555,4752.880,-12513.907,45,2.3,65,18.8