version: 66.12
glider: 187
mission: 4
dive: 655
start: 12 6 114 6 56 58
data:
$ID,187
$MISSION,4
$DIVE,655
$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,8
$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,-1595257.5
$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,33
$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,49
$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
$GPS1,061214,064624,4751.328,-12517.123,64,1.0,64,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-70.9
$GPS2,061214,065631,4751.485,-12517.211,16,1.0,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,110.8,8664,-14.0,-7.333,-18.81,2445
$D_GRID,383
$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,27,-0.59,-116.8,392,2411,1449,1215,0.0,0.0,0,81,0.00,0.00,-47.35,0.000,16386,0.000,0.000,392,2411,2524,2613,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,392,2412,2613,2436,3.1,-1.8,5,131,12.43,2.50,-18.73,0.000,18692,0.357,0.107,3117,3800,3337,3383,3292,0,0,0,0,0,0,13.69,14.09,14.50
$GC,321,-0.59,-116.8,3117,3800,3382,3294,38.6,-14.4,29,332,0.00,2.47,0.00,0.000,1030,0.000,0.060,3117,2393,3341,3383,3300,0,0,0,0,0,0,28.83,14.07,28.83
$GC,572,-0.59,-116.8,3117,2387,3382,3295,69.2,-10.7,54,583,0.00,2.47,0.00,0.000,516,0.000,0.073,3117,991,3339,3383,3295,0,0,0,0,0,0,28.83,14.00,28.83
$GC,623,-0.59,-116.8,3121,991,3383,3295,74.4,-10.2,59,635,0.00,2.47,0.00,0.000,1030,0.000,0.067,3117,2390,3339,3383,3295,0,0,0,0,0,0,28.83,14.06,28.83
$GC,876,-0.59,-116.8,3118,2389,3383,3295,97.0,-9.9,84,887,0.00,2.55,0.00,0.000,260,0.000,0.083,3117,3819,3339,3383,3295,0,0,0,0,0,0,28.83,13.99,28.83
$GC,982,-0.59,-116.8,3119,3820,3383,3295,107.0,-9.9,94,992,0.00,2.47,0.00,0.000,1030,0.000,0.057,3118,2398,3340,3385,3295,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1234,-0.59,-116.8,3114,2392,3384,3295,129.9,-8.5,119,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2393,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1485,-0.59,-116.8,3117,2392,3383,3295,150.6,-8.2,144,1496,0.00,2.58,0.00,0.000,260,0.000,0.084,3117,3814,3339,3384,3295,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1538,-0.59,-116.8,3117,3814,3384,3296,154.8,-8.2,149,1549,0.00,2.47,0.00,0.000,1030,0.000,0.059,3120,2394,3342,3389,3295,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1790,-0.59,-116.8,3117,2394,3384,3295,174.2,-8.1,174,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2394,3340,3384,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2041,-0.59,-116.8,3117,2399,3384,3296,194.6,-7.9,199,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2394,3340,3384,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,-0.59,-116.8,3114,2394,3384,3296,214.4,-8.0,224,2304,0.00,2.47,0.00,0.000,516,0.000,0.071,3117,998,3340,3384,3296,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2365,-0.59,-116.8,3117,998,3384,3295,220.4,-8.5,231,2377,0.00,2.53,0.00,0.000,1030,0.000,0.068,3117,2403,3339,3384,3295,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2619,-0.59,-116.8,3117,2405,3383,3295,241.0,-8.6,256,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2405,3339,3384,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-0.59,-116.8,3117,2405,3386,3295,263.6,-8.8,271,2879,0.00,2.53,0.00,0.000,260,0.000,0.086,3117,3814,3339,3383,3295,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2961,-0.59,-116.8,3119,3813,3383,3295,271.6,-8.7,280,2973,0.00,2.45,0.00,0.000,1030,0.000,0.060,3117,2401,3339,3384,3295,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3293,-0.59,-116.8,3117,2401,3383,3294,296.7,-7.2,293,3303,0.00,2.55,0.00,0.000,260,0.000,0.084,3117,3813,3338,3383,3294,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3385,-0.59,-116.8,3117,3813,3384,3294,303.6,-7.5,302,3395,0.00,2.47,0.00,0.000,1030,0.000,0.060,3117,2402,3338,3383,3294,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3715,-0.59,-116.8,3117,2401,3383,3294,329.0,-7.6,315,3725,0.00,2.50,0.00,0.000,516,0.000,0.071,3118,989,3342,3391,3294,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3756,-0.59,-116.8,3117,990,3384,3293,332.2,-8.0,319,3767,0.00,2.53,0.00,0.000,1030,0.000,0.070,3117,2407,3338,3384,3293,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4080,-0.59,-116.8,3118,2401,3384,3298,358.2,-8.5,331,4091,0.00,2.55,0.00,0.000,260,0.000,0.086,3117,3807,3337,3383,3292,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4181,-0.59,-116.8,3114,3807,3383,3292,367.8,-9.5,341,4191,0.00,2.50,0.00,0.000,1030,0.000,0.063,3118,2387,3338,3384,3292,0,0,0,0,0,0,28.83,14.02,28.83
$STATE,4378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4378,begin apogee
$GC,4388,-0.25,0.0,3117,2332,3384,3290,384.7,-8.3,349,4492,0.43,0.00,97.07,1.146,10246,0.170,0.000,3241,2332,2858,2932,2785,0,0,0,0,0,0,13.74,28.83,13.20
$STATE,4494,end apogee,CONTROL_FINISHED_OK
$STATE,4495,begin climb
$GC,4500,0.59,116.8,3241,2332,2929,2781,388.1,0.0,352,4611,0.82,2.62,97.88,1.129,10500,0.116,0.086,3506,3741,2378,2506,2251,0,0,0,0,0,0,14.02,13.95,13.12
$GC,4672,0.62,116.8,3511,3741,2507,2250,383.4,6.1,364,4683,0.00,2.50,0.00,0.000,1030,0.000,0.064,3519,2321,2377,2505,2250,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4987,0.66,179.6,3519,2321,2507,2250,367.9,4.7,375,5051,0.00,2.53,51.45,1.115,8708,0.000,0.080,3519,935,2122,2266,1978,0,0,0,0,0,0,28.83,14.13,13.33
$GC,5132,0.66,179.6,3519,935,2266,1980,359.0,6.9,390,5142,0.00,2.47,0.00,0.000,1030,0.000,0.069,3519,2328,2123,2267,1979,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5463,0.68,179.6,3519,2327,2267,1981,337.6,6.4,403,5473,0.00,2.53,0.00,0.000,260,0.000,0.084,3519,3738,2122,2266,1979,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5515,0.68,179.6,3519,3738,2267,1980,333.7,7.9,408,5526,0.00,2.47,0.00,0.000,1030,0.000,0.064,3519,2338,2123,2266,1980,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5828,0.69,179.6,3525,2338,2267,1980,313.2,6.7,419,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2338,2124,2266,1983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6129,0.72,179.6,3520,2338,2266,1979,294.1,5.8,429,6140,0.12,2.53,0.00,0.000,2564,0.136,0.073,3587,917,2123,2267,1980,0,0,0,0,0,0,14.25,14.07,28.83
$GC,6169,0.72,179.6,3588,917,2266,1980,290.6,7.5,433,6180,0.12,2.50,0.00,0.000,5126,0.258,0.069,3562,2330,2123,2266,1980,0,0,0,0,0,0,13.84,14.12,28.83
$GC,6491,0.74,179.6,3562,2329,2266,1980,266.4,6.5,445,6501,0.00,2.53,0.00,0.000,260,0.000,0.085,3562,3738,2122,2266,1979,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6645,0.74,179.6,3562,3738,2266,1979,254.3,8.0,460,6655,0.00,2.50,0.00,0.000,1030,0.000,0.066,3562,2318,2125,2271,1980,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6956,0.74,179.6,3562,2318,2266,1979,228.2,8.8,489,6966,0.00,2.47,0.00,0.000,516,0.000,0.079,3567,928,2122,2266,1979,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7061,0.74,179.6,3562,928,2267,1979,219.4,8.5,499,7073,0.00,2.50,0.00,0.000,1030,0.000,0.069,3562,2330,2122,2266,1979,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7316,0.77,179.6,3562,2329,2266,1979,200.7,5.9,524,7326,0.00,2.53,0.00,0.000,516,0.000,0.077,3562,923,2123,2267,1979,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7457,0.80,179.6,3562,921,2266,1979,191.8,5.8,538,7468,0.00,2.50,0.00,0.000,1030,0.000,0.070,3562,2329,2122,2265,1979,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7708,0.80,179.6,3562,2328,2266,1985,174.4,7.5,563,7719,0.00,2.55,0.00,0.000,260,0.000,0.083,3562,3743,2123,2267,1979,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7781,0.80,179.6,3558,3742,2266,1979,168.3,8.9,570,7792,0.00,2.47,0.00,0.000,1030,0.000,0.065,3562,2335,2122,2266,1979,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8033,0.80,179.6,3562,2335,2263,1980,148.0,7.8,595,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,2333,2122,2266,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8286,0.80,179.6,3562,2335,2266,1979,127.5,7.9,620,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2335,2122,2266,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8536,0.80,179.6,3559,2335,2266,1979,107.4,7.8,645,8547,0.00,2.55,0.00,0.000,260,0.000,0.083,3562,3736,2122,2266,1979,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8757,0.80,179.6,3559,3736,2266,1979,90.9,6.9,667,8769,0.00,2.50,0.00,0.000,1030,0.000,0.063,3562,2330,2122,2267,1978,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9010,0.81,179.6,3563,2329,2265,1984,74.9,6.8,692,9021,0.00,2.53,0.00,0.000,516,0.000,0.075,3562,914,2122,2266,1979,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9106,0.84,179.6,3562,914,2266,1979,69.0,5.7,701,9118,0.00,2.53,0.00,0.000,1030,0.000,0.067,3563,2332,2122,2266,1979,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9358,0.89,246.5,3563,2331,2266,1979,56.1,4.5,726,9420,0.12,2.58,51.80,0.750,10756,0.138,0.075,3626,914,1848,1989,1708,0,0,0,0,0,0,14.19,14.22,13.54
$GC,9571,0.89,246.5,3629,914,1988,1709,42.0,7.2,747,9582,0.00,2.50,0.00,0.000,1030,0.000,0.067,3630,2335,1848,1987,1709,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9824,0.91,246.5,3627,2334,1988,1709,23.0,6.0,772,9835,0.00,2.53,0.00,0.000,260,0.000,0.083,3630,3747,1849,1988,1710,0,0,0,0,0,0,28.83,14.03,28.83
$GC,10066,0.93,246.5,3635,3746,1988,1711,6.4,6.6,796,10077,0.00,2.50,0.00,0.000,1030,0.000,0.061,3630,2322,1849,1988,1711,0,0,0,0,0,0,28.83,14.11,28.83
$STATE,10093,end climb,SURFACE_DEPTH_REACHED
$STATE,10093,begin surface coast
$FINISH,1.5,1.024152
$STATE,10152,end surface coast,CONTROL_FINISHED_OK
$STATE,10152,begin surface
$SM_CCo,10180,55.42,0.092,0,0,1328,375.06
$SM_GC,2.19,9.20,0.15,55.42,0.051,0.132,0.092,393,2408,1328,-9.10,-0.76,375.06,0,0,0,0,0,0,14.23,14.26,14.12
$IRIDIUM_FIX,4732.49,-12513.98,061214,030337
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.60
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3728416
$PM_FREEKB,42478912
$24V_AH,13.1,164.331
$10V_AH,13.1,0.000
$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,23.250,105.700,298.200,55.425,0.000,0.000,0.000,298.450,0.000,0.000,17.420,1910.710,5912.321,560.327,1790.250,654.680,0.000,1742.796,0.000,1281.515,0.000,0.537,0.000
$DEVICE_MAMPS,357.255,220.320,1145.970,91.800,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10180.000,140.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.166,5.263,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,26749,804
$CAP_FILE_SIZE,151220,0
$CFSIZE,260034560,189964288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13273.87,0x2378ba,7,5
$CURRENT,0.182,356.1,1
$GPS,061214,094838,4751.798,-12516.178,9,2.0,9,18.7