version: 66.12
glider: 187
mission: 4
dive: 656
start: 12 6 114 9 57 51
data:
$ID,187
$MISSION,4
$DIVE,656
$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,-1595262.1
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,061214,094838,4751.798,-12516.178,9,2.0,9,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-71.4
$GPS2,061214,095721,4751.940,-12516.165,16,3.0,36,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,116.3,7325,-14.0,-7.333,-18.81,2445
$D_GRID,325
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.59,-116.8,388,2408,1448,1211,0.0,0.0,0,83,0.00,0.00,-48.53,0.000,16386,0.000,0.000,392,2407,2554,2640,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.59,-116.8,393,2410,2641,2469,3.1,-1.7,5,134,12.40,2.58,-18.23,0.000,18692,0.354,0.105,3128,3805,3336,3381,3291,0,0,0,0,0,0,13.71,14.12,14.51
$GC,365,-0.59,-116.8,3128,3806,3382,3293,40.6,-13.0,33,374,0.00,2.47,0.00,0.000,1030,0.000,0.060,3125,2392,3338,3382,3294,0,0,0,0,0,0,28.83,14.07,28.83
$GC,616,-0.59,-116.8,3128,2384,3382,3294,69.5,-9.9,58,625,0.00,2.58,0.00,0.000,260,0.000,0.083,3128,3801,3338,3382,3294,0,0,0,0,0,0,28.83,13.97,28.83
$GC,656,-0.59,-116.8,3128,3802,3382,3294,73.6,-10.0,62,664,0.00,2.45,0.00,0.000,1030,0.000,0.059,3127,2390,3338,3382,3294,0,0,0,0,0,0,28.83,14.09,28.83
$GC,906,-0.59,-116.8,3128,2387,3382,3289,96.1,-9.4,87,914,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2387,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1156,-0.59,-116.8,3128,2387,3382,3293,118.5,-8.8,112,1165,0.00,2.55,0.00,0.000,260,0.000,0.084,3128,3804,3338,3382,3294,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1315,-0.59,-116.8,3128,3800,3382,3295,132.6,-9.1,128,1324,0.00,2.42,0.00,0.000,1030,0.000,0.058,3128,2406,3338,3382,3294,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1565,-0.59,-116.8,3128,2402,3382,3294,155.2,-8.7,153,1575,0.00,2.55,0.00,0.000,260,0.000,0.083,3128,3803,3338,3382,3294,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1636,-0.59,-116.8,3127,3806,3382,3294,161.3,-8.7,160,1644,0.00,2.47,0.00,0.000,1030,0.000,0.059,3128,2388,3338,3382,3294,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1888,-0.59,-116.8,3128,2384,3382,3294,181.6,-7.7,185,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2390,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2137,-0.59,-116.8,3128,2384,3382,3293,201.0,-7.6,210,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2384,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2386,-0.59,-116.8,3128,2384,3383,3300,220.2,-8.0,235,2395,0.00,2.47,0.00,0.000,516,0.000,0.072,3128,994,3338,3382,3294,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2466,-0.59,-116.8,3128,991,3378,3295,227.0,-8.5,243,2475,0.00,2.47,0.00,0.000,1030,0.000,0.068,3128,2391,3338,3382,3294,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2716,-0.59,-116.8,3128,2391,3378,3295,245.8,-7.1,268,2725,0.00,2.55,0.00,0.000,260,0.000,0.083,3128,3810,3339,3384,3294,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2766,-0.59,-116.8,3128,3810,3382,3294,249.3,-7.0,273,2776,0.00,2.47,0.00,0.000,1030,0.000,0.061,3125,2393,3338,3382,3294,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3027,-0.59,-116.8,3128,2393,3382,3294,265.9,-6.3,283,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3326,-0.59,-116.8,3128,2392,3383,3294,284.2,-5.9,293,3335,0.00,2.47,0.00,0.000,516,0.000,0.071,3128,996,3338,3382,3294,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3387,-0.59,-116.8,3128,997,3382,3294,289.8,-10.5,299,3395,0.00,2.50,0.00,0.000,1030,0.000,0.070,3133,2400,3338,3383,3293,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3720,-0.59,-116.8,3128,2400,3381,3293,322.7,-10.2,312,3728,0.00,2.55,0.00,0.000,260,0.000,0.086,3127,3811,3338,3383,3293,0,0,0,0,0,0,28.83,13.93,28.83
$STATE,3744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3744,begin apogee
$GC,3757,-0.25,0.0,3128,2330,3383,3290,326.1,-10.9,315,3858,0.38,0.00,95.45,1.073,10246,0.179,0.000,3234,2328,2858,2931,2785,0,0,0,0,0,0,13.76,28.83,13.26
$STATE,3861,end apogee,CONTROL_FINISHED_OK
$STATE,3862,begin climb
$GC,3866,0.59,116.8,3235,2328,2930,2781,332.4,0.0,318,3982,0.82,2.60,96.00,1.057,10756,0.119,0.074,3508,914,2378,2507,2250,0,0,0,0,0,0,14.03,14.01,13.19
$GC,4023,0.63,178.5,3508,914,2506,2251,329.8,4.7,336,4084,0.00,2.50,49.90,1.051,9222,0.000,0.067,3508,2330,2128,2273,1984,0,0,0,0,0,0,28.83,14.10,13.26
$GC,4384,0.66,178.5,3509,2330,2274,1986,308.1,6.1,352,4394,0.00,2.53,0.00,0.000,260,0.000,0.085,3509,3751,2129,2274,1985,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4464,0.66,178.5,3508,3751,2274,1982,301.6,8.6,360,4474,0.00,2.47,0.00,0.000,1030,0.000,0.063,3508,2333,2130,2274,1986,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4779,0.66,178.5,3505,2332,2274,1986,278.9,7.5,371,4789,0.00,2.50,0.00,0.000,516,0.000,0.078,3507,919,2133,2280,1986,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4870,0.68,178.5,3506,918,2274,1986,273.4,6.3,380,4881,0.10,2.50,0.00,0.000,3078,0.159,0.069,3552,2339,2128,2274,1983,0,0,0,0,0,0,14.12,14.14,28.83
$GC,5204,0.68,178.5,3552,2339,2274,1986,249.4,7.5,393,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2343,2130,2274,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5455,0.70,178.5,3553,2336,2273,1982,232.6,6.5,418,5466,0.00,2.53,0.00,0.000,516,0.000,0.074,3561,921,2130,2274,1986,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5562,0.71,178.5,3561,921,2274,1986,225.5,6.7,428,5573,0.00,2.50,0.00,0.000,1030,0.000,0.070,3561,2334,2130,2274,1986,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5813,0.71,178.5,3562,2333,2276,1986,206.5,7.7,453,5824,0.00,2.53,0.00,0.000,516,0.000,0.077,3558,921,2130,2274,1986,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5895,0.71,178.5,3562,921,2274,1986,199.9,8.1,461,5906,0.00,2.50,0.00,0.000,1030,0.000,0.070,3561,2327,2131,2276,1986,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6147,0.71,178.5,3562,2327,2274,1986,180.1,7.5,486,6158,0.00,2.55,0.00,0.000,260,0.000,0.083,3562,3751,2129,2274,1984,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6273,0.71,178.5,3561,3751,2274,1986,169.8,8.8,498,6284,0.00,2.53,0.00,0.000,1030,0.000,0.063,3562,2322,2130,2274,1986,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6526,0.71,178.5,3562,2318,2273,1986,149.4,7.9,523,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2318,2130,2274,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6780,0.73,178.5,3562,2317,2274,1984,130.4,6.2,548,6791,0.00,2.58,0.00,0.000,260,0.000,0.084,3562,3738,2130,2274,1986,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7002,0.73,178.5,3562,3738,2274,1986,110.7,8.1,570,7013,0.00,2.47,0.00,0.000,1030,0.000,0.063,3562,2331,2131,2274,1989,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7253,0.73,178.5,3562,2331,2274,1986,91.4,8.6,595,7264,0.00,2.53,0.00,0.000,516,0.000,0.076,3562,915,2130,2275,1986,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7345,0.73,178.5,3564,916,2274,1986,84.4,7.2,604,7356,0.00,2.53,0.00,0.000,1030,0.000,0.067,3561,2344,2130,2274,1986,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7598,0.77,178.5,3562,2343,2274,1986,67.3,5.4,629,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2343,2129,2274,1985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,0.81,238.0,3562,2343,2274,1986,55.7,4.8,654,7909,0.00,2.53,46.62,0.761,8708,0.000,0.073,3562,916,1883,2023,1744,0,0,0,0,0,0,28.83,14.25,13.54
$GC,8145,0.84,238.0,3562,916,2023,1745,37.9,6.1,683,8156,0.00,2.50,0.00,0.000,1030,0.000,0.069,3562,2331,1884,2023,1745,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8398,0.86,238.0,3562,2330,2023,1745,22.0,6.1,708,8410,0.10,2.53,0.00,0.000,2308,0.159,0.083,3615,3740,1883,2022,1745,0,0,0,0,0,0,14.25,14.03,28.83
$GC,8450,0.88,238.0,3615,3740,2022,1746,18.8,6.3,713,8462,0.00,2.45,0.00,0.000,1030,0.000,0.060,3615,2327,1884,2023,1745,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8704,0.92,238.0,3615,2325,2023,1745,5.0,5.5,738,8715,0.00,2.55,0.00,0.000,260,0.000,0.083,3615,3738,1884,2022,1746,0,0,0,0,0,0,28.83,14.04,28.83
$STATE,8720,end climb,SURFACE_DEPTH_REACHED
$STATE,8720,begin surface coast
$FINISH,1.6,1.024166
$STATE,8796,end surface coast,CONTROL_FINISHED_OK
$STATE,8796,begin surface
$SM_CCo,8827,59.35,0.093,0,0,1328,375.06
$SM_GC,2.16,9.30,2.38,59.35,0.063,0.059,0.093,393,2389,1328,-9.11,0.82,375.06,0,0,0,0,0,0,14.18,14.21,14.14
$IRIDIUM_FIX,4732.49,-12457.94,061214,060642
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.03
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3728096
$PM_FREEKB,42454752
$24V_AH,13.2,164.485
$10V_AH,12.6,0.000
$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,23.100,95.475,287.975,59.350,0.000,0.000,0.000,236.325,0.000,0.000,40.694,1777.064,4927.867,541.495,1587.194,566.339,0.000,1537.598,0.000,1163.392,0.000,0.538,0.000
$DEVICE_MAMPS,354.195,104.805,1072.530,92.565,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8824.000,3894.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.423,4.127,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,26737,747
$CAP_FILE_SIZE,134008,0
$CFSIZE,260034560,189902848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10852.85,0x2378ba,7,5
$CURRENT,0.089,337.3,1
$GPS,061214,122800,4751.668,-12515.529,67,1.2,68,18.7