version: 66.12
glider: 187
mission: 4
dive: 657
start: 12 6 114 12 37 1
data:
$ID,187
$MISSION,4
$DIVE,657
$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,-1595263.5
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,061214,122800,4751.668,-12515.529,67,1.2,68,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-70.4
$GPS2,061214,123630,4751.713,-12515.536,15,1.6,15,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,90.8,6556,-14.0,-7.333,-18.81,2445
$D_GRID,340
$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,-116.8,392,2381,1442,1219,0.0,0.0,0,81,0.00,0.00,-47.55,0.000,16386,0.000,0.000,392,2381,2530,2612,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,392,2381,2613,2446,3.1,-1.5,5,131,12.32,2.58,-19.15,0.000,18692,0.353,0.106,3126,3808,3335,3383,3288,0,0,0,0,0,0,13.74,14.12,14.52
$GC,343,-0.59,-116.8,3132,3808,3383,3294,39.7,-13.2,31,354,0.00,2.45,0.00,0.000,1030,0.000,0.060,3126,2407,3338,3383,3293,0,0,0,0,0,0,28.83,14.09,28.83
$GC,595,-0.59,-116.8,3126,2402,3383,3300,69.4,-11.1,56,605,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2406,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,846,-0.59,-116.8,3126,2402,3383,3294,93.3,-9.1,81,857,0.00,2.53,0.00,0.000,260,0.000,0.082,3126,3807,3338,3383,3294,0,0,0,0,0,0,28.83,14.00,28.83
$GC,908,-0.59,-116.8,3125,3807,3383,3296,98.8,-8.9,87,918,0.00,2.45,0.00,0.000,1030,0.000,0.058,3126,2400,3339,3384,3295,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1160,-0.59,-116.8,3125,2398,3384,3295,119.9,-7.8,112,1171,0.00,2.47,0.00,0.000,516,0.000,0.069,3131,991,3339,3383,3295,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1201,-0.59,-116.8,3126,991,3384,3295,123.3,-8.2,116,1212,0.00,2.50,0.00,0.000,1030,0.000,0.067,3127,2394,3339,3384,3295,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1452,-0.59,-116.8,3128,2394,3385,3295,142.3,-7.4,141,1463,0.00,2.55,0.00,0.000,260,0.000,0.083,3126,3822,3339,3384,3295,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1583,-0.59,-116.8,3126,3823,3379,3295,152.9,-8.0,154,1595,0.00,2.47,0.00,0.000,1030,0.000,0.057,3126,2396,3339,3384,3295,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1837,-0.59,-116.8,3127,2394,3384,3295,172.7,-8.0,179,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2391,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2087,-0.59,-116.8,3126,2391,3383,3295,192.5,-8.3,204,2098,0.00,2.58,0.00,0.000,260,0.000,0.083,3126,3816,3340,3385,3295,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2193,-0.59,-116.8,3126,3815,3383,3295,200.5,-7.4,214,2204,0.00,2.50,0.00,0.000,1030,0.000,0.060,3127,2389,3339,3384,3295,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2446,-0.59,-116.8,3126,2384,3391,3295,221.6,-8.5,239,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2384,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2698,-0.59,-116.8,3126,2384,3383,3295,241.7,-7.5,264,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2384,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2968,-0.59,-116.8,3126,2384,3383,3295,261.4,-7.3,281,2978,0.00,2.60,0.00,0.000,260,0.000,0.085,3127,3821,3338,3384,3292,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3049,-0.59,-116.8,3132,3821,3383,3295,267.4,-7.7,289,3060,0.00,2.47,0.00,0.000,1030,0.000,0.060,3126,2405,3339,3383,3295,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3362,-0.59,-116.8,3126,2406,3379,3294,290.6,-7.8,300,3372,0.00,2.50,0.00,0.000,516,0.000,0.072,3126,995,3338,3383,3294,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3433,-0.59,-116.8,3127,995,3389,3295,296.6,-8.3,307,3443,0.00,2.50,0.00,0.000,1030,0.000,0.069,3126,2399,3338,3383,3293,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3754,-0.59,-116.8,3127,2399,3384,3297,320.4,-6.9,319,3764,0.00,2.55,0.00,0.000,260,0.000,0.086,3131,3817,3338,3384,3293,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3845,-0.59,-116.8,3126,3817,3383,3293,326.7,-6.8,328,3856,0.00,2.47,0.00,0.000,1030,0.000,0.060,3126,2402,3338,3384,3293,0,0,0,0,0,0,28.83,14.07,28.83
$STATE,4051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4052,begin apogee
$GC,4065,-0.25,0.0,3128,2311,3383,3292,340.9,-6.5,337,4168,0.40,0.00,95.95,1.089,10246,0.169,0.000,3244,2313,2858,2932,2785,0,0,0,0,0,0,13.79,28.83,13.24
$STATE,4171,end apogee,CONTROL_FINISHED_OK
$STATE,4171,begin climb
$GC,4176,0.59,116.8,3244,2312,2930,2781,343.6,0.0,340,4289,0.80,2.65,96.15,1.069,10500,0.117,0.084,3509,3754,2379,2507,2251,0,0,0,0,0,0,14.04,14.00,13.18
$GC,4320,0.63,168.6,3509,3754,2507,2250,339.6,5.2,357,4373,0.00,2.47,42.90,1.061,9222,0.000,0.062,3509,2341,2168,2313,2024,0,0,0,0,0,0,28.83,14.07,13.24
$GC,4684,0.65,168.6,3509,2341,2312,2024,316.2,6.2,373,4694,0.00,2.50,0.00,0.000,516,0.000,0.077,3509,923,2168,2312,2024,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4818,0.66,168.6,3509,922,2312,2024,307.9,6.6,386,4829,0.00,2.50,0.00,0.000,1030,0.000,0.069,3511,2342,2168,2312,2024,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5143,0.68,168.6,3509,2341,2312,2024,287.1,6.5,398,5153,0.10,0.00,0.00,0.000,2054,0.157,0.000,3558,2341,2168,2312,2024,0,0,0,0,0,0,14.31,28.83,28.83
$GC,5444,0.68,168.6,3556,2341,2311,2024,261.2,8.7,408,5454,0.00,2.53,0.00,0.000,516,0.000,0.076,3562,920,2168,2312,2024,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5514,0.68,168.6,3562,920,2312,2026,254.5,8.7,415,5524,0.00,2.50,0.00,0.000,1030,0.000,0.071,3567,2329,2168,2312,2024,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5824,0.68,168.6,3562,2329,2312,2028,229.2,7.6,442,5836,0.00,2.53,0.00,0.000,260,0.000,0.086,3562,3739,2167,2311,2024,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6067,0.70,168.6,3562,3740,2311,2024,212.2,6.5,466,6078,0.00,2.47,0.00,0.000,1030,0.000,0.065,3562,2332,2167,2311,2024,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6319,0.70,168.6,3562,2332,2311,2024,196.9,6.9,491,6330,0.00,2.55,0.00,0.000,260,0.000,0.084,3562,3740,2167,2311,2024,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6381,0.70,168.6,3562,3740,2311,2024,192.1,8.3,497,6392,0.00,2.50,0.00,0.000,1030,0.000,0.063,3562,2317,2167,2311,2024,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6633,0.70,168.6,3566,2317,2311,2024,171.8,8.1,522,6644,0.00,2.47,0.00,0.000,516,0.000,0.076,3562,923,2168,2312,2024,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6739,0.70,168.6,3562,923,2318,2024,162.6,8.9,532,6750,0.00,2.53,0.00,0.000,1030,0.000,0.070,3562,2340,2165,2306,2024,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6992,0.70,168.6,3562,2339,2311,2024,138.4,10.2,557,7003,0.00,2.53,0.00,0.000,260,0.000,0.086,3562,3732,2170,2317,2024,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7043,0.70,168.6,3562,3734,2315,2024,133.4,9.6,562,7055,0.00,2.50,0.00,0.000,1030,0.000,0.063,3562,2321,2164,2307,2021,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7296,0.70,168.6,3562,2318,2311,2024,113.3,7.2,587,7306,0.00,2.47,0.00,0.000,516,0.000,0.076,3562,930,2167,2311,2024,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7538,0.73,219.2,3568,930,2311,2024,99.0,5.2,611,7588,0.00,2.50,40.30,0.811,9222,0.000,0.070,3562,2333,1967,2102,1833,0,0,0,0,0,0,28.83,13.95,13.54
$GC,7832,0.77,219.2,3562,2333,2097,1826,81.7,5.7,640,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2330,1961,2097,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8083,0.80,270.4,3562,2332,2097,1826,68.1,5.2,665,8132,0.00,2.50,39.33,0.763,8452,0.000,0.084,3562,3744,1754,1899,1609,0,0,0,0,0,0,28.83,14.27,13.57
$GC,8213,0.80,270.4,3562,3744,1898,1606,57.8,10.0,678,8225,0.00,2.47,0.00,0.000,1030,0.000,0.064,3562,2338,1752,1899,1606,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8467,0.82,270.4,3562,2338,1899,1605,38.5,6.2,703,8477,0.00,2.50,0.00,0.000,516,0.000,0.075,3562,918,1751,1898,1605,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8518,0.86,270.4,3561,918,1899,1605,35.4,5.7,708,8529,0.12,2.50,0.00,0.000,3078,0.134,0.069,3617,2334,1752,1899,1605,0,0,0,0,0,0,14.14,14.10,28.83
$GC,8771,0.88,270.4,3617,2333,1899,1605,18.1,6.4,733,8782,0.00,2.53,0.00,0.000,516,0.000,0.076,3618,913,1752,1899,1605,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8914,0.88,270.4,3618,913,1899,1605,9.1,8.3,747,8925,0.00,2.50,0.00,0.000,1030,0.000,0.069,3617,2329,1752,1899,1605,0,0,0,0,0,0,28.83,14.11,28.83
$STATE,8991,end climb,SURFACE_DEPTH_REACHED
$STATE,8991,begin surface coast
$FINISH,1.3,1.021866
$STATE,9042,end surface coast,CONTROL_FINISHED_OK
$STATE,9042,begin surface
$SM_CCo,9070,44.85,0.091,0,0,1329,375.06
$SM_GC,2.50,9.15,0.12,44.85,0.050,0.153,0.091,388,2409,1329,-9.12,-0.74,375.06,0,0,0,0,0,0,14.21,14.27,14.12
$IRIDIUM_FIX,4729.30,-12523.69,061214,090952
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.68
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3727776
$PM_FREEKB,42454720
$24V_AH,13.2,164.641
$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,22.900,95.625,314.625,44.850,0.000,0.000,0.000,214.725,0.000,0.000,16.138,1796.316,5056.336,534.333,1627.279,607.120,0.000,1578.378,0.000,1197.089,0.000,0.538,0.000
$DEVICE_MAMPS,352.665,153.000,1089.360,91.035,0.000,0.000,0.000,172.125,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9070.000,129.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.355,5.097,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,26682,760
$CAP_FILE_SIZE,140681,0
$CFSIZE,260034560,189820928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9548.17,0x2378ba,7,5
$CURRENT,0.097,331.1,1
$GPS,061214,151021,4751.765,-12514.690,10,2.8,30,18.7