version: 66.12
glider: 187
mission: 4
dive: 658
start: 12 6 114 15 19 33
data:
$ID,187
$MISSION,4
$DIVE,658
$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,-1595264.8
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,061214,151021,4751.765,-12514.690,10,2.8,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-72.4
$GPS2,061214,151902,4751.802,-12514.704,16,2.5,36,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,92.6,5515,-14.0,-7.333,-18.81,2445
$D_GRID,297
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.59,-116.8,388,2412,1442,1221,0.0,0.0,0,82,0.00,0.00,-48.62,0.000,16386,0.000,0.000,388,2409,2562,2649,2475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.59,-116.8,388,2407,2650,2475,3.1,-1.6,5,126,12.60,2.58,-18.02,0.000,18692,0.363,0.109,3124,3806,3337,3381,3293,0,0,0,0,0,0,13.74,14.12,14.51
$GC,318,-0.59,-116.8,3127,3805,3381,3295,33.7,-11.8,28,327,0.00,2.47,0.00,0.000,1030,0.000,0.060,3127,2399,3340,3381,3299,0,0,0,0,0,0,28.83,14.10,28.83
$GC,567,-0.59,-116.8,3127,2395,3382,3295,62.8,-10.5,53,576,0.00,2.53,0.00,0.000,260,0.000,0.083,3127,3800,3336,3377,3296,0,0,0,0,0,0,28.83,14.00,28.83
$GC,618,-0.59,-116.8,3127,3805,3382,3296,68.2,-10.9,58,627,0.00,2.45,0.00,0.000,1030,0.000,0.059,3127,2387,3338,3381,3295,0,0,0,0,0,0,28.83,14.11,28.83
$GC,868,-0.59,-116.8,3127,2383,3382,3296,93.8,-9.8,83,878,0.00,2.58,0.00,0.000,260,0.000,0.084,3127,3800,3341,3388,3294,0,0,0,0,0,0,28.83,13.99,28.83
$GC,968,-0.59,-116.8,3127,3801,3380,3291,103.9,-9.8,93,977,0.00,2.42,0.00,0.000,1030,0.000,0.058,3127,2405,3337,3380,3295,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1218,-0.59,-116.8,3127,2401,3382,3295,126.9,-8.9,118,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3339,3382,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,-0.59,-116.8,3127,2401,3383,3296,148.6,-7.5,143,1479,0.00,2.50,0.00,0.000,516,0.000,0.069,3127,983,3337,3378,3296,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1549,-0.59,-116.8,3131,983,3382,3296,155.9,-9.3,151,1559,0.00,2.50,0.00,0.000,1030,0.000,0.067,3127,2395,3340,3384,3296,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1800,-0.59,-116.8,3128,2394,3383,3296,178.2,-9.5,176,1809,0.00,2.55,0.00,0.000,260,0.000,0.084,3127,3813,3339,3382,3296,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1869,-0.59,-116.8,3127,3813,3382,3297,184.8,-9.6,183,1879,0.00,2.47,0.00,0.000,1030,0.000,0.059,3127,2395,3336,3377,3296,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2120,-0.59,-116.8,3127,2394,3382,3297,207.2,-8.9,208,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2394,3339,3382,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2370,-0.59,-116.8,3127,2394,3382,3296,228.2,-7.7,233,2378,0.00,2.55,0.00,0.000,260,0.000,0.084,3127,3811,3339,3382,3296,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2480,-0.59,-116.8,3127,3815,3391,3296,236.6,-7.3,244,2490,0.00,2.47,0.00,0.000,1030,0.000,0.060,3127,2392,3339,3382,3296,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2730,-0.59,-116.8,3127,2391,3385,3294,254.3,-7.2,265,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2388,3341,3387,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.59,-116.8,3127,2388,3378,3297,274.7,-6.5,275,3040,0.00,2.58,0.00,0.000,260,0.000,0.084,3127,3814,3339,3382,3297,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3069,-0.59,-116.8,3127,3814,3382,3296,277.4,-6.8,279,3078,0.00,2.47,0.00,0.000,1030,0.000,0.060,3127,2393,3339,3382,3296,0,0,0,0,0,0,28.83,14.06,28.83
$STATE,3390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3390,begin apogee
$GC,3401,-0.25,0.0,3127,2329,3382,3295,298.2,-6.1,291,3502,0.38,0.00,95.60,1.029,10246,0.175,0.000,3236,2328,2855,2929,2781,0,0,0,0,0,0,13.83,28.83,13.30
$STATE,3505,end apogee,CONTROL_FINISHED_OK
$STATE,3505,begin climb
$GC,3510,0.59,116.8,3235,2328,2927,2781,300.6,0.0,294,3625,0.82,2.62,95.47,1.011,10500,0.118,0.083,3510,3746,2379,2506,2253,0,0,0,0,0,0,14.04,14.01,13.24
$GC,3685,0.59,116.8,3515,3745,2506,2247,291.8,7.9,314,3696,0.00,2.47,0.00,0.000,1030,0.000,0.061,3510,2335,2376,2506,2247,0,0,0,0,0,0,28.83,14.13,28.83
$GC,4000,0.59,116.8,3510,2334,2502,2248,268.1,7.3,325,4010,0.00,2.47,0.00,0.000,516,0.000,0.073,3510,920,2377,2506,2248,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4134,0.62,116.8,3507,920,2506,2248,259.2,6.0,338,4144,0.00,2.53,0.00,0.000,1030,0.000,0.069,3510,2342,2377,2506,2248,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4446,0.62,116.8,3509,2341,2506,2243,238.0,7.2,361,4457,0.00,2.50,0.00,0.000,260,0.000,0.084,3509,3744,2376,2506,2247,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4537,0.62,116.8,3510,3744,2506,2246,231.1,7.5,370,4548,0.00,2.47,0.00,0.000,1030,0.000,0.063,3510,2325,2376,2506,2246,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4788,0.65,167.7,3510,2325,2506,2245,215.9,5.2,395,4839,0.00,2.53,40.15,0.938,8708,0.000,0.077,3510,924,2170,2313,2028,0,0,0,0,0,0,28.83,14.27,13.50
$GC,4875,0.69,167.7,3509,923,2314,2029,211.5,5.7,403,4887,0.10,2.47,0.00,0.000,3078,0.156,0.069,3557,2333,2171,2313,2029,0,0,0,0,0,0,14.19,14.20,28.83
$GC,5131,0.70,167.7,3557,2332,2314,2029,193.3,6.8,428,5142,0.00,2.50,0.00,0.000,260,0.000,0.084,3557,3735,2171,2314,2029,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5282,0.70,167.7,3557,3739,2313,2029,179.9,9.1,443,5293,0.00,2.47,0.00,0.000,1030,0.000,0.063,3562,2319,2171,2313,2029,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5534,0.70,167.7,3561,2320,2314,2029,160.8,7.7,468,5545,0.00,2.47,0.00,0.000,516,0.000,0.076,3558,919,2171,2314,2029,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5627,0.70,167.7,3561,919,2314,2029,154.2,6.9,477,5637,0.00,2.47,0.00,0.000,1030,0.000,0.068,3562,2328,2171,2313,2029,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5879,0.72,167.7,3561,2328,2314,2029,138.6,6.0,502,5890,0.00,2.50,0.00,0.000,516,0.000,0.076,3562,922,2171,2314,2029,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6021,0.72,167.7,3562,924,2313,2030,128.9,7.3,516,6032,0.00,2.50,0.00,0.000,1030,0.000,0.069,3562,2342,2171,2314,2029,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6272,0.72,167.7,3562,2341,2313,2029,110.3,8.0,541,6283,0.00,2.53,0.00,0.000,260,0.000,0.085,3562,3739,2171,2314,2029,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6504,0.72,167.7,3562,3738,2316,2029,91.9,7.0,564,6515,0.00,2.47,0.00,0.000,1030,0.000,0.063,3562,2320,2171,2313,2029,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6757,0.77,241.1,3562,2320,2313,2029,79.5,4.2,589,6826,0.00,2.45,56.42,0.773,8708,0.000,0.076,3561,922,1873,2012,1734,0,0,0,0,0,0,28.83,14.24,13.56
$GC,6888,0.80,241.1,3562,922,2012,1734,72.4,5.9,602,6899,0.00,2.47,0.00,0.000,1030,0.000,0.068,3562,2329,1873,2011,1735,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7140,0.83,241.1,3562,2329,2012,1735,58.0,6.1,627,7151,0.00,2.53,0.00,0.000,260,0.000,0.083,3562,3748,1873,2012,1735,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7362,0.83,241.1,3562,3748,2012,1735,39.6,8.2,649,7373,0.00,2.50,0.00,0.000,1030,0.000,0.062,3559,2320,1873,2011,1735,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7613,0.88,311.4,3559,2320,2012,1735,26.1,4.4,674,7675,0.12,2.50,50.33,0.698,10756,0.132,0.076,3630,931,1584,1731,1437,0,0,0,0,0,0,14.22,14.26,13.63
$GC,7846,0.88,311.4,3630,931,1730,1437,6.6,9.2,697,7856,0.00,2.45,0.00,0.000,1030,0.000,0.067,3630,2329,1583,1730,1437,0,0,0,0,0,0,28.83,14.09,28.83
$STATE,7873,end climb,SURFACE_DEPTH_REACHED
$STATE,7873,begin surface coast
$FINISH,1.4,1.014172
$STATE,7919,end surface coast,CONTROL_FINISHED_OK
$STATE,7919,begin surface
$SM_CCo,7948,27.15,0.095,0,0,1328,375.06
$SM_GC,2.17,9.18,0.12,27.15,0.052,0.145,0.095,393,2414,1328,-9.10,-0.71,375.06,0,0,0,0,0,0,14.23,14.27,14.15
$IRIDIUM_FIX,4729.30,-12516.60,061214,121241
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.55
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3727456
$PM_FREEKB,42433600
$24V_AH,13.2,164.796
$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,23.200,90.250,337.975,27.150,0.000,0.000,0.000,238.675,0.000,0.000,37.044,1666.716,4242.160,532.717,1508.890,540.100,0.000,1487.907,0.000,1106.617,0.000,0.537,0.000
$DEVICE_MAMPS,363.375,150.705,1028.925,94.860,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7947.000,3534.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.618,4.134,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,23429,704
$CAP_FILE_SIZE,125677,0
$CFSIZE,260034560,189767680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9750.85,0x2378ba,7,5
$CURRENT,0.226,338.1,1
$GPS,061214,173331,4752.422,-12514.171,10,1.8,10,18.8