version: 66.12
glider: 187
mission: 4
dive: 659
start: 12 6 114 17 42 55
data:
$ID,187
$MISSION,4
$DIVE,659
$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,-1595266.1
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,061214,173331,4752.422,-12514.171,10,1.8,10,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-72.3
$GPS2,061214,174225,4752.481,-12514.271,17,1.8,17,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,127.8,5075,-14.0,-7.333,-18.81,2445
$D_GRID,218
$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,23,begin dive
$GC,28,-0.59,-116.8,392,2415,1443,1215,0.0,0.0,0,81,0.00,0.00,-46.70,0.000,16386,0.000,0.000,393,2415,2513,2598,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,393,2415,2598,2427,3.0,-1.4,5,131,12.35,2.53,-18.98,0.000,18948,0.356,0.093,3128,990,3337,3382,3292,0,0,0,0,0,0,13.71,14.19,14.52
$GC,362,-0.59,-116.8,3128,990,3383,3294,42.1,-13.8,33,373,0.00,2.47,0.00,0.000,1030,0.000,0.070,3128,2388,3338,3383,3294,0,0,0,0,0,0,28.83,14.09,28.83
$GC,615,-0.59,-116.8,3128,2388,3383,3294,71.5,-11.2,58,625,0.00,2.55,0.00,0.000,260,0.000,0.083,3128,3812,3338,3383,3294,0,0,0,0,0,0,28.83,14.04,28.83
$GC,776,-0.59,-116.8,3128,3812,3383,3294,87.9,-9.4,74,787,0.00,2.45,0.00,0.000,1030,0.000,0.059,3128,2406,3338,3383,3294,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1027,-0.59,-116.8,3127,2402,3383,3294,113.8,-9.9,99,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1279,-0.59,-116.8,3129,2401,3383,3293,136.9,-8.7,124,1289,0.00,2.53,0.00,0.000,260,0.000,0.083,3128,3810,3338,3383,3294,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1362,-0.59,-116.8,3128,3810,3384,3295,144.1,-8.9,132,1373,0.00,2.45,0.00,0.000,1030,0.000,0.059,3128,2403,3339,3385,3294,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1614,-0.59,-116.8,3128,2400,3383,3294,166.8,-9.1,157,1625,0.00,2.50,0.00,0.000,516,0.000,0.070,3128,985,3337,3380,3294,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1686,-0.59,-116.8,3125,984,3384,3294,173.6,-9.6,164,1697,0.00,2.53,0.00,0.000,1030,0.000,0.067,3128,2400,3339,3384,3295,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1937,-0.59,-116.8,3128,2400,3384,3295,196.5,-9.2,189,1948,0.00,2.53,0.00,0.000,260,0.000,0.084,3128,3811,3339,3383,3295,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2018,-0.59,-116.8,3124,3815,3383,3298,204.0,-9.2,197,2029,0.00,2.45,0.00,0.000,1030,0.000,0.059,3128,2394,3339,3384,3295,0,0,0,0,0,0,28.83,14.12,28.83
$STATE,2185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2185,begin apogee
$GC,2195,-0.25,0.0,3128,2317,3384,3294,218.4,-8.3,214,2299,0.35,0.00,92.93,0.925,10246,0.177,0.000,3236,2316,2856,2931,2782,0,0,0,0,0,0,13.79,28.83,13.38
$STATE,2306,end apogee,CONTROL_FINISHED_OK
$STATE,2306,begin climb
$GC,2310,0.59,116.8,3236,2317,2930,2780,223.3,0.0,225,2415,0.85,0.00,93.03,0.913,10758,0.123,0.000,3513,2316,2382,2510,2254,0,0,0,0,0,0,14.05,28.83,13.31
$GC,2656,0.64,187.1,3513,2316,2509,2251,211.5,4.4,260,2725,0.00,2.60,55.60,0.900,8452,0.000,0.083,3513,3740,2092,2239,1946,0,0,0,0,0,0,28.83,14.14,13.43
$GC,2786,0.64,187.1,3513,3740,2239,1947,203.9,7.2,273,2798,0.00,2.42,0.00,0.000,1030,0.000,0.062,3513,2344,2093,2239,1947,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3040,0.67,187.1,3513,2344,2238,1944,188.5,5.9,298,3051,0.00,2.50,0.00,0.000,516,0.000,0.076,3519,921,2094,2239,1949,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3092,0.69,187.1,3516,921,2239,1948,185.2,6.1,303,3103,0.00,2.47,0.00,0.000,1030,0.000,0.067,3519,2338,2094,2239,1949,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3345,0.71,187.1,3519,2340,2239,1949,169.2,6.4,328,3355,0.10,0.00,0.00,0.000,2054,0.161,0.000,3571,2338,2096,2245,1948,0,0,0,0,0,0,14.30,28.83,28.83
$GC,3596,0.71,187.1,3571,2338,2239,1949,148.8,8.4,353,3606,0.00,2.50,0.00,0.000,516,0.000,0.075,3574,923,2094,2239,1949,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3700,0.71,187.1,3574,922,2239,1949,140.0,9.1,363,3712,0.00,2.47,0.00,0.000,1030,0.000,0.068,3570,2328,2094,2239,1949,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3953,0.71,187.1,3574,2328,2239,1949,115.7,9.7,388,3964,0.00,2.50,0.00,0.000,260,0.000,0.082,3574,3738,2093,2239,1948,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4134,0.71,187.1,3574,3733,2239,1949,97.3,9.6,406,4145,0.00,2.45,0.00,0.000,1030,0.000,0.062,3574,2334,2093,2239,1948,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4385,0.71,187.1,3574,2333,2239,1949,77.5,7.2,431,4396,0.00,2.50,0.00,0.000,516,0.000,0.074,3575,914,2094,2239,1949,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4588,0.75,187.1,3575,914,2239,1949,65.8,5.6,451,4600,0.00,2.47,0.00,0.000,1030,0.000,0.067,3575,2328,2093,2239,1948,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4842,0.78,187.1,3575,2328,2239,1949,51.4,5.5,476,4853,0.00,2.50,0.00,0.000,516,0.000,0.073,3575,915,2094,2239,1949,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4947,0.81,187.1,3575,915,2239,1955,45.3,5.9,486,4958,0.00,2.50,0.00,0.000,1030,0.000,0.066,3575,2342,2093,2238,1949,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5200,0.89,296.5,3575,2341,2234,1948,38.1,2.7,511,5292,0.12,2.55,81.30,0.710,10500,0.140,0.083,3637,3747,1646,1795,1498,0,0,0,0,0,0,14.25,14.23,13.57
$GC,5428,0.89,296.5,3636,3747,1793,1497,17.8,11.7,533,5439,0.12,2.47,0.00,0.000,5126,0.274,0.060,3617,2319,1645,1793,1497,0,0,0,0,0,0,13.82,14.11,28.83
$STATE,5585,end climb,SURFACE_DEPTH_REACHED
$STATE,5585,begin surface coast
$FINISH,1.4,1.014645
$STATE,5637,end surface coast,CONTROL_FINISHED_OK
$STATE,5637,begin surface
$SM_CCo,5665,33.50,0.091,0,0,1328,375.06
$SM_GC,2.92,9.20,0.15,33.50,0.057,0.128,0.091,392,2399,1328,-9.11,-0.82,375.06,0,0,0,0,0,0,14.20,14.28,14.14
$IRIDIUM_FIX,4729.30,-12512.13,061214,151532
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.64
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3727136
$PM_FREEKB,42433568
$24V_AH,13.3,164.928
$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,23.100,60.150,322.850,33.500,0.000,0.000,0.000,236.950,0.000,0.000,18.696,1306.408,2709.955,476.599,1253.436,482.493,0.000,1308.709,0.000,876.121,0.000,0.538,0.000
$DEVICE_MAMPS,355.725,165.240,924.885,91.035,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5662.000,81.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.378,5.028,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,20079,554
$CAP_FILE_SIZE,102695,0
$CFSIZE,260034560,189718528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8601.79,0x2378ba,7,5
$CURRENT,0.269,343.6,1
$GPS,061214,191935,4752.817,-12514.189,41,1.0,47,18.8