version: 66.12
glider: 187
mission: 4
dive: 661
start: 12 6 114 21 6 36
data:
$ID,187
$MISSION,4
$DIVE,661
$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,-1595268.8
$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,30
$R_STBD_OVSHOOT,17
$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
$GPS1,061214,205736,4753.201,-12514.220,38,1.1,38,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-73.1
$GPS2,061214,210606,4753.241,-12514.345,12,1.1,17,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,141.8,5616,-14.0,-7.333,-18.81,2445
$D_GRID,191
$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,-116.8,391,2402,1443,1218,0.0,0.0,0,81,0.00,0.00,-46.80,0.000,16386,0.000,0.000,391,2402,2525,2612,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,390,2402,2612,2439,3.0,-1.4,5,132,12.52,2.55,-19.00,0.000,18692,0.363,0.109,3133,3822,3338,3383,3293,0,0,0,0,0,0,13.72,14.14,14.54
$GC,314,-0.59,-116.8,3128,3822,3383,3295,32.7,-11.8,28,324,0.00,2.45,0.00,0.000,1030,0.000,0.059,3128,2411,3338,3382,3295,0,0,0,0,0,0,28.83,14.19,28.83
$GC,566,-0.59,-116.8,3128,2402,3383,3294,58.8,-10.5,53,578,0.00,2.55,0.00,0.000,260,0.000,0.083,3128,3824,3339,3383,3295,0,0,0,0,0,0,28.83,14.04,28.83
$GC,658,-0.59,-116.8,3128,3825,3382,3296,69.9,-11.4,62,669,0.00,2.47,0.00,0.000,1030,0.000,0.058,3128,2387,3339,3384,3295,0,0,0,0,0,0,28.83,14.17,28.83
$GC,910,-0.59,-116.8,3128,2381,3383,3296,96.8,-10.9,87,921,0.00,2.42,0.00,0.000,516,0.000,0.071,3128,992,3338,3383,3293,0,0,0,0,0,0,28.83,14.11,28.83
$GC,972,-0.59,-116.8,3128,992,3383,3296,103.7,-11.4,93,983,0.00,2.50,0.00,0.000,1030,0.000,0.070,3129,2406,3340,3384,3296,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1224,-0.59,-116.8,3128,2406,3383,3296,128.4,-9.7,118,1235,0.00,2.50,0.00,0.000,260,0.000,0.086,3127,3812,3339,3383,3296,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1287,-0.59,-116.8,3126,3809,3383,3296,134.1,-9.1,124,1298,0.00,2.45,0.00,0.000,1030,0.000,0.058,3128,2401,3337,3378,3296,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1539,-0.59,-116.8,3128,2400,3383,3296,155.0,-7.4,149,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3339,3383,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1792,-0.59,-116.8,3129,2399,3383,3296,171.6,-6.1,174,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2043,-0.59,-116.8,3128,2399,3383,3296,187.7,-6.4,199,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3340,3384,3296,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2098,begin apogee
$GC,2110,-0.25,0.0,3128,2311,3383,3296,191.3,-6.0,205,2212,0.35,0.00,92.18,0.892,10246,0.174,0.000,3235,2309,2855,2929,2782,0,0,0,0,0,0,13.85,28.83,13.40
$STATE,2218,end apogee,CONTROL_FINISHED_OK
$STATE,2218,begin climb
$GC,2224,0.59,116.8,3234,2311,2929,2779,195.6,0.0,216,2327,0.85,0.00,92.07,0.884,10246,0.126,0.000,3511,2311,2382,2512,2252,0,0,0,0,0,0,14.05,28.83,13.34
$GC,2568,0.63,116.8,3510,2311,2507,2249,180.2,5.6,251,2579,0.00,2.42,0.00,0.000,516,0.000,0.073,3519,931,2378,2507,2249,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2663,0.67,174.5,3513,930,2507,2249,175.5,4.9,260,2720,0.00,2.47,44.83,0.865,9222,0.000,0.068,3513,2344,2144,2290,1999,0,0,0,0,0,0,28.83,14.16,13.50
$GC,2965,0.71,237.1,3513,2344,2287,2000,159.5,4.7,290,3021,0.12,0.00,48.62,0.847,10246,0.132,0.000,3578,2344,1889,2029,1750,0,0,0,0,0,0,14.26,28.83,13.50
$GC,3265,0.71,237.1,3579,2344,2024,1749,137.7,7.5,320,3275,0.00,2.50,0.00,0.000,516,0.000,0.076,3579,934,1887,2026,1749,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3327,0.71,237.1,3579,934,2026,1754,133.0,7.3,326,3338,0.00,2.45,0.00,0.000,1030,0.000,0.070,3579,2327,1888,2026,1750,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3580,0.71,237.1,3579,2326,2026,1751,115.0,8.1,351,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2331,1891,2032,1751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,0.71,237.1,3579,2326,2027,1751,91.3,10.3,376,3841,0.00,2.47,0.00,0.000,516,0.000,0.077,3584,935,1886,2026,1747,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3944,0.71,237.1,3579,935,2028,1751,79.6,10.7,387,3955,0.00,2.45,0.00,0.000,1030,0.000,0.070,3579,2330,1888,2026,1751,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4196,0.73,237.1,3579,2329,2026,1751,58.6,6.3,412,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,2329,1888,2026,1751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4446,0.77,237.1,3578,2330,2026,1747,45.2,5.5,437,4458,0.00,2.53,0.00,0.000,260,0.000,0.085,3579,3739,1888,2026,1751,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4600,0.77,237.1,3579,3739,2026,1751,34.1,7.9,452,4611,0.00,2.42,0.00,0.000,1030,0.000,0.062,3579,2342,1888,2025,1751,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4851,0.80,237.1,3579,2342,2026,1751,18.2,5.8,477,4863,0.00,2.50,0.00,0.000,516,0.000,0.074,3579,917,1888,2026,1751,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5094,0.85,314.3,3579,917,2025,1751,5.3,4.1,501,5134,0.00,2.50,30.65,0.096,9218,0.000,0.067,3577,2340,1604,1752,1456,0,0,0,0,0,0,28.83,14.15,28.83
$STATE,5137,end climb,SURFACE_DEPTH_REACHED
$STATE,5137,begin surface coast
$FINISH,1.4,1.024046
$STATE,5177,end surface coast,CONTROL_FINISHED_OK
$STATE,5177,begin surface
$SM_CCo,5205,29.65,0.094,0,0,1328,375.06
$SM_GC,2.38,9.07,0.10,29.65,0.057,0.193,0.094,392,2405,1328,-9.10,-0.74,375.06,0,0,0,0,0,0,14.20,14.29,14.13
$IRIDIUM_FIX,4732.49,-12511.36,061214,191931
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.44
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3726496
$PM_FREEKB,42421248
$24V_AH,13.3,165.175
$10V_AH,13.4,0.000
$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,22.925,44.850,308.350,29.650,0.000,0.000,0.000,223.600,0.000,0.000,18.124,1195.458,2484.617,447.145,1158.582,460.782,0.000,1221.973,0.000,800.286,0.000,0.538,0.000
$DEVICE_MAMPS,362.610,192.780,891.990,94.095,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5199.000,77.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.892,4.713,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,16731,509
$CAP_FILE_SIZE,94312,0
$CFSIZE,260034560,189616128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5929.73,0x2378ba,7,5
$CURRENT,0.158,337.5,1
$GPS,061214,223455,4753.149,-12514.400,10,1.8,10,18.8