version: 66.12
glider: 187
mission: 4
dive: 663
start: 12 7 114 0 23 25
data:
$ID,187
$MISSION,4
$DIVE,663
$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,-1595271.4
$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,28
$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
$GPS1,071214,001430,4753.238,-12514.583,42,1.6,42,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-72.7
$GPS2,071214,002254,4753.331,-12514.706,10,1.2,15,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,120.7,6092,-14.0,-7.333,-18.81,2445
$D_GRID,197
$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,-116.8,401,2378,1436,1227,0.0,0.0,0,81,0.00,0.00,-47.25,0.000,16386,0.000,0.000,397,2378,2548,2630,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,398,2378,2635,2465,3.3,-2.1,5,131,12.40,2.60,-17.10,0.000,19204,0.362,0.105,3122,3802,3338,3384,3293,0,0,0,0,0,0,13.71,14.12,14.54
$GC,233,-0.59,-116.8,3123,3802,3383,3294,23.8,-10.6,20,244,0.00,2.45,0.00,0.000,1030,0.000,0.060,3123,2404,3338,3383,3294,0,0,0,0,0,0,28.83,14.19,28.83
$GC,484,-0.59,-116.8,3122,2400,3379,3294,55.9,-11.5,45,495,0.00,2.53,0.00,0.000,260,0.000,0.083,3122,3815,3338,3383,3294,0,0,0,0,0,0,28.83,14.09,28.83
$GC,576,-0.59,-116.8,3122,3815,3383,3295,67.4,-11.9,54,587,0.00,2.47,0.00,0.000,1030,0.000,0.059,3123,2388,3339,3383,3295,0,0,0,0,0,0,28.83,14.16,28.83
$GC,829,-0.59,-116.8,3122,2379,3384,3295,92.5,-9.3,79,840,0.00,2.42,0.00,0.000,516,0.000,0.071,3122,995,3339,3383,3295,0,0,0,0,0,0,28.83,14.12,28.83
$GC,871,-0.59,-116.8,3122,995,3384,3292,96.6,-9.5,83,882,0.00,2.47,0.00,0.000,1030,0.000,0.067,3122,2394,3339,3384,3295,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1123,-0.59,-116.8,3122,2393,3379,3295,118.7,-8.8,108,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2390,3336,3378,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1373,-0.59,-116.8,3122,2394,3384,3296,139.4,-7.9,133,1384,0.00,2.53,0.00,0.000,260,0.000,0.083,3122,3813,3339,3384,3295,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1445,-0.59,-116.8,3122,3813,3384,3296,145.1,-8.1,140,1456,0.00,2.45,0.00,0.000,1030,0.000,0.058,3128,2399,3339,3384,3295,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1697,-0.59,-116.8,3122,2400,3384,3295,165.7,-8.3,165,1707,0.00,2.55,0.00,0.000,260,0.000,0.083,3122,3821,3340,3384,3296,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1749,-0.59,-116.8,3122,3820,3384,3296,169.7,-8.3,170,1760,0.00,2.45,0.00,0.000,1030,0.000,0.058,3122,2402,3340,3384,3296,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2001,-0.59,-116.8,3122,2397,3384,3295,192.7,-10.1,195,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3340,3384,3296,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2048,begin apogee
$GC,2059,-0.25,0.0,3123,2313,3384,3296,197.9,-10.3,200,2162,0.38,0.00,92.18,0.898,10246,0.179,0.000,3238,2311,2856,2930,2783,0,0,0,0,0,0,13.83,28.83,13.40
$STATE,2169,end apogee,CONTROL_FINISHED_OK
$STATE,2169,begin climb
$GC,2173,0.59,116.8,3238,2311,2930,2779,204.4,0.0,211,2277,0.82,0.00,92.00,0.885,10246,0.125,0.000,3509,2311,2382,2510,2254,0,0,0,0,0,0,14.06,28.83,13.35
$GC,2517,0.67,234.9,3509,2311,2508,2250,198.5,2.4,246,2617,0.00,0.00,91.53,0.880,8198,0.000,0.000,3508,2312,1897,2036,1759,0,0,0,0,0,0,28.83,28.83,13.40
$GC,2858,0.71,286.6,3510,2311,2034,1758,183.9,5.2,280,2911,0.12,2.62,40.40,0.868,10500,0.133,0.081,3576,3747,1686,1835,1537,0,0,0,0,0,0,14.22,14.23,13.52
$GC,2941,0.71,286.6,3576,3747,1836,1536,176.4,10.4,288,2953,0.00,2.45,0.00,0.000,1030,0.000,0.060,3576,2338,1686,1834,1539,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3195,0.71,286.6,3576,2338,1829,1535,147.2,11.6,313,3206,0.00,2.47,0.00,0.000,516,0.000,0.074,3576,923,1684,1834,1535,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3266,0.71,286.6,3576,922,1840,1536,138.9,11.7,320,3278,0.00,2.47,0.00,0.000,1030,0.000,0.067,3576,2344,1684,1833,1536,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3519,0.71,286.6,3576,2343,1834,1536,113.3,9.5,345,3529,0.00,2.50,0.00,0.000,516,0.000,0.075,3576,922,1684,1834,1535,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3590,0.71,286.6,3576,922,1834,1536,106.9,9.0,352,3601,0.00,2.45,0.00,0.000,1030,0.000,0.068,3576,2324,1684,1834,1535,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3842,0.71,286.6,3576,2322,1834,1534,85.9,7.5,377,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2323,1684,1834,1534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,0.71,286.6,3576,2323,1834,1533,66.9,7.0,402,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2319,1684,1834,1534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4343,0.71,286.6,3577,2323,1834,1534,49.1,8.4,427,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2324,1682,1832,1532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4594,0.71,286.6,3576,2323,1834,1532,29.9,7.3,452,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2323,1682,1834,1531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4847,0.71,286.6,3574,2323,1833,1532,11.2,6.9,477,4857,0.00,2.53,0.00,0.000,260,0.000,0.083,3576,3745,1682,1834,1530,0,0,0,0,0,0,28.83,14.12,28.83
$STATE,4958,end climb,SURFACE_DEPTH_REACHED
$STATE,4959,begin surface coast
$FINISH,1.5,1.024009
$STATE,4996,end surface coast,CONTROL_FINISHED_OK
$STATE,4996,begin surface
$SM_CCo,5025,37.33,0.091,0,0,1328,375.06
$SM_GC,2.91,9.00,2.38,37.33,0.054,0.059,0.091,396,2400,1328,-9.10,0.90,375.06,0,0,0,0,0,0,14.26,14.29,14.14
$IRIDIUM_FIX,4732.49,-12504.26,061214,222251
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.11
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3725856
$PM_FREEKB,42408416
$24V_AH,13.3,165.429
$10V_AH,13.2,0.000
$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,22.725,44.925,316.100,37.325,0.000,0.000,0.000,217.475,0.000,0.000,16.782,1152.595,2368.167,465.494,1124.976,457.503,0.000,1224.130,0.000,766.173,0.000,0.538,0.000
$DEVICE_MAMPS,361.845,144.585,898.110,91.035,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5019.000,77.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.655,4.920,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,16733,492
$CAP_FILE_SIZE,91732,0
$CFSIZE,260034560,189505536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6025.72,0x2378ba,7,5
$CURRENT,0.199,326.8,1
$GPS,071214,014912,4753.343,-12514.621,13,1.1,30,18.8