version: 66.12
glider: 187
mission: 4
dive: 665
start: 12 7 114 3 35 25
data:
$ID,187
$MISSION,4
$DIVE,665
$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,-1595274
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,071214,032633,4753.544,-12514.649,46,3.3,66,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-74.0
$GPS2,071214,033454,4753.633,-12514.659,11,1.2,16,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,133.3,6300,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.59,-116.8,392,2398,1451,1212,0.0,0.0,0,91,0.00,0.00,-56.85,0.000,16386,0.000,0.000,392,2398,2829,2886,2772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,393,2401,2882,2773,3.9,-3.0,6,131,12.43,0.00,-9.35,0.000,18950,0.360,0.000,3125,2398,3338,3382,3295,0,0,0,0,0,0,13.71,28.83,14.53
$GC,373,-0.59,-116.8,3125,2397,3382,3296,49.1,-13.8,34,383,0.00,2.53,0.00,0.000,260,0.000,0.083,3123,3808,3337,3382,3292,0,0,0,0,0,0,28.83,14.06,28.83
$GC,444,-0.59,-116.8,3125,3808,3382,3296,58.6,-13.0,41,454,0.00,2.45,0.00,0.000,1030,0.000,0.060,3125,2399,3339,3382,3296,0,0,0,0,0,0,28.83,14.15,28.83
$GC,695,-0.59,-116.8,3125,2388,3383,3296,89.8,-12.1,66,706,0.00,2.55,0.00,0.000,260,0.000,0.083,3125,3815,3339,3382,3297,0,0,0,0,0,0,28.83,14.08,28.83
$GC,758,-0.59,-116.8,3126,3815,3382,3296,97.3,-12.2,72,768,0.00,2.47,0.00,0.000,1030,0.000,0.059,3125,2388,3339,3383,3296,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1009,-0.59,-116.8,3125,2382,3383,3296,123.9,-7.7,97,1020,0.00,2.55,0.00,0.000,260,0.000,0.082,3125,3806,3339,3383,3296,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1161,-0.59,-116.8,3125,3806,3383,3297,134.6,-7.1,112,1172,0.00,2.45,0.00,0.000,1030,0.000,0.058,3127,2389,3340,3383,3297,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1412,-0.59,-116.8,3126,2384,3383,3297,153.4,-7.7,137,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2382,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-0.59,-116.8,3125,2384,3383,3297,173.9,-8.5,162,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2384,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-0.59,-116.8,3125,2384,3384,3298,195.4,-9.0,187,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1933,begin apogee
$GC,1943,-0.25,0.0,3126,2331,3383,3297,197.7,-9.3,189,2050,0.35,0.00,92.65,0.897,10246,0.180,0.000,3230,2331,2853,2927,2780,0,0,0,0,0,0,13.79,28.83,13.40
$STATE,2057,end apogee,CONTROL_FINISHED_OK
$STATE,2057,begin climb
$GC,2061,0.59,116.8,3230,2331,2927,2778,204.0,0.0,200,2172,0.85,0.00,92.28,0.885,10502,0.127,0.000,3509,2331,2378,2506,2250,0,0,0,0,0,0,14.05,28.83,13.35
$GC,2413,0.66,219.8,3509,2331,2507,2250,197.6,3.0,236,2502,0.00,0.00,79.70,0.880,8454,0.000,0.000,3509,2331,1958,2095,1822,0,0,0,0,0,0,28.83,28.83,13.44
$GC,2746,0.69,219.8,3509,2331,2093,1828,181.6,6.0,269,2757,0.12,0.00,0.00,0.000,2054,0.133,0.000,3577,2331,1957,2092,1822,0,0,0,0,0,0,14.23,28.83,28.83
$GC,2998,0.69,219.8,3577,2331,2093,1822,157.8,9.5,294,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2331,1957,2094,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,0.69,219.8,3577,2331,2094,1822,133.7,9.5,319,3261,0.12,2.47,0.00,0.000,4612,0.231,0.072,3548,930,1957,2093,1822,0,0,0,0,0,0,14.06,14.09,28.83
$GC,3302,0.69,219.8,3554,930,2094,1822,128.8,8.8,324,3313,0.00,2.45,0.00,0.000,1030,0.000,0.067,3546,2330,1958,2094,1822,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3553,0.69,219.8,3548,2329,2093,1824,107.6,7.1,349,3564,0.00,2.50,0.00,0.000,260,0.000,0.083,3554,3740,1958,2094,1822,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3679,0.69,219.8,3549,3740,2094,1822,97.5,8.6,361,3690,0.00,2.47,0.00,0.000,1030,0.000,0.062,3549,2334,1958,2094,1822,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3931,0.69,219.8,3549,2334,2094,1823,76.7,7.6,386,3942,0.00,2.47,0.00,0.000,516,0.000,0.074,3548,921,1956,2089,1823,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3982,0.69,219.8,3549,920,2093,1822,72.9,7.2,391,3994,0.00,2.47,0.00,0.000,1030,0.000,0.067,3549,2340,1957,2093,1822,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4235,0.74,291.3,3549,2340,2093,1823,60.2,4.3,416,4303,0.00,2.58,53.97,0.745,8708,0.000,0.075,3548,917,1665,1815,1516,0,0,0,0,0,0,28.83,14.27,13.61
$GC,4335,0.77,340.3,3549,917,1815,1516,55.3,5.3,426,4384,0.00,2.47,37.22,0.731,9222,0.000,0.068,3548,2331,1467,1613,1321,0,0,0,0,0,0,28.83,14.21,13.56
$GC,4629,0.77,340.3,3549,2331,1612,1320,33.2,8.1,455,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2331,1466,1612,1320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4881,0.77,340.3,3549,2336,1619,1320,12.5,7.6,480,4892,0.00,2.53,0.00,0.000,260,0.000,0.083,3549,3743,1469,1613,1326,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4943,0.77,340.3,3549,3743,1612,1320,7.4,8.2,486,4954,0.00,2.47,0.00,0.000,1030,0.000,0.061,3548,2329,1467,1613,1321,0,0,0,0,0,0,28.83,14.20,28.83
$STATE,4991,end climb,SURFACE_DEPTH_REACHED
$STATE,4991,begin surface coast
$FINISH,1.5,1.024092
$STATE,5047,end surface coast,CONTROL_FINISHED_OK
$STATE,5047,begin surface
$SM_CCo,5076,14.55,0.093,0,0,1329,375.06
$SM_GC,2.62,8.88,0.15,14.55,0.050,0.132,0.093,385,2416,1329,-9.12,-0.68,375.06,0,0,0,0,0,0,14.30,14.33,14.16
$IRIDIUM_FIX,4738.89,-12503.47,071214,010107
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.15
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,13.80
$XPDR_PINGS,0
$SC_FREEKB,3725216
$PM_FREEKB,42396736
$24V_AH,13.4,165.685
$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,22.750,40.125,355.825,14.550,0.000,0.000,0.000,213.475,0.000,0.000,17.392,1154.312,2364.573,483.627,1128.407,462.019,0.000,1246.420,0.000,799.789,0.000,0.538,0.000
$DEVICE_MAMPS,359.550,221.085,897.345,93.330,0.000,0.000,0.000,161.415,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5069.000,77.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.700,5.059,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,16774,496
$CAP_FILE_SIZE,92225,0
$CFSIZE,260034560,189394944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5911.46,0x2378ba,7,5
$CURRENT,0.257,330.7,1
$GPS,071214,050139,4753.729,-12514.812,10,3.0,30,18.8