version: 66.12
glider: 187
mission: 4
dive: 667
start: 12 7 114 6 45 37
data:
$ID,187
$MISSION,4
$DIVE,667
$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,-1595276.6
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,071214,063627,4754.179,-12514.900,12,7.1,32,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-71.4
$GPS2,071214,064506,4754.315,-12514.920,27,1.8,27,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,153.6,7273,-14.0,-7.333,-18.81,2445
$D_GRID,177
$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,-116.8,385,2378,1448,1211,0.0,0.0,0,80,0.00,0.00,-47.28,0.000,16386,0.000,0.000,385,2381,2539,2622,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,386,2380,2624,2456,3.1,-1.5,5,131,12.40,2.62,-18.12,0.000,18692,0.358,0.106,3125,3817,3337,3382,3292,0,0,0,0,0,0,13.71,14.11,14.55
$GC,212,-0.59,-116.8,3125,3816,3382,3294,24.1,-15.4,18,223,0.00,2.47,0.00,0.000,1030,0.000,0.060,3124,2389,3338,3382,3294,0,0,0,0,0,0,28.83,14.16,28.83
$GC,464,-0.59,-116.8,3128,2384,3382,3294,57.2,-11.7,43,474,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3338,3382,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,715,-0.59,-116.8,3125,2384,3383,3294,83.5,-11.7,68,726,0.00,2.42,0.00,0.000,516,0.000,0.072,3125,997,3338,3383,3294,0,0,0,0,0,0,28.83,14.05,28.83
$GC,747,-0.59,-116.8,3126,997,3383,3295,87.0,-11.1,71,759,0.00,2.47,0.00,0.000,1030,0.000,0.068,3124,2400,3338,3381,3295,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1000,-0.59,-116.8,3125,2402,3389,3295,113.3,-10.9,96,1010,0.00,2.50,0.00,0.000,260,0.000,0.083,3125,3814,3338,3382,3295,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1201,-0.59,-116.8,3124,3810,3383,3295,135.2,-10.0,116,1212,0.00,2.45,0.00,0.000,1030,0.000,0.057,3125,2402,3339,3383,3295,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1453,-0.59,-116.8,3125,2398,3383,3295,158.5,-9.3,141,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1659,begin apogee
$GC,1669,-0.25,0.0,3125,2312,3386,3295,177.2,-8.8,162,1773,0.35,0.00,92.07,0.869,10246,0.179,0.000,3233,2312,2856,2931,2781,0,0,0,0,0,0,13.87,28.83,13.43
$STATE,1780,end apogee,CONTROL_FINISHED_OK
$STATE,1780,begin climb
$GC,1784,0.59,116.8,3233,2312,2929,2778,182.3,0.0,173,1888,0.85,0.00,92.30,0.857,10246,0.129,0.000,3511,2311,2377,2504,2251,0,0,0,0,0,0,14.05,28.83,13.37
$GC,2129,0.64,183.4,3511,2312,2507,2248,171.1,4.5,208,2188,0.00,0.00,51.85,0.851,8198,0.000,0.000,3511,2311,2108,2254,1962,0,0,0,0,0,0,28.83,28.83,13.49
$GC,2430,0.64,183.4,3511,2311,2253,1962,152.1,7.5,238,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2312,2107,2253,1961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2681,0.66,183.4,3510,2311,2253,1961,134.3,6.1,263,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2312,2109,2260,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2935,0.68,183.4,3511,2312,2260,1965,118.7,6.3,288,2946,0.10,0.00,0.00,0.000,2054,0.157,0.000,3557,2312,2107,2253,1961,0,0,0,0,0,0,14.34,28.83,28.83
$GC,3187,0.68,183.4,3561,2311,2251,1968,101.6,6.9,313,3198,0.00,2.55,0.00,0.000,260,0.000,0.082,3561,3740,2107,2253,1961,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3259,0.68,183.4,3560,3742,2253,1961,96.0,8.4,320,3270,0.00,2.45,0.00,0.000,1030,0.000,0.061,3561,2341,2107,2253,1961,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3511,0.68,183.4,3561,2341,2253,1961,72.8,8.4,345,3522,0.00,2.50,0.00,0.000,516,0.000,0.075,3562,920,2107,2253,1961,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3592,0.68,183.4,3562,914,2253,1961,66.8,7.1,353,3603,0.00,2.47,0.00,0.000,1030,0.000,0.066,3562,2337,2106,2252,1961,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3844,0.79,330.9,3562,2337,2253,1961,56.6,1.1,378,3963,0.00,0.00,109.22,0.726,8454,0.000,0.000,3561,2337,1506,1651,1362,0,0,0,0,0,0,28.83,28.83,13.51
$GC,4208,0.79,330.9,3567,2337,1650,1361,37.9,7.3,414,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2337,1505,1651,1360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4458,0.81,330.9,3561,2337,1651,1360,18.0,6.4,439,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2333,1504,1648,1361,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4675,end climb,SURFACE_DEPTH_REACHED
$STATE,4675,begin surface coast
$FINISH,1.3,1.011278
$STATE,4737,end surface coast,CONTROL_FINISHED_OK
$STATE,4737,begin surface
$SM_CCo,4764,18.48,0.090,0,0,1328,375.06
$SM_GC,2.29,8.90,0.10,18.48,0.049,0.150,0.090,384,2403,1328,-9.11,-0.82,375.06,0,0,0,0,0,0,14.33,14.40,14.19
$IRIDIUM_FIX,4735.69,-12511.36,071214,050536
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.11
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3724576
$PM_FREEKB,42385952
$24V_AH,13.4,165.936
$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,22.600,25.150,345.450,18.475,0.000,0.000,0.000,219.700,0.000,0.000,28.875,1085.178,2263.011,447.554,1079.912,428.593,0.000,1165.072,0.000,749.814,0.000,0.538,0.000
$DEVICE_MAMPS,358.020,149.940,869.040,90.270,0.000,0.000,0.000,158.355,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4761.000,67.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.914,4.829,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,16749,467
$CAP_FILE_SIZE,83071,0
$CFSIZE,260034560,189296640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5740.81,0x2378ba,7,5
$CURRENT,0.335,351.0,1
$GPS,071214,080651,4754.667,-12515.089,15,8.0,35,18.8