version: 66.12
glider: 187
mission: 4
dive: 668
start: 12 7 114 8 14 29
data:
$ID,187
$MISSION,4
$DIVE,668
$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,-1595277.9
$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,29
$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
$GPS1,071214,080651,4754.667,-12515.089,15,8.0,35,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-72.2
$GPS2,071214,081402,4754.764,-12515.126,14,2.0,14,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,157.2,7997,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.59,-116.8,385,2400,1445,1213,0.0,0.0,0,93,0.00,0.00,-59.60,0.000,16386,0.000,0.000,385,2400,2879,2923,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.59,-116.8,385,2401,2925,2833,3.5,-2.2,6,125,12.35,0.00,-9.12,0.000,18950,0.356,0.000,3125,2401,3337,3380,3294,0,0,0,0,0,0,13.73,28.83,14.54
$GC,367,-0.59,-116.8,3125,2401,3382,3295,49.3,-13.4,33,376,0.00,2.53,0.00,0.000,260,0.000,0.085,3125,3810,3341,3381,3302,0,0,0,0,0,0,28.83,14.07,28.83
$GC,487,-0.59,-116.8,3127,3809,3382,3296,65.4,-12.2,45,497,0.00,2.45,0.00,0.000,1030,0.000,0.059,3130,2398,3339,3382,3296,0,0,0,0,0,0,28.83,14.16,28.83
$GC,738,-0.59,-116.8,3130,2394,3383,3295,93.3,-10.5,70,745,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3339,3382,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,988,-0.59,-116.8,3122,2394,3382,3295,117.5,-9.2,95,996,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1237,-0.59,-116.8,3122,2393,3382,3296,137.7,-6.6,120,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3341,3382,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1487,-0.59,-116.8,3125,2394,3383,3296,154.8,-7.7,145,1497,0.00,2.55,0.00,0.000,260,0.000,0.084,3125,3802,3338,3382,3295,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1528,-0.59,-116.8,3125,3799,3387,3296,157.9,-8.1,149,1538,0.00,2.45,0.00,0.000,1030,0.000,0.060,3125,2388,3339,3382,3296,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1779,-0.59,-116.8,3125,2384,3383,3295,176.9,-7.3,174,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3340,3384,3296,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1794,begin apogee
$GC,1805,-0.25,0.0,3125,2331,3383,3296,178.4,-7.2,176,1907,0.35,0.00,91.62,0.873,10246,0.179,0.000,3233,2331,2857,2931,2783,0,0,0,0,0,0,13.82,28.83,13.43
$STATE,1914,end apogee,CONTROL_FINISHED_OK
$STATE,1914,begin climb
$GC,1918,0.59,116.8,3233,2331,2930,2781,181.8,0.0,187,2026,0.85,2.58,92.10,0.856,10756,0.131,0.073,3515,918,2379,2507,2251,0,0,0,0,0,0,14.05,14.08,13.37
$GC,2057,0.63,169.1,3509,919,2506,2253,177.2,5.1,201,2108,0.00,2.47,41.22,0.854,9222,0.000,0.067,3510,2329,2165,2308,2022,0,0,0,0,0,0,28.83,14.12,13.40
$GC,2353,0.66,169.1,3510,2326,2304,2021,158.4,5.5,230,2364,0.00,2.50,0.00,0.000,260,0.000,0.083,3509,3739,2166,2312,2021,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2416,0.67,169.1,3509,3739,2308,2021,154.3,6.8,236,2426,0.00,2.45,0.00,0.000,1030,0.000,0.060,3509,2325,2164,2308,2021,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2668,0.72,228.8,3509,2324,2308,2021,139.7,4.8,261,2727,0.12,2.47,46.67,0.825,10756,0.133,0.077,3578,915,1920,2059,1782,0,0,0,0,0,0,14.27,14.26,13.56
$GC,2788,0.72,228.8,3578,916,2059,1782,130.2,9.0,273,2799,0.00,2.47,0.00,0.000,1030,0.000,0.067,3578,2331,1920,2060,1781,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3040,0.72,228.8,3578,2331,2059,1783,107.2,9.0,298,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2331,1919,2055,1783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3290,0.72,228.8,3578,2331,2060,1782,85.3,9.2,323,3301,0.00,2.47,0.00,0.000,516,0.000,0.075,3579,927,1924,2066,1783,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3451,0.72,228.8,3579,928,2059,1783,72.5,7.2,339,3462,0.00,2.47,0.00,0.000,1030,0.000,0.068,3578,2339,1921,2059,1783,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3704,0.74,228.8,3579,2339,2062,1783,54.2,6.1,364,3715,0.00,2.47,0.00,0.000,260,0.000,0.084,3578,3733,1924,2059,1789,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3829,0.76,228.8,3578,3734,2060,1784,47.0,6.2,376,3840,0.00,2.45,0.00,0.000,1030,0.000,0.062,3578,2322,1921,2059,1783,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4081,0.81,290.5,3578,2317,2059,1783,34.4,4.7,401,4141,0.00,2.50,46.62,0.718,8708,0.000,0.078,3579,922,1669,1819,1519,0,0,0,0,0,0,28.83,14.25,13.64
$GC,4191,0.81,290.5,3579,922,1819,1519,27.7,7.1,412,4202,0.00,2.45,0.00,0.000,1030,0.000,0.067,3579,2328,1668,1818,1519,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4443,0.81,290.5,3579,2328,1818,1519,9.1,7.5,437,4455,0.00,2.50,0.00,0.000,260,0.000,0.081,3578,3739,1669,1819,1519,0,0,0,0,0,0,28.83,14.12,28.83
$STATE,4491,end climb,SURFACE_DEPTH_REACHED
$STATE,4492,begin surface coast
$FINISH,1.4,1.004041
$STATE,4536,end surface coast,CONTROL_FINISHED_OK
$STATE,4536,begin surface
$SM_CCo,4565,35.78,0.090,0,0,1328,375.06
$SM_GC,2.77,9.00,2.38,35.78,0.052,0.061,0.090,389,2401,1328,-9.11,0.82,375.06,0,0,0,0,0,0,14.24,14.26,14.17
$IRIDIUM_FIX,4735.69,-12515.83,071214,060602
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.96
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,13.70
$XPDR_PINGS,0
$SC_FREEKB,3724256
$PM_FREEKB,42373984
$24V_AH,13.4,166.057
$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,22.675,44.700,318.250,35.775,0.000,0.000,0.000,182.800,0.000,0.000,15.700,1046.872,2135.099,463.304,986.384,398.789,0.000,1125.194,0.000,706.806,0.000,0.538,0.000
$DEVICE_MAMPS,355.725,223.380,872.865,90.270,0.000,0.000,0.000,161.415,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4558.000,1924.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.950,4.141,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,13432,446
$CAP_FILE_SIZE,83160,0
$CFSIZE,260034560,189251584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5331.08,0x2378ba,7,5
$CURRENT,0.325,352.6,1
$GPS,071214,093235,4755.095,-12515.213,13,1.1,29,18.8