version: 66.12
glider: 187
mission: 4
dive: 669
start: 12 7 114 9 41 2
data:
$ID,187
$MISSION,4
$DIVE,669
$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,-1595282.6
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,071214,093235,4755.095,-12515.213,13,1.1,29,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-71.8
$GPS2,071214,094030,4755.197,-12515.294,14,1.4,14,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,160.3,8693,-14.0,-7.333,-18.81,2445
$D_GRID,200
$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,-116.8,389,2391,1443,1220,0.0,0.0,0,81,0.00,0.00,-47.60,0.000,16386,0.000,0.000,389,2393,2539,2621,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,389,2398,2624,2456,3.1,-1.5,5,132,12.48,2.55,-19.20,0.000,18692,0.363,0.107,3122,3815,3336,3382,3291,0,0,0,0,0,0,13.75,14.17,14.55
$GC,214,-0.59,-116.8,3125,3815,3382,3293,19.2,-12.9,18,225,0.00,2.47,0.00,0.000,1030,0.000,0.060,3125,2389,3337,3382,3293,0,0,0,0,0,0,28.83,14.16,28.83
$GC,465,-0.59,-116.8,3126,2383,3382,3290,52.2,-13.5,43,476,0.00,2.55,0.00,0.000,260,0.000,0.082,3122,3806,3337,3382,3293,0,0,0,0,0,0,28.83,14.08,28.83
$GC,538,-0.59,-116.8,3125,3806,3383,3294,61.7,-13.5,50,549,0.00,2.45,0.00,0.000,1030,0.000,0.060,3124,2390,3338,3382,3294,0,0,0,0,0,0,28.83,14.16,28.83
$GC,791,-0.59,-116.8,3125,2385,3382,3294,87.9,-9.8,75,800,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1042,-0.59,-116.8,3125,2387,3382,3294,116.2,-12.9,100,1053,0.00,2.55,0.00,0.000,260,0.000,0.083,3125,3805,3338,3382,3294,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1083,-0.59,-116.8,3126,3805,3382,3294,121.6,-12.8,104,1094,0.00,2.42,0.00,0.000,1030,0.000,0.058,3122,2401,3338,3382,3294,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1335,-0.59,-116.8,3125,2401,3383,3294,149.4,-10.1,129,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1588,-0.59,-116.8,3125,2401,3382,3294,170.6,-6.9,154,1599,0.00,2.55,0.00,0.000,260,0.000,0.083,3125,3815,3338,3383,3294,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1639,-0.59,-116.8,3125,3815,3382,3293,174.3,-7.2,159,1650,0.00,2.47,0.00,0.000,1030,0.000,0.059,3125,2389,3338,3382,3294,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1891,-0.59,-116.8,3126,2384,3382,3293,189.9,-5.7,184,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2039,begin apogee
$GC,2050,-0.25,0.0,3125,2312,3383,3294,200.2,-7.4,199,2154,0.38,0.00,91.93,0.903,10246,0.174,0.000,3239,2312,2856,2931,2782,0,0,0,0,0,0,13.87,28.83,13.39
$STATE,2160,end apogee,CONTROL_FINISHED_OK
$STATE,2160,begin climb
$GC,2165,0.59,116.8,3238,2312,2930,2778,204.5,0.0,210,2271,0.82,0.00,92.28,0.888,10246,0.125,0.000,3510,2312,2380,2508,2252,0,0,0,0,0,0,14.07,28.83,13.34
$GC,2513,0.66,215.9,3509,2310,2507,2250,194.7,3.2,245,2603,0.00,2.45,76.65,0.881,8708,0.000,0.076,3510,938,1972,2114,1831,0,0,0,0,0,0,28.83,14.14,13.43
$GC,2627,0.70,279.1,3507,938,2114,1832,190.1,4.7,256,2689,0.12,2.45,48.95,0.871,11270,0.135,0.067,3567,2340,1718,1865,1571,0,0,0,0,0,0,14.09,14.15,13.40
$GC,2930,0.70,279.1,3567,2341,1865,1570,164.4,8.8,286,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2340,1717,1864,1570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3180,0.70,279.1,3567,2343,1865,1570,141.4,9.2,311,3191,0.00,2.47,0.00,0.000,516,0.000,0.075,3575,938,1717,1865,1570,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3243,0.70,279.1,3575,935,1865,1570,135.6,9.3,317,3255,0.00,2.45,0.00,0.000,1030,0.000,0.067,3576,2330,1717,1865,1569,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3496,0.70,279.1,3575,2330,1867,1569,112.2,9.1,342,3506,0.00,2.45,0.00,0.000,516,0.000,0.075,3575,935,1717,1865,1569,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3588,0.70,279.1,3575,938,1865,1575,104.6,8.3,351,3599,0.00,2.45,0.00,0.000,1030,0.000,0.068,3575,2339,1717,1866,1568,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3840,0.70,279.1,3576,2339,1865,1569,81.8,9.2,376,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2339,1717,1865,1569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,0.70,279.1,3575,2339,1865,1569,56.0,9.7,401,4104,0.00,2.50,0.00,0.000,516,0.000,0.076,3575,935,1717,1867,1568,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4164,0.70,279.1,3575,933,1865,1569,49.7,8.2,408,4175,0.00,2.47,0.00,0.000,1030,0.000,0.067,3575,2337,1719,1865,1574,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4416,0.74,279.1,3575,2337,1865,1567,33.1,5.7,433,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2337,1716,1865,1567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,0.77,279.1,3575,2338,1864,1566,16.8,5.7,458,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2337,1716,1865,1567,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4846,end climb,SURFACE_DEPTH_REACHED
$STATE,4846,begin surface coast
$FINISH,1.2,1.009037
$STATE,4887,end surface coast,CONTROL_FINISHED_OK
$STATE,4887,begin surface
$SM_CCo,4916,40.92,0.090,0,0,1329,375.06
$SM_GC,2.38,9.02,0.10,40.92,0.054,0.164,0.090,382,2396,1329,-9.11,-0.85,375.06,0,0,0,0,0,0,14.27,14.35,14.12
$IRIDIUM_FIX,4735.69,-12511.36,071214,080848
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.90
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3723936
$PM_FREEKB,42373952
$24V_AH,13.3,166.181
$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,22.825,39.925,309.800,40.925,0.000,0.000,0.000,191.400,0.000,0.000,18.325,1126.563,2317.294,464.363,1071.530,454.511,0.000,1186.960,0.000,741.328,0.000,0.537,0.000
$DEVICE_MAMPS,362.610,188.955,903.465,90.270,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4909.000,71.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.688,5.049,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,16750,480
$CAP_FILE_SIZE,89693,0
$CFSIZE,260034560,189190144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5191.75,0x2378ba,7,5
$CURRENT,0.205,344.3,1
$GPS,071214,110506,4755.149,-12515.546,15,1.5,32,18.8