version: 66.12
glider: 187
mission: 4
dive: 671
start: 12 7 114 13 0 0
data:
$ID,187
$MISSION,4
$DIVE,671
$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,-1595285.1
$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,34
$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
$GPS1,071214,124906,4755.113,-12515.887,37,1.4,37,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-70.6
$GPS2,071214,125932,4755.237,-12516.032,16,1.7,16,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,125.0,9422,-14.0,-7.333,-18.81,2445
$D_GRID,250
$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,-116.8,389,2404,1443,1219,0.0,0.0,0,92,0.00,0.00,-58.15,0.000,16386,0.000,0.000,390,2404,2827,2886,2768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.59,-116.8,390,2404,2886,2773,3.4,-2.5,6,131,12.38,0.00,-10.15,0.000,18950,0.359,0.000,3121,2404,3340,3382,3299,0,0,0,0,0,0,13.71,28.83,14.53
$GC,372,-0.59,-116.8,3121,2403,3383,3297,47.4,-14.2,34,383,0.00,2.53,0.00,0.000,260,0.000,0.084,3121,3816,3340,3384,3297,0,0,0,0,0,0,28.83,14.07,28.83
$GC,454,-0.59,-116.8,3121,3816,3383,3297,57.9,-12.1,42,464,0.00,2.45,0.00,0.000,1030,0.000,0.059,3121,2402,3340,3383,3297,0,0,0,0,0,0,28.83,14.16,28.83
$GC,705,-0.59,-116.8,3121,2400,3384,3297,85.7,-10.3,67,716,0.00,2.47,0.00,0.000,516,0.000,0.070,3121,985,3340,3384,3297,0,0,0,0,0,0,28.83,14.04,28.83
$GC,738,-0.59,-116.8,3121,984,3391,3298,89.0,-10.6,70,749,0.00,2.50,0.00,0.000,1030,0.000,0.067,3121,2396,3340,3384,3297,0,0,0,0,0,0,28.83,14.11,28.83
$GC,990,-0.59,-116.8,3121,2396,3390,3297,114.1,-8.8,95,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2396,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1240,-0.59,-116.8,3121,2396,3385,3299,134.9,-8.2,120,1251,0.00,2.53,0.00,0.000,260,0.000,0.083,3121,3820,3341,3385,3298,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1303,-0.59,-116.8,3121,3825,3385,3297,139.7,-8.0,126,1314,0.00,2.45,0.00,0.000,1030,0.000,0.057,3121,2395,3341,3384,3298,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1556,-0.59,-116.8,3121,2390,3385,3298,160.1,-7.7,151,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2394,3341,3385,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1807,-0.59,-116.8,3121,2387,3385,3297,180.7,-7.8,176,1818,0.00,2.58,0.00,0.000,260,0.000,0.086,3121,3815,3340,3385,3296,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1869,-0.59,-116.8,3121,3815,3384,3298,186.3,-8.9,182,1880,0.00,2.47,0.00,0.000,1030,0.000,0.060,3121,2405,3341,3385,3298,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2121,-0.59,-116.8,3121,2403,3385,3298,207.8,-8.8,207,2131,0.00,2.53,0.00,0.000,260,0.000,0.083,3121,3812,3341,3385,3297,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2192,-0.59,-116.8,3121,3812,3384,3297,214.4,-9.2,214,2203,0.00,2.47,0.00,0.000,1030,0.000,0.059,3122,2388,3341,3385,3298,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2443,-0.59,-116.8,3121,2382,3384,3298,235.7,-8.2,239,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2382,3341,3385,3298,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2639,begin apogee
$GC,2650,-0.25,0.0,3121,2313,3385,3297,250.4,-7.7,259,2752,0.40,0.00,94.20,0.970,10246,0.174,0.000,3238,2313,2855,2929,2782,0,0,0,0,0,0,13.90,28.83,13.34
$STATE,2754,end apogee,CONTROL_FINISHED_OK
$STATE,2754,begin climb
$GC,2760,0.59,116.8,3238,2313,2928,2779,254.7,0.0,262,2863,0.82,0.00,94.32,0.951,10246,0.118,0.000,3512,2313,2378,2507,2250,0,0,0,0,0,0,14.07,28.83,13.28
$GC,3154,0.65,194.6,3512,2313,2505,2247,244.2,4.1,284,3225,0.00,2.53,61.08,0.951,8708,0.000,0.076,3519,924,2063,2209,1917,0,0,0,0,0,0,28.83,14.16,13.41
$GC,3286,0.68,194.6,3519,924,2209,1918,238.0,5.8,297,3297,0.00,2.47,0.00,0.000,1030,0.000,0.068,3519,2334,2063,2209,1918,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3538,0.69,194.6,3519,2333,2210,1918,222.3,6.5,322,3549,0.00,2.50,0.00,0.000,260,0.000,0.084,3519,3742,2063,2209,1918,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3611,0.69,194.6,3519,3741,2208,1918,217.0,7.5,329,3622,0.00,2.45,0.00,0.000,1030,0.000,0.063,3519,2343,2063,2209,1918,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3864,0.69,194.6,3522,2339,2209,1918,198.8,8.4,354,3875,0.00,2.50,0.00,0.000,516,0.000,0.076,3519,915,2063,2209,1918,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3935,0.69,194.6,3519,915,2209,1918,192.6,8.3,361,3947,0.00,2.47,0.00,0.000,1030,0.000,0.067,3520,2331,2063,2209,1918,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4189,0.69,194.6,3519,2330,2209,1920,171.8,8.2,386,4200,0.00,2.53,0.00,0.000,260,0.000,0.084,3519,3749,2065,2213,1918,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4260,0.69,194.6,3524,3749,2209,1918,165.5,8.9,393,4272,0.00,2.50,0.00,0.000,1030,0.000,0.061,3519,2318,2063,2209,1918,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4513,0.69,194.6,3519,2318,2209,1918,146.5,7.2,418,4524,0.00,2.47,0.00,0.000,516,0.000,0.076,3519,912,2063,2209,1918,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4585,0.69,194.6,3516,914,2209,1918,141.3,7.3,425,4597,0.00,2.50,0.00,0.000,1030,0.000,0.067,3519,2344,2063,2209,1918,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4840,0.72,194.6,3520,2341,2209,1918,123.6,6.1,450,4851,0.12,0.00,0.00,0.000,2054,0.138,0.000,3587,2341,2063,2209,1918,0,0,0,0,0,0,14.23,28.83,28.83
$GC,5091,0.72,194.6,3587,2341,2209,1919,102.5,7.9,475,5103,0.12,2.55,0.00,0.000,4612,0.226,0.071,3562,917,2063,2209,1918,0,0,0,0,0,0,14.02,14.09,28.83
$GC,5179,0.75,246.1,3562,917,2209,1919,97.9,5.2,483,5233,0.00,2.50,40.25,0.801,9222,0.000,0.068,3559,2340,1851,1993,1710,0,0,0,0,0,0,28.83,14.14,13.59
$GC,5477,0.75,246.1,3562,2337,1995,1711,78.5,7.5,513,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2336,1852,1993,1711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5728,0.75,246.1,3562,2336,1993,1711,55.1,8.1,538,5739,0.00,2.53,0.00,0.000,260,0.000,0.084,3562,3738,1852,1993,1712,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5855,0.75,246.1,3561,3738,1993,1712,45.8,7.0,550,5866,0.00,2.45,0.00,0.000,1030,0.000,0.061,3561,2325,1852,1993,1712,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6106,0.78,246.1,3563,2324,1993,1712,30.3,5.8,575,6117,0.00,2.47,0.00,0.000,516,0.000,0.076,3562,920,1852,1993,1712,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6159,0.83,310.2,3563,920,1993,1712,27.8,4.6,580,6218,0.00,2.47,46.08,0.708,9222,0.000,0.067,3562,2328,1590,1738,1442,0,0,0,0,0,0,28.83,14.16,13.64
$GC,6464,0.83,310.2,3562,2328,1737,1442,6.5,8.5,610,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2333,1589,1738,1441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6490,end climb,SURFACE_DEPTH_REACHED
$STATE,6490,begin surface coast
$FINISH,1.3,1.010525
$STATE,6531,end surface coast,CONTROL_FINISHED_OK
$STATE,6531,begin surface
$SM_CCo,6560,27.58,0.091,0,0,1329,375.06
$SM_GC,2.66,8.93,0.12,27.58,0.049,0.152,0.091,388,2413,1329,-9.11,-0.74,375.06,0,0,0,0,0,0,14.25,14.29,14.16
$IRIDIUM_FIX,4735.69,-12520.31,071214,121244
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.51
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3723296
$PM_FREEKB,42360160
$24V_AH,13.3,166.452
$10V_AH,13.1,0.000
$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,22.775,65.100,335.925,27.575,0.000,0.000,0.000,274.275,0.000,0.000,17.653,1486.638,3262.023,528.236,1407.625,524.743,0.000,1466.312,0.000,958.570,0.000,0.538,0.000
$DEVICE_MAMPS,358.785,189.720,970.020,91.035,0.000,0.000,0.000,160.650,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6553.000,95.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.005,4.945,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,20105,617
$CAP_FILE_SIZE,116445,0
$CFSIZE,260034560,189054976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6395.99,0x2378ba,7,5
$CURRENT,0.188,325.4,1
$GPS,071214,145115,4755.196,-12515.990,13,2.6,33,18.8