version: 66.12
glider: 187
mission: 4
dive: 821
start: 1 21 115 5 53 10
data:
$ID,187
$MISSION,4
$DIVE,821
$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,350
$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,-1595490.5
$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,32
$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
$GPS1,210115,054235,4752.835,-12515.622,12,1.7,29,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-74.4
$GPS2,210115,055238,4752.873,-12515.776,14,2.3,34,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,130.5,7061,-14.0,-7.333,-18.81,2445
$D_GRID,257
$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,28,-0.59,-116.8,378,2414,1543,1327,0.0,0.0,0,81,0.00,0.00,-46.40,0.000,16386,0.000,0.000,378,2415,2619,2702,2537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.59,-116.8,378,2415,2702,2538,3.2,-1.4,5,132,12.43,2.60,-16.85,0.000,18948,0.360,0.094,3128,997,3337,3382,3293,0,0,0,0,0,0,13.75,13.94,14.40
$GC,194,-0.59,-116.8,3128,995,3383,3294,17.0,-12.0,16,205,0.00,2.50,0.00,0.000,1030,0.000,0.072,3133,2390,3338,3383,3294,0,0,0,0,0,0,28.83,13.95,28.83
$GC,446,-0.59,-116.8,3128,2390,3383,3294,46.4,-11.4,41,458,0.00,2.60,0.00,0.000,260,0.000,0.086,3128,3815,3338,3383,3294,0,0,0,0,0,0,28.83,13.85,28.83
$GC,520,-0.59,-116.8,3128,3808,3383,3294,54.2,-10.5,48,531,0.00,2.47,0.00,0.000,1030,0.000,0.057,3127,2407,3338,3383,3294,0,0,0,0,0,0,28.83,13.88,28.83
$GC,773,-0.59,-116.8,3128,2402,3383,3293,78.0,-8.8,73,785,0.00,2.60,0.00,0.000,260,0.000,0.083,3128,3819,3339,3384,3294,0,0,0,0,0,0,28.83,13.86,28.83
$GC,846,-0.59,-116.8,3128,3818,3383,3291,84.4,-8.1,80,856,0.00,2.53,0.00,0.000,1030,0.000,0.057,3128,2388,3338,3382,3294,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1098,-0.59,-116.8,3127,2382,3383,3295,102.7,-6.3,105,1109,0.00,2.47,0.00,0.000,516,0.000,0.070,3128,999,3339,3383,3295,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1182,-0.59,-116.8,3128,999,3389,3295,109.8,-9.1,113,1193,0.00,2.53,0.00,0.000,1030,0.000,0.068,3128,2403,3339,3383,3295,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1435,-0.59,-116.8,3128,2402,3384,3296,132.6,-8.4,138,1445,0.00,2.58,0.00,0.000,260,0.000,0.084,3128,3812,3340,3384,3296,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1626,-0.59,-116.8,3127,3811,3384,3296,146.2,-6.8,157,1638,0.00,2.50,0.00,0.000,1030,0.000,0.056,3128,2397,3340,3384,3296,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1882,-0.59,-116.8,3128,2396,3384,3296,166.4,-9.1,182,1892,0.00,2.53,0.00,0.000,516,0.000,0.070,3128,993,3340,3384,3296,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1924,-0.59,-116.8,3128,993,3384,3296,170.5,-9.2,186,1934,0.00,2.53,0.00,0.000,1030,0.000,0.069,3128,2399,3339,3383,3296,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2176,-0.59,-116.8,3128,2399,3384,3299,192.3,-8.2,211,2187,0.00,2.62,0.00,0.000,260,0.000,0.086,3128,3818,3340,3384,3296,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2259,-0.59,-116.8,3127,3822,3379,3296,199.4,-8.3,219,2270,0.00,2.50,0.00,0.000,1030,0.000,0.057,3128,2403,3340,3384,3296,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2513,-0.59,-116.8,3128,2403,3384,3296,219.5,-7.5,244,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2765,-0.59,-116.8,3129,2403,3383,3296,237.7,-6.8,269,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3339,3383,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3037,-0.59,-116.8,3128,2402,3383,3295,256.5,-6.8,290,3047,0.00,2.65,0.00,0.000,260,0.000,0.083,3133,3820,3339,3383,3296,0,0,0,0,0,0,28.83,13.83,28.83
$STATE,3052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3052,begin apogee
$GC,3067,-0.25,0.0,3128,2323,3384,3300,258.1,-6.8,292,3167,0.40,0.00,93.03,0.988,10246,0.168,0.000,3243,2326,2855,2925,2786,0,0,0,0,0,0,13.63,28.83,13.50
$STATE,3169,end apogee,CONTROL_FINISHED_OK
$STATE,3169,begin climb
$GC,3174,0.59,116.8,3243,2322,2926,2782,261.7,0.0,295,3285,0.82,2.58,93.40,0.970,10756,0.119,0.073,3520,919,2378,2505,2252,0,0,0,0,0,0,13.91,14.02,13.38
$GC,3326,0.63,177.8,3519,919,2504,2258,258.4,4.8,312,3387,0.00,2.53,48.53,0.965,9222,0.000,0.067,3519,2339,2130,2273,1987,0,0,0,0,0,0,28.83,13.95,13.40
$GC,3693,0.68,246.1,3520,2340,2273,1986,238.0,4.5,342,3756,0.00,2.58,53.30,0.946,8452,0.000,0.084,3519,3733,1848,1992,1705,0,0,0,0,0,0,28.83,14.14,13.51
$GC,3867,0.70,246.1,3519,3733,1991,1709,228.3,6.6,360,3878,0.00,2.47,0.00,0.000,1030,0.000,0.060,3519,2333,1849,1990,1709,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4121,0.73,246.1,3519,2333,1991,1711,213.6,5.7,385,4133,0.12,2.53,0.00,0.000,2564,0.136,0.073,3587,920,1851,1992,1711,0,0,0,0,0,0,14.12,13.99,28.83
$GC,4195,0.73,246.1,3588,925,1991,1711,207.3,9.2,392,4205,0.00,2.50,0.00,0.000,1030,0.000,0.067,3587,2330,1851,1991,1711,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4446,0.73,246.1,3588,2329,1991,1712,183.4,9.8,417,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2330,1852,1992,1713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,0.73,246.1,3584,2329,1991,1714,157.6,10.9,442,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2329,1852,1992,1713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4952,0.73,246.1,3588,2330,1991,1715,128.1,12.0,467,4963,0.00,2.53,0.00,0.000,516,0.000,0.076,3587,920,1853,1991,1715,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5025,0.73,246.1,3588,920,1986,1716,119.9,10.9,474,5036,0.12,2.50,0.00,0.000,5126,0.223,0.067,3559,2331,1854,1992,1717,0,0,0,0,0,0,13.83,14.03,28.83
$GC,5277,0.75,246.1,3559,2330,1992,1716,98.9,6.5,499,5288,0.00,2.55,0.00,0.000,260,0.000,0.082,3559,3733,1853,1991,1716,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5351,0.75,246.1,3559,3733,1991,1716,94.1,6.9,506,5362,0.00,2.50,0.00,0.000,1030,0.000,0.059,3562,2320,1853,1991,1715,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5604,0.75,246.1,3563,2316,1991,1716,78.8,7.5,531,5615,0.00,2.50,0.00,0.000,516,0.000,0.075,3562,924,1852,1991,1713,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5721,0.75,246.1,3562,924,1991,1716,70.2,7.1,542,5732,0.00,2.53,0.00,0.000,1030,0.000,0.066,3563,2341,1853,1991,1716,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5974,0.77,246.1,3562,2341,1991,1716,54.4,6.3,567,5985,0.00,2.55,0.00,0.000,260,0.000,0.082,3562,3734,1853,1991,1716,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6126,0.79,246.1,3562,3734,1991,1716,44.9,6.0,582,6137,0.00,2.50,0.00,0.000,1030,0.000,0.059,3562,2325,1853,1991,1716,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6380,0.81,246.1,3562,2322,1991,1716,31.2,6.2,607,6391,0.00,2.50,0.00,0.000,516,0.000,0.074,3558,928,1853,1991,1716,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6476,0.85,246.1,3562,928,1989,1716,25.4,5.8,616,6488,0.12,2.50,0.00,0.000,3078,0.133,0.065,3618,2327,1853,1991,1716,0,0,0,0,0,0,14.00,13.97,28.83
$GC,6730,0.86,246.1,3617,2330,1991,1716,10.0,6.8,641,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,2327,1855,1991,1720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6817,end climb,SURFACE_DEPTH_REACHED
$STATE,6817,begin surface coast
$FINISH,1.7,1.012859
$STATE,6868,end surface coast,CONTROL_FINISHED_OK
$STATE,6868,begin surface
$SM_CCo,6898,45.38,0.091,0,0,1431,350.04
$SM_GC,2.67,9.30,0.12,45.38,0.054,0.148,0.091,392,2413,1431,-9.10,-0.76,350.04,0,0,0,0,0,0,14.09,14.11,14.07
$IRIDIUM_FIX,4732.49,-12525.55,210115,030319
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.59
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3675264
$PM_FREEKB,36678112
$24V_AH,13.4,207.872
$10V_AH,12.5,0.000
$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,23.325,81.350,288.250,45.375,0.000,0.000,0.000,248.850,0.000,0.000,35.063,1568.918,3360.615,499.338,1470.374,640.544,0.000,1453.329,0.000,1051.289,0.000,0.538,0.000
$DEVICE_MAMPS,360.315,148.410,987.615,91.035,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6900.000,104.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.982,5.067,0.000,0.000
$MEM,290804
$DATA_FILE_SIZE,23401,655
$CAP_FILE_SIZE,122362,0
$CFSIZE,260034560,171454464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8886.06,0x2378ba,7,5
$CURRENT,0.268,355.4,1
$GPS,210115,075029,4753.316,-12515.401,35,1.7,39,18.8