version: 66.12
glider: 187
mission: 4
dive: 822
start: 1 21 115 8 3 45
data:
$ID,187
$MISSION,4
$DIVE,822
$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,-1595491.8
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,210115,075029,4753.316,-12515.401,35,1.7,39,18.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-74.1
$GPS2,210115,080318,4753.429,-12515.482,11,1.5,11,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,139.4,7047,-14.0,-7.333,-18.81,2445
$D_GRID,232
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,32,-0.59,-116.8,392,2414,1540,1327,0.0,0.0,0,84,0.00,0.00,-47.20,0.000,16386,0.000,0.000,392,2414,2641,2724,2558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.59,-116.8,392,2411,2724,2559,3.3,-1.6,5,128,12.27,2.60,-16.25,0.000,18948,0.356,0.094,3125,999,3337,3382,3293,0,0,0,0,0,0,13.73,13.98,14.37
$GC,229,-0.59,-116.8,3125,999,3383,3295,23.0,-12.6,19,238,0.00,2.53,0.00,0.000,1030,0.000,0.070,3125,2397,3339,3383,3295,0,0,0,0,0,0,28.83,13.96,28.83
$GC,481,-0.59,-116.8,3122,2392,3383,3295,55.3,-13.5,44,490,0.00,2.60,0.00,0.000,260,0.000,0.085,3125,3812,3338,3382,3295,0,0,0,0,0,0,28.83,13.78,28.83
$GC,581,-0.59,-116.8,3125,3812,3382,3295,68.3,-13.1,54,590,0.00,2.50,0.00,0.000,1030,0.000,0.057,3125,2399,3338,3382,3295,0,0,0,0,0,0,28.83,13.93,28.83
$GC,832,-0.59,-116.8,3122,2394,3382,3295,98.3,-10.1,79,842,0.00,2.53,0.00,0.000,516,0.000,0.070,3125,986,3339,3383,3295,0,0,0,0,0,0,28.83,13.88,28.83
$GC,873,-0.59,-116.8,3125,985,3383,3296,102.3,-9.7,83,882,0.00,2.55,0.00,0.000,1030,0.000,0.068,3125,2394,3338,3382,3295,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1124,-0.59,-116.8,3122,2394,3383,3295,122.6,-7.3,108,1132,0.00,2.60,0.00,0.000,260,0.000,0.083,3125,3818,3339,3383,3296,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1275,-0.59,-116.8,3125,3817,3383,3296,132.9,-6.9,123,1284,0.00,2.50,0.00,0.000,1030,0.000,0.057,3125,2393,3340,3384,3296,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1526,-0.59,-116.8,3122,2393,3383,3296,152.2,-8.3,148,1535,0.00,2.53,0.00,0.000,516,0.000,0.070,3125,995,3339,3383,3296,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1568,-0.59,-116.8,3125,995,3384,3296,155.6,-8.3,152,1576,0.00,2.53,0.00,0.000,1030,0.000,0.067,3125,2404,3340,3383,3297,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1819,-0.59,-116.8,3125,2403,3387,3296,177.3,-8.4,177,1828,0.00,2.60,0.00,0.000,260,0.000,0.086,3125,3820,3338,3383,3293,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1919,-0.59,-116.8,3125,3822,3383,3296,186.1,-8.5,187,1929,0.00,2.50,0.00,0.000,1030,0.000,0.057,3130,2403,3339,3383,3296,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2171,-0.59,-116.8,3125,2401,3383,3296,208.0,-8.6,212,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3344,3389,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2422,-0.59,-116.8,3125,2402,3383,3296,229.8,-8.9,237,2430,0.00,2.60,0.00,0.000,260,0.000,0.085,3125,3809,3339,3383,3296,0,0,0,0,0,0,28.83,13.82,28.83
$STATE,2447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2447,begin apogee
$GC,2461,-0.25,0.0,3128,2325,3383,3296,232.6,-8.9,240,2560,0.38,0.00,92.62,0.955,10246,0.176,0.000,3234,2324,2856,2926,2786,0,0,0,0,0,0,13.59,28.83,13.50
$STATE,2569,end apogee,CONTROL_FINISHED_OK
$STATE,2569,begin climb
$GC,2574,0.59,116.8,3234,2324,2926,2782,238.9,0.0,251,2684,0.85,0.00,93.18,0.939,10246,0.125,0.000,3508,2324,2377,2505,2249,0,0,0,0,0,0,13.86,28.83,13.40
$GC,2925,0.65,204.4,3508,2324,2507,2251,232.0,3.7,287,3004,0.00,0.00,68.22,0.937,8198,0.000,0.000,3508,2324,2022,2164,1881,0,0,0,0,0,0,28.83,28.83,13.47
$GC,3250,0.67,204.4,3507,2325,2164,1881,213.7,6.3,319,3261,0.10,2.62,0.00,0.000,2308,0.153,0.080,3558,3754,2022,2164,1881,0,0,0,0,0,0,14.13,13.97,28.83
$GC,3293,0.67,204.4,3558,3754,2164,1881,209.9,8.1,323,3304,0.00,2.53,0.00,0.000,1030,0.000,0.060,3561,2320,2025,2170,1881,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3545,0.67,204.4,3562,2320,2164,1881,187.9,8.4,348,3557,0.00,2.47,0.00,0.000,516,0.000,0.076,3562,935,2025,2170,1881,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3609,0.67,204.4,3563,938,2159,1882,182.4,8.6,354,3620,0.00,2.47,0.00,0.000,1030,0.000,0.065,3562,2337,2023,2164,1882,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3863,0.67,204.4,3561,2337,2164,1882,161.0,8.5,379,3873,0.00,2.53,0.00,0.000,260,0.000,0.082,3563,3733,2023,2164,1882,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3914,0.67,204.4,3562,3733,2164,1882,156.0,9.8,384,3926,0.00,2.47,0.00,0.000,1030,0.000,0.060,3562,2332,2023,2164,1882,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4168,0.67,204.4,3563,2332,2165,1882,134.1,8.6,409,4178,0.00,2.55,0.00,0.000,516,0.000,0.075,3562,915,2023,2164,1882,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4285,0.67,204.4,3562,915,2164,1882,124.3,8.3,420,4297,0.00,2.50,0.00,0.000,1030,0.000,0.066,3562,2328,2023,2164,1882,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4540,0.67,204.4,3562,2327,2164,1882,103.4,7.9,445,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2327,2023,2164,1882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4792,0.70,204.4,3565,2327,2164,1882,84.8,6.2,470,4803,0.00,2.55,0.00,0.000,516,0.000,0.075,3562,916,2023,2164,1882,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4890,0.74,204.4,3562,915,2165,1882,79.6,5.4,479,4901,0.00,2.53,0.00,0.000,1030,0.000,0.066,3562,2343,2023,2165,1882,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5144,0.80,294.9,3562,2342,2164,1883,69.1,3.5,504,5221,0.00,0.00,68.43,0.763,8710,0.000,0.000,3562,2343,1650,1798,1503,0,0,0,0,0,0,28.83,28.83,13.64
$GC,5468,0.81,294.9,3562,2342,1798,1503,49.4,6.7,536,5479,0.00,2.53,0.00,0.000,260,0.000,0.085,3567,3731,1649,1796,1503,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5561,0.81,294.9,3563,3728,1797,1503,42.5,7.2,545,5571,0.00,2.47,0.00,0.000,1030,0.000,0.060,3564,2326,1650,1797,1503,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5813,0.83,294.9,3562,2321,1797,1502,26.7,6.2,570,5824,0.00,2.50,0.00,0.000,516,0.000,0.075,3562,921,1650,1797,1503,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5877,0.86,294.9,3562,926,1797,1503,22.7,6.2,576,5889,0.10,2.47,0.00,0.000,3078,0.155,0.067,3615,2326,1650,1798,1503,0,0,0,0,0,0,14.01,14.00,28.83
$STATE,6105,end climb,SURFACE_DEPTH_REACHED
$STATE,6105,begin surface coast
$FINISH,1.5,1.011961
$STATE,6152,end surface coast,CONTROL_FINISHED_OK
$STATE,6152,begin surface
$SM_CCo,6182,23.40,0.090,0,0,1430,350.04
$SM_GC,2.78,9.30,0.12,23.40,0.057,0.150,0.090,397,2413,1430,-9.09,-0.85,350.04,0,0,0,0,0,0,14.08,14.10,14.07
$IRIDIUM_FIX,4732.49,-12513.98,210115,070714
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.26
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3674944
$PM_FREEKB,36663232
$24V_AH,13.4,208.018
$10V_AH,13.3,0.000
$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,23.000,71.150,322.450,23.400,0.000,0.000,0.000,359.100,0.000,0.000,11.928,1422.075,3066.836,483.326,1427.000,562.208,0.000,1464.405,0.000,940.981,0.000,0.537,0.000
$DEVICE_MAMPS,356.490,149.940,954.720,89.505,0.000,0.000,0.000,166.005,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6181.000,2585.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.317,4.118,0.000,0.000
$MEM,290792
$DATA_FILE_SIZE,20110,603
$CAP_FILE_SIZE,110094,0
$CFSIZE,260034560,171405312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7834.48,0x2378ba,7,5
$CURRENT,0.227,  3.7,1
$GPS,210115,094835,4753.594,-12515.095,28,1.7,28,18.8