version: 66.12
glider: 187
mission: 4
dive: 824
start: 1 21 115 11 43 25
data:
$ID,187
$MISSION,4
$DIVE,824
$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,-1595494.4
$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,37
$R_STBD_OVSHOOT,24
$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
$GPS1,210115,113442,4753.712,-12514.932,13,2.0,30,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-72.9
$GPS2,210115,114257,4753.779,-12514.949,15,2.1,35,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,141.6,6748,-14.0,-7.333,-18.81,2445
$D_GRID,183
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.59,-116.8,391,2397,1538,1325,0.0,0.0,0,83,0.00,0.00,-48.22,0.000,16386,0.000,0.000,393,2397,2675,2754,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.59,-116.8,393,2397,2755,2597,3.3,-1.6,5,125,12.32,2.58,-15.20,0.000,18948,0.360,0.093,3124,1001,3340,3382,3299,0,0,0,0,0,0,13.78,14.00,14.38
$GC,181,-0.59,-116.8,3125,1004,3383,3294,15.5,-11.9,14,190,0.00,2.50,0.00,0.000,1030,0.000,0.067,3124,2404,3338,3382,3294,0,0,0,0,0,0,28.83,13.96,28.83
$GC,431,-0.59,-116.8,3125,2404,3383,3294,43.6,-10.5,39,439,0.00,2.58,0.00,0.000,260,0.000,0.083,3125,3821,3338,3383,3294,0,0,0,0,0,0,28.83,13.88,28.83
$GC,566,-0.59,-116.8,3124,3826,3382,3294,56.8,-10.0,52,575,0.00,2.50,0.00,0.000,1030,0.000,0.057,3124,2408,3341,3387,3295,0,0,0,0,0,0,28.83,13.95,28.83
$GC,816,-0.59,-116.8,3125,2403,3383,3295,80.8,-9.4,77,824,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1067,-0.59,-116.8,3124,2402,3383,3295,104.8,-10.0,102,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1316,-0.59,-116.8,3124,2404,3384,3295,128.8,-9.5,127,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1568,-0.59,-116.8,3125,2403,3380,3296,151.3,-8.8,152,1577,0.00,2.60,0.00,0.000,260,0.000,0.082,3125,3812,3340,3383,3297,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1628,-0.59,-116.8,3123,3807,3384,3295,157.0,-9.2,158,1637,0.00,2.50,0.00,0.000,1030,0.000,0.057,3120,2389,3339,3383,3295,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1878,-0.59,-116.8,3130,2384,3386,3296,179.9,-9.0,183,1886,0.00,2.65,0.00,0.000,260,0.000,0.083,3124,3812,3339,3383,3296,0,0,0,0,0,0,28.83,13.86,28.83
$STATE,1915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1915,begin apogee
$GC,1929,-0.25,0.0,3124,2320,3384,3296,183.6,-9.2,187,2028,0.38,0.00,91.45,0.890,10246,0.175,0.000,3238,2319,2856,2928,2784,0,0,0,0,0,0,13.59,28.83,13.55
$STATE,2036,end apogee,CONTROL_FINISHED_OK
$STATE,2036,begin climb
$GC,2041,0.59,116.8,3237,2319,2927,2781,188.9,0.0,198,2152,0.85,0.00,91.82,0.874,10246,0.127,0.000,3510,2319,2378,2505,2251,0,0,0,0,0,0,13.88,28.83,13.45
$GC,2394,0.66,208.7,3510,2319,2505,2250,179.1,3.5,234,2474,0.00,2.65,70.07,0.868,8452,0.000,0.082,3506,3745,2005,2148,1863,0,0,0,0,0,0,28.83,14.13,13.53
$GC,2506,0.69,258.8,3510,3745,2147,1863,173.9,5.2,245,2557,0.12,2.47,39.88,0.859,11270,0.131,0.058,3570,2340,1803,1942,1664,0,0,0,0,0,0,14.01,14.04,13.47
$GC,2798,0.69,258.8,3570,2340,1941,1658,150.7,7.7,274,2809,0.00,2.53,0.00,0.000,516,0.000,0.073,3575,920,1799,1942,1657,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2850,0.69,258.8,3575,920,1942,1657,146.5,7.9,279,2861,0.00,2.50,0.00,0.000,1030,0.000,0.064,3575,2340,1802,1942,1662,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3102,0.69,258.8,3575,2338,1942,1657,126.7,8.4,304,3113,0.00,2.53,0.00,0.000,260,0.000,0.080,3575,3739,1799,1942,1657,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3155,0.69,258.8,3575,3739,1942,1657,122.3,8.5,309,3167,0.00,2.50,0.00,0.000,1030,0.000,0.059,3575,2318,1799,1942,1657,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3410,0.72,258.8,3575,2318,1941,1657,104.5,6.1,334,3421,0.00,2.50,0.00,0.000,516,0.000,0.075,3575,927,1798,1940,1657,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3493,0.75,258.8,3575,927,1942,1657,99.4,5.8,342,3504,0.00,2.50,0.00,0.000,1030,0.000,0.064,3575,2329,1797,1937,1657,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3746,0.78,312.3,3575,2329,1942,1658,85.6,5.1,367,3796,0.00,2.55,40.60,0.788,8452,0.000,0.081,3574,3738,1581,1729,1434,0,0,0,0,0,0,28.83,14.23,13.66
$GC,3833,0.80,312.3,3575,3737,1729,1429,80.7,6.5,375,3844,0.00,2.47,0.00,0.000,1030,0.000,0.059,3575,2321,1580,1729,1432,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4085,0.82,312.3,3575,2320,1729,1432,63.5,6.3,400,4096,0.00,2.47,0.00,0.000,516,0.000,0.075,3575,934,1580,1729,1432,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4237,0.82,312.3,3575,932,1728,1432,52.6,8.0,415,4247,0.00,2.47,0.00,0.000,1030,0.000,0.065,3575,2330,1580,1729,1432,0,0,0,0,0,0,28.83,14.05,28.83
$GC,4488,0.82,312.3,3575,2330,1728,1432,33.4,7.7,440,4499,0.00,2.58,0.00,0.000,260,0.000,0.080,3575,3746,1580,1728,1432,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4520,0.82,312.3,3575,3746,1729,1431,31.0,7.6,443,4531,0.00,2.50,0.00,0.000,1030,0.000,0.058,3575,2321,1580,1729,1431,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4773,0.82,312.3,3575,2316,1728,1431,12.2,8.5,468,4784,0.00,2.50,0.00,0.000,516,0.000,0.073,3575,917,1579,1729,1430,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4836,0.82,312.3,3575,917,1728,1435,7.7,7.3,474,4847,0.00,2.50,0.00,0.000,1030,0.000,0.063,3575,2331,1579,1728,1431,0,0,0,0,0,0,28.83,14.02,28.83
$STATE,4883,end climb,SURFACE_DEPTH_REACHED
$STATE,4883,begin surface coast
$FINISH,1.4,1.012626
$STATE,4939,end surface coast,CONTROL_FINISHED_OK
$STATE,4939,begin surface
$SM_CCo,4968,15.95,0.090,0,0,1430,350.04
$SM_GC,2.26,9.20,0.12,15.95,0.060,0.141,0.090,385,2415,1430,-9.11,-0.65,350.04,0,0,0,0,0,0,14.20,14.16,14.07
$IRIDIUM_FIX,4735.69,-12511.36,210115,090903
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.10
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,13.20
$XPDR_PINGS,0
$SC_FREEKB,3674304
$PM_FREEKB,36651232
$24V_AH,13.5,208.281
$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,22.875,60.925,333.825,15.950,0.000,0.000,0.000,192.200,0.000,0.000,36.217,1139.799,2280.523,460.648,1084.318,507.615,0.000,1181.015,0.000,750.783,0.000,0.537,0.000
$DEVICE_MAMPS,360.315,140.760,889.695,90.270,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4966.000,2051.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.933,4.168,0.000,0.000
$MEM,290712
$DATA_FILE_SIZE,16779,484
$CAP_FILE_SIZE,91298,0
$CFSIZE,260034560,171298816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5971.15,0x2378ba,7,5
$CURRENT,0.094,352.9,1
$GPS,210115,130757,4753.534,-12514.826,10,3.0,30,18.8