version: 66.12
glider: 187
mission: 4
dive: 664
start: 12 7 114 1 56 53
data:
$ID,187
$MISSION,4
$DIVE,664
$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,-1595272.6
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,071214,014912,4753.343,-12514.621,13,1.1,30,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-73.5
$GPS2,071214,015624,4753.436,-12514.686,12,1.4,17,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,125.5,6154,-14.0,-7.333,-18.81,2445
$D_GRID,197
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.59,-116.8,392,2390,1442,1223,0.0,0.0,0,81,0.00,0.00,-47.92,0.000,16386,0.000,0.000,395,2395,2570,2649,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.59,-116.8,396,2392,2651,2487,3.2,-1.8,5,125,12.38,2.62,-17.25,0.000,18692,0.358,0.106,3127,3817,3336,3382,3290,0,0,0,0,0,0,13.73,14.15,14.54
$GC,286,-0.59,-116.8,3127,3817,3382,3293,31.3,-13.3,25,295,0.00,2.47,0.00,0.000,1030,0.000,0.060,3127,2389,3337,3382,3293,0,0,0,0,0,0,28.83,14.14,28.83
$GC,536,-0.59,-116.8,3127,2385,3383,3293,62.1,-11.1,50,544,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2386,3337,3382,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,786,-0.59,-116.8,3127,2385,3381,3293,86.2,-9.4,75,795,0.00,2.55,0.00,0.000,260,0.000,0.083,3127,3806,3338,3383,3293,0,0,0,0,0,0,28.83,14.06,28.83
$GC,886,-0.59,-116.8,3124,3806,3382,3294,97.7,-11.7,85,895,0.00,2.45,0.00,0.000,1030,0.000,0.059,3127,2389,3338,3383,3293,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1136,-0.59,-116.8,3127,2384,3383,3293,124.2,-11.3,110,1145,0.00,2.55,0.00,0.000,260,0.000,0.083,3127,3808,3338,3383,3294,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1187,-0.59,-116.8,3127,3808,3383,3294,129.3,-10.3,115,1196,0.00,2.45,0.00,0.000,1030,0.000,0.058,3127,2394,3338,3383,3294,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1436,-0.59,-116.8,3127,2390,3383,3293,153.3,-8.9,140,1445,0.00,2.45,0.00,0.000,516,0.000,0.071,3123,998,3336,3383,3290,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1477,-0.59,-116.8,3127,999,3383,3291,157.2,-9.8,144,1485,0.00,2.47,0.00,0.000,1030,0.000,0.068,3127,2400,3338,3383,3294,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1727,-0.59,-116.8,3127,2398,3383,3294,180.0,-9.0,169,1737,0.00,2.55,0.00,0.000,260,0.000,0.084,3127,3821,3338,3383,3294,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1778,-0.59,-116.8,3127,3821,3387,3294,184.4,-8.8,174,1786,0.00,2.47,0.00,0.000,1030,0.000,0.059,3127,2394,3338,3382,3295,0,0,0,0,0,0,28.83,14.14,28.83
$STATE,1933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1934,begin apogee
$GC,1944,-0.25,0.0,3127,2319,3383,3294,197.2,-7.4,190,2046,0.35,0.00,92.12,0.894,10246,0.178,0.000,3235,2318,2855,2929,2782,0,0,0,0,0,0,13.77,28.83,13.43
$STATE,2053,end apogee,CONTROL_FINISHED_OK
$STATE,2053,begin climb
$GC,2057,0.59,116.8,3235,2318,2929,2779,201.4,0.0,201,2162,0.85,0.00,92.32,0.878,10758,0.126,0.000,3513,2318,2381,2510,2253,0,0,0,0,0,0,14.04,28.83,13.34
$GC,2404,0.63,177.0,3514,2318,2508,2247,187.0,4.8,236,2463,0.00,2.55,47.12,0.870,8452,0.000,0.080,3513,3744,2134,2278,1990,0,0,0,0,0,0,28.83,14.21,13.48
$GC,2523,0.63,177.0,3513,3745,2278,1990,179.7,7.6,248,2534,0.00,2.45,0.00,0.000,1030,0.000,0.061,3518,2338,2134,2278,1990,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2775,0.66,177.0,3518,2338,2277,1990,163.7,6.0,273,2785,0.00,2.47,0.00,0.000,516,0.000,0.073,3519,918,2133,2277,1990,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2847,0.69,177.0,3519,915,2277,1991,159.6,5.7,280,2858,0.00,2.47,0.00,0.000,1030,0.000,0.067,3519,2331,2134,2278,1991,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3100,0.74,250.2,3519,2334,2278,1991,147.7,4.3,305,3168,0.12,0.00,56.83,0.835,10246,0.138,0.000,3586,2334,1833,1976,1690,0,0,0,0,0,0,14.30,28.83,13.54
$GC,3413,0.74,250.2,3586,2334,1976,1692,123.8,8.2,336,3423,0.00,2.50,0.00,0.000,516,0.000,0.076,3587,920,1833,1976,1691,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3494,0.74,250.2,3587,920,1976,1692,117.0,7.6,344,3504,0.00,2.47,0.00,0.000,1030,0.000,0.069,3587,2334,1834,1976,1692,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3745,0.74,250.2,3587,2334,1976,1693,96.7,8.3,369,3755,0.00,2.50,0.00,0.000,260,0.000,0.084,3587,3743,1834,1976,1693,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3886,0.74,250.2,3588,3743,1976,1693,81.3,10.8,383,3897,0.00,2.47,0.00,0.000,1030,0.000,0.062,3588,2319,1834,1976,1693,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4139,0.76,250.2,3587,2318,1976,1693,61.8,6.4,408,4150,0.00,2.45,0.00,0.000,516,0.000,0.076,3587,924,1834,1976,1693,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4221,0.78,250.2,3588,924,1976,1693,56.3,6.3,416,4231,0.00,2.47,0.00,0.000,1030,0.000,0.069,3587,2337,1834,1976,1693,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4472,0.82,250.2,3588,2337,1976,1693,41.7,5.7,441,4483,0.00,2.50,0.00,0.000,260,0.000,0.083,3588,3745,1834,1976,1693,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4514,0.83,250.2,3588,3745,1976,1693,39.0,6.4,445,4524,0.00,2.45,0.00,0.000,1030,0.000,0.062,3587,2328,1834,1976,1693,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4768,0.85,250.2,3588,2330,1976,1692,24.2,6.3,470,4779,0.00,2.47,0.00,0.000,516,0.000,0.076,3588,926,1834,1976,1692,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4822,0.87,250.2,3588,921,1981,1693,20.7,6.4,475,4832,0.00,2.47,0.00,0.000,1030,0.000,0.067,3588,2335,1834,1976,1692,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5074,0.91,308.0,3588,2334,1975,1692,6.8,4.9,500,5112,0.00,2.55,25.12,0.103,8452,0.000,0.083,3588,3732,1603,1753,1454,0,0,0,0,0,0,28.83,14.07,14.07
$STATE,5129,end climb,SURFACE_DEPTH_REACHED
$STATE,5129,begin surface coast
$FINISH,1.4,1.012805
$STATE,5200,end surface coast,CONTROL_FINISHED_OK
$STATE,5200,begin surface
$SM_CCo,5230,29.38,0.090,0,0,1328,375.06
$SM_GC,2.77,9.20,2.35,29.38,0.066,0.062,0.090,393,2407,1328,-9.11,1.07,375.06,0,0,0,0,0,0,14.21,14.25,14.14
$IRIDIUM_FIX,4735.69,-12410.82,071214,000003
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.23
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3725536
$PM_FREEKB,42396768
$24V_AH,13.3,165.551
$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,22.900,64.775,313.525,29.375,0.000,0.000,0.000,183.725,0.000,0.000,18.611,1216.819,2462.054,468.224,1110.145,433.861,0.000,1196.649,0.000,804.791,0.000,0.538,0.000
$DEVICE_MAMPS,358.020,164.475,893.520,90.270,0.000,0.000,0.000,163.710,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5219.000,2069.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.845,4.185,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,16762,513
$CAP_FILE_SIZE,95895,0
$CFSIZE,260034560,189448192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5606.66,0x2378ba,7,5
$CURRENT,0.213,332.4,1
$GPS,071214,032633,4753.544,-12514.649,46,3.3,66,18.8