version: 66.12
glider: 187
mission: 4
dive: 673
start: 12 7 114 16 40 10
data:
$ID,187
$MISSION,4
$DIVE,673
$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,-1595287.6
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,071214,162818,4755.509,-12516.105,16,1.6,33,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-72.0
$GPS2,071214,163942,4755.654,-12516.234,17,1.9,34,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,143.8,10124,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.59,-116.8,383,2417,1444,1216,0.0,0.0,0,90,0.00,0.00,-56.75,0.000,16386,0.000,0.000,383,2417,2778,2848,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,383,2417,2848,2709,3.2,-2.1,6,131,12.50,2.55,-11.98,0.000,18692,0.360,0.109,3125,3800,3337,3382,3293,0,0,0,0,0,0,13.71,14.14,14.53
$GC,202,-0.59,-116.8,3125,3805,3382,3292,20.8,-13.4,17,213,0.00,2.42,0.00,0.000,1030,0.000,0.060,3126,2406,3339,3383,3296,0,0,0,0,0,0,28.83,14.19,28.83
$GC,454,-0.59,-116.8,3131,2402,3383,3296,50.5,-10.4,42,465,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3338,3380,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,706,-0.59,-116.8,3125,2401,3383,3296,79.3,-9.7,67,716,0.00,2.53,0.00,0.000,260,0.000,0.083,3125,3802,3339,3383,3296,0,0,0,0,0,0,28.83,14.04,28.83
$GC,836,-0.59,-116.8,3125,3805,3383,3296,94.1,-11.7,80,847,0.00,2.45,0.00,0.000,1030,0.000,0.057,3130,2388,3340,3383,3297,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1089,-0.59,-116.8,3125,2382,3383,3297,118.6,-10.0,105,1099,0.00,2.53,0.00,0.000,260,0.000,0.082,3125,3800,3340,3383,3297,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1180,-0.59,-116.8,3126,3800,3383,3296,128.3,-10.4,114,1191,0.00,2.42,0.00,0.000,1030,0.000,0.057,3129,2395,3340,3383,3297,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1432,-0.59,-116.8,3125,2389,3383,3297,149.8,-8.2,139,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1682,-0.59,-116.8,3126,2389,3384,3297,169.4,-7.8,164,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1933,-0.59,-116.8,3126,2389,3380,3297,189.8,-8.7,189,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2389,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,-0.59,-116.8,3126,2389,3383,3297,211.2,-8.2,214,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2437,-0.59,-116.8,3128,2389,3383,3297,230.2,-7.2,239,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2463,begin apogee
$GC,2473,-0.25,0.0,3125,2321,3383,3297,232.5,-7.3,242,2577,0.35,0.00,93.22,0.940,10246,0.174,0.000,3234,2320,2855,2930,2781,0,0,0,0,0,0,13.85,28.83,13.37
$STATE,2584,end apogee,CONTROL_FINISHED_OK
$STATE,2584,begin climb
$GC,2588,0.59,116.8,3234,2320,2930,2778,236.7,0.0,253,2693,0.85,0.00,93.03,0.926,10246,0.127,0.000,3512,2320,2382,2510,2254,0,0,0,0,0,0,14.05,28.83,13.31
$GC,2933,0.63,172.8,3512,2320,2508,2251,223.5,5.0,288,2984,0.00,0.00,44.53,0.913,8454,0.000,0.000,3512,2320,2152,2296,2008,0,0,0,0,0,0,28.83,28.83,13.45
$GC,3226,0.63,172.8,3512,2320,2294,2006,202.0,8.2,317,3236,0.00,2.45,0.00,0.000,516,0.000,0.073,3517,930,2151,2295,2007,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3331,0.63,172.8,3517,927,2300,2007,193.8,7.8,327,3341,0.00,2.45,0.00,0.000,1030,0.000,0.067,3517,2326,2150,2294,2007,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3582,0.63,172.8,3523,2329,2294,2007,174.5,7.2,352,3593,0.00,2.53,0.00,0.000,260,0.000,0.083,3517,3749,2150,2294,2007,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3655,0.63,172.8,3517,3749,2294,2007,169.0,8.1,359,3665,0.00,2.45,0.00,0.000,1030,0.000,0.061,3522,2342,2150,2293,2008,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3907,0.67,223.9,3515,2341,2294,2013,152.4,5.2,384,3957,0.00,2.55,40.25,0.856,8708,0.000,0.075,3519,917,1942,2080,1804,0,0,0,0,0,0,28.83,14.28,13.57
$GC,4018,0.68,223.9,3522,917,2079,1804,145.5,6.5,395,4029,0.00,2.47,0.00,0.000,1030,0.000,0.067,3519,2333,1942,2079,1805,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4269,0.68,223.9,3519,2333,2079,1805,128.2,7.2,420,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2333,1942,2079,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4520,0.70,223.9,3519,2333,2079,1805,111.8,6.3,445,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2333,1942,2079,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4771,0.73,223.9,3519,2334,2079,1805,96.8,6.1,470,4782,0.12,0.00,0.00,0.000,2054,0.140,0.000,3586,2333,1942,2079,1805,0,0,0,0,0,0,14.28,28.83,28.83
$GC,5023,0.76,223.9,3587,2333,2079,1805,79.2,5.9,495,5034,0.00,2.50,0.00,0.000,516,0.000,0.075,3587,920,1942,2079,1805,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5140,0.77,223.9,3583,920,2079,1811,72.0,6.5,506,5151,0.00,2.47,0.00,0.000,1030,0.000,0.069,3587,2330,1942,2079,1805,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5394,0.80,223.9,3587,2329,2079,1805,54.3,6.1,531,5404,0.00,2.53,0.00,0.000,260,0.000,0.083,3587,3749,1942,2079,1805,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5635,0.84,274.8,3587,3749,2079,1805,39.5,5.2,555,5685,0.00,2.50,38.83,0.731,9222,0.000,0.061,3587,2323,1735,1882,1588,0,0,0,0,0,0,28.83,14.07,13.64
$GC,5929,0.85,274.8,3587,2326,1880,1586,22.6,6.5,584,5940,0.00,2.45,0.00,0.000,516,0.000,0.077,3587,930,1733,1880,1586,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6170,0.85,274.8,3588,932,1880,1586,6.6,6.9,608,6181,0.00,2.47,0.00,0.000,1030,0.000,0.066,3588,2337,1733,1880,1586,0,0,0,0,0,0,28.83,14.16,28.83
$STATE,6198,end climb,SURFACE_DEPTH_REACHED
$STATE,6198,begin surface coast
$FINISH,1.4,1.024537
$STATE,6244,end surface coast,CONTROL_FINISHED_OK
$STATE,6244,begin surface
$SM_CCo,6272,42.70,0.090,0,0,1328,375.06
$SM_GC,2.19,9.05,0.10,42.70,0.054,0.159,0.090,390,2397,1328,-9.11,-0.85,375.06,0,0,0,0,0,0,14.22,14.34,14.16
$IRIDIUM_FIX,4735.69,-12520.31,071214,161653
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.43
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3722656
$PM_FREEKB,42346176
$24V_AH,13.3,166.720
$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,22.875,44.925,309.850,42.700,0.000,0.000,0.000,317.975,0.000,0.000,35.132,1452.436,3120.125,472.911,1442.754,507.199,0.000,1430.385,0.000,975.550,0.000,0.540,0.000
$DEVICE_MAMPS,360.315,170.595,940.185,89.505,0.000,0.000,0.000,156.825,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6266.000,86.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.270,5.063,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,20061,615
$CAP_FILE_SIZE,110187,0
$CFSIZE,260034560,188940288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6038.15,0x2378ba,7,5
$CURRENT,0.269,336.2,1
$GPS,071214,182730,4755.884,-12516.586,72,0.9,72,18.8