version: 66.12
glider: 187
mission: 4
dive: 825
start: 1 21 115 13 18 7
data:
$ID,187
$MISSION,4
$DIVE,825
$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,-1595495.8
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,210115,130757,4753.534,-12514.826,10,3.0,30,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-72.5
$GPS2,210115,131735,4753.563,-12514.875,41,1.0,46,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,120.0,6472,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.59,-116.8,385,2415,1547,1315,0.0,0.0,0,81,0.00,0.00,-46.35,0.000,16386,0.000,0.000,385,2415,2618,2695,2541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.59,-116.8,385,2413,2698,2541,3.2,-1.4,5,131,12.32,2.58,-16.60,0.000,18948,0.360,0.094,3122,1003,3339,3384,3295,0,0,0,0,0,0,13.77,13.96,14.42
$GC,182,-0.59,-116.8,3122,1003,3383,3293,16.5,-12.8,15,194,0.00,2.47,0.00,0.000,1030,0.000,0.068,3122,2390,3340,3384,3296,0,0,0,0,0,0,28.83,13.99,28.83
$GC,435,-0.59,-116.8,3122,2390,3384,3296,49.2,-12.9,40,446,0.00,2.58,0.00,0.000,260,0.000,0.083,3122,3809,3340,3383,3297,0,0,0,0,0,0,28.83,13.81,28.83
$GC,528,-0.59,-116.8,3122,3809,3383,3295,60.9,-11.7,49,539,0.00,2.47,0.00,0.000,1030,0.000,0.055,3122,2404,3339,3383,3296,0,0,0,0,0,0,28.83,13.98,28.83
$GC,782,-0.59,-116.8,3122,2400,3389,3295,88.1,-10.2,74,791,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3342,3384,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1034,-0.59,-116.8,3123,2400,3384,3297,111.2,-8.1,99,1046,0.00,2.62,0.00,0.000,260,0.000,0.082,3122,3814,3340,3384,3297,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1151,-0.59,-116.8,3122,3815,3384,3297,119.9,-7.2,110,1162,0.00,2.50,0.00,0.000,1030,0.000,0.055,3122,2391,3340,3384,3297,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1403,-0.59,-116.8,3122,2386,3385,3297,137.6,-7.5,135,1414,0.00,2.50,0.00,0.000,516,0.000,0.070,3122,990,3340,3384,3297,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1445,-0.59,-116.8,3123,991,3384,3298,140.7,-7.7,139,1457,0.00,2.53,0.00,0.000,1030,0.000,0.067,3122,2398,3341,3384,3298,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1699,-0.59,-116.8,3122,2397,3384,3300,160.9,-8.2,164,1710,0.00,2.60,0.00,0.000,260,0.000,0.083,3127,3823,3341,3384,3298,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1831,-0.59,-116.8,3122,3822,3388,3298,172.5,-8.9,177,1841,0.00,2.50,0.00,0.000,1030,0.000,0.057,3122,2407,3340,3383,3298,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2084,-0.59,-116.8,3122,2403,3384,3298,195.7,-9.5,202,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2100,begin apogee
$GC,2111,-0.25,0.0,3122,2310,3384,3298,197.9,-10.1,204,2214,0.38,0.00,91.82,0.911,10246,0.182,0.000,3234,2313,2854,2926,2783,0,0,0,0,0,0,13.62,28.83,13.54
$STATE,2222,end apogee,CONTROL_FINISHED_OK
$STATE,2222,begin climb
$GC,2227,0.59,116.8,3234,2313,2926,2780,204.6,0.0,215,2339,0.88,2.50,91.93,0.899,10756,0.130,0.072,3519,938,2378,2505,2252,0,0,0,0,0,0,13.86,14.03,13.45
$GC,2372,0.66,221.4,3517,938,2501,2252,204.0,2.9,230,2463,0.00,2.47,80.90,0.892,9222,0.000,0.063,3519,2342,1952,2088,1816,0,0,0,0,0,0,28.83,13.98,13.43
$GC,2709,0.69,221.4,3519,2342,2086,1815,184.7,6.3,263,2719,0.00,2.50,0.00,0.000,260,0.000,0.082,3519,3730,1950,2086,1815,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2760,0.69,221.4,3519,3730,2089,1816,181.2,7.1,268,2772,0.00,2.45,0.00,0.000,1030,0.000,0.059,3519,2342,1951,2086,1816,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3014,0.72,221.4,3519,2341,2086,1816,166.5,5.6,293,3026,0.12,2.55,0.00,0.000,2564,0.135,0.071,3587,921,1951,2086,1816,0,0,0,0,0,0,14.13,13.93,28.83
$GC,3103,0.72,221.4,3587,918,2086,1817,159.6,8.7,301,3114,0.00,2.47,0.00,0.000,1030,0.000,0.063,3587,2326,1951,2086,1817,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3357,0.72,221.4,3587,2326,2086,1817,137.9,8.0,326,3367,0.00,2.55,0.00,0.000,260,0.000,0.081,3583,3741,1951,2086,1817,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3429,0.72,221.4,3587,3741,2086,1817,130.8,10.2,333,3440,0.00,2.50,0.00,0.000,1030,0.000,0.059,3587,2318,1954,2086,1823,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3682,0.72,221.4,3587,2317,2086,1818,106.3,10.3,358,3693,0.00,2.50,0.00,0.000,516,0.000,0.075,3587,917,1952,2086,1818,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3788,0.72,221.4,3588,917,2086,1818,96.3,9.3,368,3800,0.00,2.53,0.00,0.000,1030,0.000,0.064,3588,2340,1952,2086,1818,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4042,0.75,221.4,3587,2341,2086,1820,76.7,6.0,393,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2341,1952,2086,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4293,0.77,221.4,3588,2341,2086,1818,61.4,6.0,418,4303,0.00,2.55,0.00,0.000,516,0.000,0.073,3588,921,1952,2086,1818,0,0,0,0,0,0,28.83,13.92,28.83
$GC,4336,0.80,221.4,3588,921,2086,1818,58.8,6.0,422,4347,0.00,2.50,0.00,0.000,1030,0.000,0.065,3588,2328,1952,2086,1818,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4591,0.82,221.4,3588,2328,2086,1818,43.4,6.1,447,4602,0.00,2.55,0.00,0.000,260,0.000,0.080,3587,3742,1952,2086,1818,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4643,0.82,221.4,3590,3738,2082,1818,39.9,6.9,452,4655,0.00,2.50,0.00,0.000,1030,0.000,0.058,3588,2318,1952,2086,1818,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4898,0.84,221.4,3588,2318,2086,1818,23.6,6.7,477,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2318,1952,2086,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5151,0.88,221.4,3588,2318,2086,1818,9.1,5.4,502,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2319,1955,2093,1818,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5236,end climb,SURFACE_DEPTH_REACHED
$STATE,5237,begin surface coast
$FINISH,1.6,1.024658
$STATE,5299,end surface coast,CONTROL_FINISHED_OK
$STATE,5299,begin surface
$SM_CCo,5331,56.17,0.091,0,0,1430,350.04
$SM_GC,2.44,9.25,0.15,56.17,0.058,0.128,0.091,389,2398,1430,-9.09,-0.88,350.04,0,0,0,0,0,0,14.15,14.12,14.08
$IRIDIUM_FIX,4732.49,-12534.50,210115,111110
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.29
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3673984
$PM_FREEKB,36651200
$24V_AH,13.4,208.401
$10V_AH,13.1,0.000
$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,22.950,60.750,264.650,56.175,0.000,0.000,0.000,223.025,0.000,0.000,47.566,1232.090,2490.340,459.106,1211.628,571.537,0.000,1262.123,0.000,798.956,0.000,0.538,0.000
$DEVICE_MAMPS,360.315,153.000,911.115,91.035,0.000,0.000,0.000,156.825,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5326.000,88.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.681,4.822,0.000,0.000
$MEM,290848
$DATA_FILE_SIZE,16720,517
$CAP_FILE_SIZE,100442,0
$CFSIZE,260034560,171233280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5680.96,0x2378ba,7,5
$CURRENT,0.104,337.8,1
$GPS,210115,144901,4753.411,-12514.592,11,1.9,11,18.8