version: 66.12
glider: 187
mission: 4
dive: 169
start: 7 28 114 6 32 8
data:
$ID,187
$MISSION,4
$DIVE,169
$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,4
$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,-1593631.8
$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,25
$R_STBD_OVSHOOT,32
$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,48
$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
$GPS1,280714,062223,4721.425,-12620.293,42,1.6,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-74.1
$GPS2,280714,063142,4721.425,-12620.333,10,1.7,15,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,61.8,103776,-14.0,-7.333,-18.81,2445
$D_GRID,1000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.59,-116.8,399,2410,1380,1066,0.0,0.0,0,91,0.00,0.00,-59.45,0.000,16386,0.000,0.000,400,2409,2788,2849,2728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,400,2409,2851,2728,3.4,-3.0,6,131,12.60,2.53,-9.70,0.000,18948,0.399,0.101,3121,980,3335,3380,3290,0,0,0,0,0,0,14.08,14.34,14.54
$GC,361,-0.59,-116.8,3118,980,3384,3293,56.0,-14.1,33,373,0.00,2.45,0.00,0.000,1030,0.000,0.076,3120,2392,3339,3385,3293,0,0,0,0,0,0,28.83,14.40,28.83
$GC,613,-0.59,-116.8,3122,2392,3387,3294,88.8,-12.1,58,624,0.00,2.40,0.00,0.000,516,0.000,0.078,3121,990,3340,3387,3293,0,0,0,0,0,0,28.83,14.45,28.83
$GC,674,-0.59,-116.8,3122,989,3388,3294,95.9,-11.5,64,685,0.00,2.42,0.00,0.000,1030,0.000,0.076,3122,2398,3340,3387,3294,0,0,0,0,0,0,28.83,14.45,28.83
$GC,925,-0.59,-116.8,3122,2399,3387,3293,125.5,-11.6,89,936,0.00,2.45,0.00,0.000,260,0.000,0.094,3121,3819,3339,3388,3290,0,0,0,0,0,0,28.83,14.47,28.83
$GC,977,-0.59,-116.8,3118,3816,3388,3294,131.5,-11.6,94,987,0.00,2.40,0.00,0.000,1030,0.000,0.066,3122,2390,3340,3388,3292,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1227,-0.59,-116.8,3122,2389,3388,3294,157.7,-10.5,119,1238,0.00,2.38,0.00,0.000,516,0.000,0.082,3122,1000,3341,3388,3294,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1298,-0.59,-116.8,3121,1000,3388,3294,164.8,-10.3,126,1308,0.00,2.40,0.00,0.000,1030,0.000,0.076,3122,2397,3341,3388,3294,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1548,-0.59,-116.8,3122,2397,3388,3293,188.5,-9.5,151,1559,0.00,2.45,0.00,0.000,260,0.000,0.096,3122,3817,3341,3388,3294,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1629,-0.59,-116.8,3121,3817,3385,3293,196.2,-9.5,159,1640,0.00,2.40,0.00,0.000,1030,0.000,0.071,3121,2403,3343,3388,3299,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1880,-0.59,-116.8,3122,2402,3387,3293,220.1,-9.7,184,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2403,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2129,-0.59,-116.8,3122,2403,3387,3293,244.2,-9.1,209,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2402,3339,3387,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2383,-0.59,-116.8,3122,2403,3387,3290,267.5,-9.3,222,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2403,3339,3388,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,-0.59,-116.8,3118,2403,3387,3289,294.9,-9.2,232,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3339,3388,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.59,-116.8,3125,2403,3387,3287,322.6,-9.3,242,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2403,3337,3387,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.59,-116.8,3122,2402,3389,3286,350.1,-9.0,252,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2402,3337,3387,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-0.59,-116.8,3122,2403,3387,3286,376.3,-8.8,262,3590,0.00,2.42,0.00,0.000,516,0.000,0.083,3122,990,3336,3387,3285,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3659,-0.59,-116.8,3122,990,3387,3285,383.8,-9.5,270,3670,0.00,2.45,0.00,0.000,1030,0.000,0.080,3122,2417,3337,3389,3285,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3972,-0.59,-116.8,3122,2416,3386,3284,411.7,-9.0,281,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2416,3335,3386,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4270,-0.59,-116.8,3122,2416,3385,3283,437.0,-8.1,291,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2416,3334,3385,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4570,-0.59,-116.8,3122,2416,3385,3282,460.1,-7.8,301,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2413,3333,3384,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4870,-0.59,-116.8,3121,2416,3384,3281,483.1,-7.6,311,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2416,3333,3385,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5170,-0.59,-116.8,3121,2416,3383,3280,507.1,-8.1,321,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2416,3331,3383,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5470,-0.59,-116.8,3122,2416,3382,3279,531.4,-8.0,331,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2414,3331,3383,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5770,-0.59,-116.8,3121,2416,3382,3278,555.3,-7.9,341,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2416,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,-0.59,-116.8,3121,2416,3382,3277,578.5,-7.6,351,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2413,3330,3383,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,-0.59,-116.8,3122,2416,3382,3277,602.2,-8.1,361,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2416,3329,3382,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6671,-0.59,-116.8,3122,2416,3382,3276,627.5,-8.5,371,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2416,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,-0.59,-116.8,3122,2412,3387,3275,653.5,-8.6,381,6980,0.00,2.45,0.00,0.000,260,0.000,0.103,3121,3814,3328,3382,3275,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7019,-0.59,-116.8,3121,3814,3381,3275,657.9,-9.1,386,7030,0.00,2.42,0.00,0.000,1030,0.000,0.074,3121,2394,3326,3377,3275,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7333,-0.59,-116.8,3122,2394,3380,3277,684.8,-8.7,397,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2395,3325,3376,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7630,-0.59,-116.8,3121,2394,3381,3273,709.8,-8.3,407,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2394,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7930,-0.59,-116.8,3124,2394,3380,3272,733.1,-7.5,417,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2394,3326,3380,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8230,-0.59,-116.8,3122,2393,3380,3271,755.0,-7.3,427,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2394,3326,3380,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8530,-0.59,-116.8,3127,2394,3379,3271,776.6,-7.2,437,8540,0.00,2.42,0.00,0.000,516,0.000,0.092,3122,1000,3325,3380,3271,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8569,-0.59,-116.8,3121,1000,3380,3268,779.6,-7.6,441,8580,0.00,2.42,0.00,0.000,1030,0.000,0.084,3121,2397,3324,3379,3270,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8893,-0.59,-116.8,3122,2396,3379,3270,800.7,-6.4,453,8903,0.00,2.47,0.00,0.000,260,0.000,0.103,3122,3810,3328,3386,3270,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8943,-0.59,-116.8,3122,3810,3378,3269,804.2,-6.8,458,8953,0.00,2.42,0.00,0.000,1030,0.000,0.078,3121,2397,3324,3379,3270,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9256,-0.59,-116.8,3121,2396,3378,3270,824.6,-6.8,469,9266,0.00,2.45,0.00,0.000,516,0.000,0.095,3121,986,3324,3378,3271,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9306,-0.59,-116.8,3122,986,3379,3269,828.4,-7.3,474,9316,0.00,2.45,0.00,0.000,1030,0.000,0.085,3122,2399,3324,3378,3270,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9619,-0.59,-116.8,3121,2399,3377,3269,850.2,-7.1,485,9629,0.00,2.47,0.00,0.000,260,0.000,0.103,3122,3809,3324,3380,3269,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9698,-0.59,-116.8,3121,3809,3378,3269,856.3,-7.3,493,9710,0.00,2.42,0.00,0.000,1030,0.000,0.084,3121,2404,3323,3378,3269,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10012,-0.59,-116.8,3122,2401,3378,3269,879.7,-7.5,504,10022,0.00,2.47,0.00,0.000,516,0.000,0.095,3122,988,3323,3378,3269,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10061,-0.59,-116.8,3121,986,3377,3269,883.9,-8.4,509,10073,0.00,2.45,0.00,0.000,1030,0.000,0.085,3121,2398,3323,3378,3269,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10375,-0.59,-116.8,3122,2398,3377,3269,907.2,-7.5,520,10385,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2398,3321,3377,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10676,-0.59,-116.8,3122,2398,3377,3268,929.0,-7.2,530,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2398,3320,3377,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10975,-0.59,-116.8,3121,2398,3377,3268,951.0,-7.2,540,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3322,3377,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11275,-0.59,-116.8,3121,2398,3377,3268,971.6,-6.8,550,11285,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3322,3377,3268,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11572,begin apogee
$GC,11581,-0.25,0.0,3121,2311,3376,3267,990.4,-6.0,560,11692,0.40,0.00,99.97,1.910,10246,0.201,0.000,3237,2311,2855,2933,2777,0,0,0,0,0,0,14.42,28.83,13.28
$STATE,11695,end apogee,CONTROL_FINISHED_OK
$STATE,11695,begin climb
$GC,11698,0.59,116.8,3237,2311,2933,2774,992.9,0.0,564,11817,0.90,2.78,107.05,1.887,10500,0.144,0.103,3513,3740,2379,2524,2234,0,0,0,0,0,0,13.93,13.70,13.09
$GC,11849,0.59,116.8,3513,3740,2521,2233,983.2,9.4,577,11860,0.00,2.55,0.00,0.000,1030,0.000,0.080,3519,2339,2377,2521,2233,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12170,0.59,116.8,3522,2338,2521,2228,949.4,10.5,589,12180,0.00,2.53,0.00,0.000,516,0.000,0.101,3519,920,2374,2521,2228,0,0,0,0,0,0,28.83,14.21,28.83
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$STATE,24503,end climb,SURFACE_DEPTH_REACHED
$STATE,24504,begin surface coast
$FINISH,0.9,1.013407
$STATE,24565,end surface coast,CONTROL_FINISHED_OK
$STATE,24565,begin surface
$SM_CCo,24591,24.70,0.103,0,0,1328,375.06
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$TT8_MAMPS,0.024717,0.024717
$HUMID,48.18
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3883936
$PM_FREEKB,57811008
$24V_AH,13.1,40.271
$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
$DEVICE_SECS,23.225,167.725,337.200,24.700,0.000,0.000,0.000,289.750,0.000,0.000,15.979,3163.677,17564.863,662.351,2950.498,814.592,0.000,2627.763,0.000,2012.683,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24579.000,428.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.836,5.713,0.000,0.000
$MEM,290848
$DATA_FILE_SIZE,46621,1313
$CAP_FILE_SIZE,269745,0
$CFSIZE,260034560,241479680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25855.78,0x2378ba,7,5
$CURRENT,0.098,338.5,1
$GPS,280714,132429,4723.197,-12617.209,73,1.1,73,18.7