version: 66.12
glider: 187
mission: 4
dive: 251
start: 8 19 114 18 50 3
data:
$ID,187
$MISSION,4
$DIVE,251
$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,-1593737.4
$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,30
$R_STBD_OVSHOOT,26
$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
$GPS1,190814,183929,4744.666,-12525.641,67,0.8,67,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-74.0
$GPS2,190814,184937,4744.619,-12525.525,13,1.4,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,37.0,23294,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.59,-116.8,395,2398,1466,1194,0.0,0.0,0,91,0.00,0.00,-57.95,0.000,16386,0.000,0.000,396,2399,2847,2904,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,395,2399,2903,2792,3.8,-3.6,6,131,12.75,2.53,-8.70,0.000,18948,0.392,0.103,3124,988,3337,3381,3293,0,0,0,0,0,0,13.95,14.23,14.51
$GC,362,-0.59,-116.8,3125,989,3383,3295,52.3,-14.6,33,373,0.00,2.47,0.00,0.000,1030,0.000,0.076,3124,2396,3338,3383,3294,0,0,0,0,0,0,28.83,14.29,28.83
$GC,612,-0.59,-116.8,3124,2395,3385,3295,85.1,-13.3,58,623,0.00,2.42,0.00,0.000,516,0.000,0.076,3124,992,3340,3385,3295,0,0,0,0,0,0,28.83,14.33,28.83
$GC,763,-0.59,-116.8,3124,992,3385,3295,105.3,-12.8,73,774,0.00,2.45,0.00,0.000,1030,0.000,0.074,3128,2404,3340,3385,3295,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1014,-0.59,-116.8,3124,2404,3385,3295,134.3,-11.3,98,1025,0.00,2.45,0.00,0.000,260,0.000,0.093,3122,3806,3340,3385,3295,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1104,-0.59,-116.8,3121,3806,3385,3295,144.6,-11.2,107,1115,0.00,2.40,0.00,0.000,1030,0.000,0.067,3125,2397,3340,3385,3295,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1355,-0.59,-116.8,3125,2393,3386,3295,171.3,-10.7,132,1366,0.00,2.42,0.00,0.000,516,0.000,0.079,3124,986,3340,3385,3295,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1407,-0.59,-116.8,3124,986,3385,3295,176.9,-11.2,137,1418,0.00,2.45,0.00,0.000,1030,0.000,0.074,3124,2401,3340,3385,3295,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1658,-0.59,-116.8,3124,2401,3385,3295,203.3,-10.0,162,1669,0.00,2.47,0.00,0.000,260,0.000,0.093,3124,3814,3340,3385,3295,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1709,-0.59,-116.8,3124,3813,3385,3297,208.5,-10.3,167,1719,0.00,2.42,0.00,0.000,1030,0.000,0.067,3124,2395,3340,3385,3295,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1959,-0.59,-116.8,3129,2392,3385,3294,233.2,-9.9,192,1971,0.00,2.42,0.00,0.000,516,0.000,0.081,3125,988,3339,3385,3294,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2030,-0.59,-116.8,3124,991,3385,3294,240.4,-10.2,199,2041,0.00,2.45,0.00,0.000,1030,0.000,0.074,3124,2408,3339,3385,3294,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2291,-0.59,-116.8,3130,2404,3385,3293,264.4,-9.2,215,2301,0.00,2.45,0.00,0.000,260,0.000,0.093,3124,3820,3339,3385,3293,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2351,-0.59,-116.8,3124,3820,3385,3289,270.2,-9.5,221,2361,0.00,2.42,0.00,0.000,1030,0.000,0.070,3124,2400,3339,3385,3293,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2681,-0.59,-116.8,3124,2398,3385,3293,301.2,-9.5,234,2691,0.00,2.47,0.00,0.000,260,0.000,0.092,3124,3808,3341,3391,3292,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2720,-0.59,-116.8,3122,3809,3389,3292,305.1,-10.0,238,2730,0.00,2.40,0.00,0.000,1030,0.000,0.068,3124,2400,3338,3385,3292,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3044,-0.59,-116.8,3124,2398,3385,3290,336.0,-9.7,250,3054,0.00,2.42,0.00,0.000,516,0.000,0.080,3124,989,3337,3385,3290,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3104,-0.59,-116.8,3125,989,3384,3286,342.1,-10.2,256,3114,0.00,2.45,0.00,0.000,1030,0.000,0.075,3122,2407,3337,3385,3290,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3437,-0.59,-116.8,3124,2407,3385,3288,370.4,-8.4,269,3447,0.00,2.45,0.00,0.000,260,0.000,0.096,3124,3813,3336,3384,3288,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3486,-0.59,-116.8,3124,3814,3385,3288,375.2,-9.1,274,3497,0.00,2.42,0.00,0.000,1030,0.000,0.070,3124,2393,3336,3384,3288,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3801,-0.59,-116.8,3124,2387,3385,3287,401.1,-8.4,285,3811,0.00,2.42,0.00,0.000,516,0.000,0.086,3124,999,3335,3384,3287,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3840,-0.59,-116.8,3121,998,3384,3287,405.0,-9.1,289,3850,0.00,2.42,0.00,0.000,1030,0.000,0.078,3120,2397,3336,3385,3287,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4161,-0.59,-116.8,3124,2397,3384,3286,432.6,-8.6,301,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3333,3381,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.59,-116.8,3124,2397,3384,3286,459.9,-9.1,311,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3336,3384,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4762,-0.59,-116.8,3124,2397,3384,3285,484.7,-7.9,321,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5061,-0.59,-116.8,3124,2394,3383,3290,506.9,-7.3,331,5071,0.00,2.50,0.00,0.000,260,0.000,0.096,3124,3816,3334,3384,3285,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5100,-0.59,-116.8,3124,3816,3382,3285,510.0,-7.7,335,5110,0.00,2.42,0.00,0.000,1030,0.000,0.067,3124,2392,3333,3382,3284,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5421,-0.59,-116.8,3124,2387,3382,3284,534.0,-7.9,347,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5722,-0.59,-116.8,3124,2389,3382,3288,558.4,-8.2,357,5732,0.00,2.42,0.00,0.000,516,0.000,0.085,3127,993,3331,3380,3283,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5771,-0.59,-116.8,3124,993,3382,3283,562.7,-8.6,362,5784,0.00,2.45,0.00,0.000,1030,0.000,0.079,3124,2402,3332,3382,3283,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6086,-0.59,-116.8,3124,2402,3382,3286,587.6,-8.2,373,6096,0.00,2.47,0.00,0.000,260,0.000,0.097,3124,3811,3334,3387,3282,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6134,-0.59,-116.8,3123,3812,3381,3282,592.2,-8.8,378,6145,0.00,2.42,0.00,0.000,1030,0.000,0.073,3124,2398,3331,3381,3281,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6449,-0.59,-116.8,3124,2401,3383,3281,619.5,-8.9,389,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2393,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,-0.59,-116.8,3124,2396,3381,3281,644.4,-7.9,399,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2396,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7046,-0.59,-116.8,3124,2396,3380,3280,665.6,-7.0,409,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2396,3330,3381,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7345,-0.59,-116.8,3124,2396,3381,3279,686.7,-7.4,419,7355,0.00,2.45,0.00,0.000,516,0.000,0.084,3120,984,3329,3380,3279,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7414,-0.59,-116.8,3124,984,3380,3276,692.8,-8.9,426,7424,0.00,2.47,0.00,0.000,1030,0.000,0.078,3124,2402,3329,3380,3278,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7735,-0.59,-116.8,3124,2401,3381,3274,717.5,-7.3,438,7745,0.00,2.47,0.00,0.000,260,0.000,0.099,3124,3807,3328,3379,3278,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7774,-0.59,-116.8,3124,3807,3379,3278,720.4,-7.4,442,7784,0.00,2.42,0.00,0.000,1030,0.000,0.074,3124,2402,3328,3379,3278,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8097,-0.59,-116.8,3124,2400,3379,3276,743.8,-7.3,454,8107,0.00,2.45,0.00,0.000,516,0.000,0.084,3124,990,3326,3375,3278,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8156,-0.59,-116.8,3124,990,3379,3277,748.8,-8.2,460,8167,0.00,2.45,0.00,0.000,1030,0.000,0.079,3124,2397,3328,3379,3277,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8487,-0.59,-116.8,3124,2397,3379,3277,775.9,-8.7,473,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8787,-0.59,-116.8,3124,2397,3379,3277,795.4,-7.1,483,8797,0.00,2.50,0.00,0.000,260,0.000,0.098,3124,3814,3327,3379,3276,0,0,0,0,0,0,28.83,14.37,28.83
$STATE,9023,end dive,NO_VERTICAL_VELOCITY
$STATE,9023,begin apogee
$GC,9034,-0.25,0.0,3124,2325,3378,3276,800.9,0.0,507,9139,0.38,0.00,98.22,1.686,10246,0.152,0.000,3241,2324,2859,2934,2784,0,0,0,0,0,0,14.35,28.83,13.28
$STATE,9142,end apogee,CONTROL_FINISHED_OK
$STATE,9142,begin climb
$GC,9146,0.59,116.8,3241,2323,2933,2779,800.9,0.0,510,9265,0.88,2.67,104.32,1.661,10756,0.138,0.090,3515,921,2378,2518,2238,0,0,0,0,0,0,13.92,13.71,13.12
$GC,9304,0.63,116.8,3519,921,2518,2244,796.5,5.4,528,9314,0.00,2.58,0.00,0.000,1030,0.000,0.078,3519,2342,2377,2517,2238,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9628,0.63,116.8,3519,2342,2517,2234,774.7,7.7,540,9638,0.00,2.50,0.00,0.000,260,0.000,0.098,3519,3735,2376,2517,2235,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9800,0.63,116.8,3519,3735,2513,2234,758.7,9.6,557,9811,0.00,2.47,0.00,0.000,1030,0.000,0.080,3519,2332,2371,2509,2234,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10110,0.63,116.8,3519,2332,2513,2232,731.7,8.7,568,10121,0.00,2.53,0.00,0.000,516,0.000,0.095,3519,915,2372,2513,2232,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10171,0.63,116.8,3519,915,2512,2232,726.0,8.5,574,10181,0.00,2.47,0.00,0.000,1030,0.000,0.078,3519,2330,2372,2512,2232,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10500,0.63,116.8,3519,2329,2512,2231,699.1,7.8,587,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2329,2371,2512,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10805,0.63,116.8,3520,2329,2512,2230,673.8,8.4,597,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2329,2371,2512,2230,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19642,end climb,SURFACE_DEPTH_REACHED
$STATE,19642,begin surface coast
$FINISH,1.1,1.023592
$STATE,19715,end surface coast,CONTROL_FINISHED_OK
$STATE,19715,begin surface
$SM_CCo,19741,11.02,0.104,0,0,1328,375.06
$SM_GC,3.94,9.27,0.10,11.02,0.071,0.190,0.104,399,2396,1328,-9.10,-0.82,375.06,0,0,0,0,0,0,14.27,14.28,14.26
$IRIDIUM_FIX,4729.30,-12531.52,190814,111155
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.18
$INTERNAL_PRESSURE,8.91321
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3857696
$PM_FREEKB,55286784
$24V_AH,13.1,61.216
$10V_AH,12.9,0.000
$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,23.525,168.100,354.300,11.025,0.000,0.000,0.000,335.425,0.000,0.000,14.339,2713.432,13647.563,622.245,2606.174,750.017,0.000,2387.376,0.000,1761.413,0.000,0.537,0.000
$DEVICE_MAMPS,392.445,189.720,1686.060,104.040,0.000,0.000,0.000,163.710,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19740.000,334.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.978,5.701,0.000,0.000
$MEM,290816
$DATA_FILE_SIZE,40013,1145
$CAP_FILE_SIZE,232529,0
$CFSIZE,260034560,232738816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25334.45,0x2378ba,7,5
$CURRENT,0.064,  3.0,1
$GPS,200814,002124,4746.534,-12523.049,78,1.2,78,18.7