version: 66.12
glider: 187
mission: 4
dive: 395
start: 9 27 114 18 59 24
data:
$ID,187
$MISSION,4
$DIVE,395
$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,-1593938.9
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,270914,184935,4746.731,-12525.633,40,1.0,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-72.8
$GPS2,270914,185855,4746.734,-12525.710,11,1.9,11,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,89.6,21462,-14.0,-7.333,-18.81,2445
$D_GRID,768
$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,-116.8,392,2397,1265,971,0.0,0.0,0,91,0.00,0.00,-58.33,0.000,16386,0.000,0.000,392,2401,2629,2708,2551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,394,2402,2712,2552,3.4,-1.8,6,133,12.82,2.60,-14.20,0.000,18692,0.385,0.112,3124,3816,3336,3383,3289,0,0,0,0,0,0,13.84,14.17,14.47
$GC,364,-0.59,-116.8,3124,3816,3383,3293,50.1,-12.6,33,374,0.00,2.45,0.00,0.000,1030,0.000,0.063,3125,2402,3337,3382,3293,0,0,0,0,0,0,28.83,14.19,28.83
$GC,614,-0.59,-116.8,3124,2400,3384,3294,79.8,-12.7,58,625,0.00,2.53,0.00,0.000,260,0.000,0.089,3124,3804,3340,3385,3295,0,0,0,0,0,0,28.83,14.16,28.83
$GC,855,-0.59,-116.8,3124,3803,3384,3296,110.0,-12.0,82,865,0.00,2.42,0.00,0.000,1030,0.000,0.063,3124,2401,3338,3380,3296,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1105,-0.59,-116.8,3124,2398,3385,3296,138.6,-11.4,107,1116,0.00,2.53,0.00,0.000,260,0.000,0.089,3124,3811,3340,3385,3296,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1226,-0.59,-116.8,3124,3810,3385,3296,152.7,-11.3,119,1237,0.00,2.47,0.00,0.000,1030,0.000,0.063,3124,2388,3341,3385,3297,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1477,-0.59,-116.8,3124,2383,3385,3296,180.6,-10.8,144,1488,0.00,2.55,0.00,0.000,260,0.000,0.088,3124,3809,3340,3386,3295,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1539,-0.59,-116.8,3124,3809,3385,3296,187.1,-10.8,150,1549,0.00,2.45,0.00,0.000,1030,0.000,0.063,3124,2388,3340,3385,3296,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1790,-0.59,-116.8,3124,2384,3385,3298,211.4,-9.0,175,1801,0.00,2.42,0.00,0.000,516,0.000,0.076,3124,999,3340,3385,3295,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1853,-0.59,-116.8,3125,999,3385,3295,217.3,-9.7,181,1863,0.00,2.47,0.00,0.000,1030,0.000,0.073,3125,2408,3340,3385,3295,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2103,-0.59,-116.8,3126,2407,3385,3295,239.3,-8.1,206,2114,0.00,2.50,0.00,0.000,260,0.000,0.091,3124,3807,3340,3385,3295,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2233,-0.59,-116.8,3124,3807,3384,3294,250.4,-8.7,219,2243,0.00,2.42,0.00,0.000,1030,0.000,0.067,3124,2406,3340,3385,3295,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2554,-0.59,-116.8,3124,2404,3384,3293,278.2,-9.0,231,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2407,3338,3383,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2855,-0.59,-116.8,3125,2404,3384,3293,304.7,-8.6,241,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3336,3381,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3154,-0.59,-116.8,3124,2403,3384,3292,328.5,-7.8,251,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3338,3384,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3455,-0.59,-116.8,3124,2404,3384,3286,353.0,-8.1,261,3465,0.00,2.53,0.00,0.000,260,0.000,0.090,3124,3818,3337,3384,3291,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3514,-0.59,-116.8,3124,3817,3384,3291,358.1,-8.5,267,3524,0.00,2.45,0.00,0.000,1030,0.000,0.064,3124,2391,3337,3384,3291,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3844,-0.59,-116.8,3130,2386,3385,3289,385.7,-8.3,280,3855,0.00,2.55,0.00,0.000,260,0.000,0.092,3124,3806,3336,3384,3289,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3894,-0.59,-116.8,3125,3806,3384,3289,390.0,-8.6,285,3905,0.00,2.45,0.00,0.000,1030,0.000,0.067,3124,2393,3334,3384,3285,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4208,-0.59,-116.8,3125,2388,3384,3288,414.0,-7.6,296,4218,0.00,2.55,0.00,0.000,260,0.000,0.091,3124,3807,3335,3384,3286,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4277,-0.59,-116.8,3125,3807,3384,3288,419.6,-7.5,303,4287,0.00,2.45,0.00,0.000,1030,0.000,0.069,3124,2399,3336,3384,3288,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4598,-0.59,-116.8,3124,2396,3384,3286,442.9,-7.3,315,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3333,3384,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4898,-0.59,-116.8,3124,2396,3384,3286,464.0,-6.9,325,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2396,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5199,-0.59,-116.8,3124,2396,3384,3286,484.9,-7.2,335,5209,0.00,2.55,0.00,0.000,260,0.000,0.093,3124,3810,3335,3384,3286,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5248,-0.59,-116.8,3124,3810,3384,3286,488.7,-7.6,340,5260,0.00,2.45,0.00,0.000,1030,0.000,0.067,3123,2402,3334,3384,3285,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5562,-0.59,-116.8,3124,2402,3383,3285,511.4,-7.4,351,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3332,3384,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5859,-0.59,-116.8,3124,2402,3384,3283,533.5,-7.3,361,5869,0.00,2.55,0.00,0.000,260,0.000,0.093,3124,3820,3333,3383,3283,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5928,-0.59,-116.8,3124,3820,3382,3284,538.7,-7.4,368,5938,0.00,2.47,0.00,0.000,1030,0.000,0.067,3124,2390,3333,3383,3283,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6251,-0.59,-116.8,3124,2386,3382,3283,561.9,-7.3,380,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2380,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6550,-0.59,-116.8,3124,2386,3382,3282,584.0,-7.3,390,6560,0.00,2.58,0.00,0.000,260,0.000,0.093,3125,3811,3332,3382,3282,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6629,-0.59,-116.8,3124,3811,3382,3282,590.1,-7.4,398,6639,0.00,2.47,0.00,0.000,1030,0.000,0.070,3124,2399,3332,3382,3282,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6944,-0.59,-116.8,3127,2398,3382,3282,611.8,-7.2,409,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7240,-0.59,-116.8,3124,2398,3384,3281,634.2,-7.5,419,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7541,-0.59,-116.8,3124,2398,3381,3280,656.2,-7.3,429,7551,0.00,2.58,0.00,0.000,260,0.000,0.096,3124,3813,3330,3381,3280,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7610,-0.59,-116.8,3124,3813,3381,3282,661.4,-7.3,436,7621,0.00,2.50,0.00,0.000,1030,0.000,0.070,3125,2392,3330,3381,3280,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7934,-0.59,-116.8,3124,2390,3381,3279,682.5,-6.7,448,7945,0.00,2.60,0.00,0.000,260,0.000,0.095,3124,3821,3330,3381,3279,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8025,-0.59,-116.8,3124,3821,3381,3280,689.1,-7.0,457,8037,0.00,2.45,0.00,0.000,1030,0.000,0.070,3124,2407,3330,3381,3279,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8356,-0.59,-116.8,3124,2405,3380,3279,711.1,-6.6,470,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2407,3329,3380,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8657,-0.59,-116.8,3124,2405,3380,3284,730.5,-6.4,480,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8957,-0.59,-116.8,3124,2405,3380,3277,749.9,-6.6,490,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9260,-0.59,-116.8,3125,2405,3380,3276,758.0,-0.0,500,9270,0.00,2.55,0.00,0.000,260,0.000,0.093,3124,3817,3328,3380,3277,0,0,0,0,0,0,28.83,14.12,28.83
$STATE,9316,end dive,NO_VERTICAL_VELOCITY
$STATE,9316,begin apogee
$GC,9328,-0.25,0.0,3128,2326,3379,3277,758.1,0.0,506,9440,0.38,0.00,100.10,1.632,10246,0.132,0.000,3250,2327,2854,2928,2781,0,0,0,0,0,0,14.14,28.83,13.21
$STATE,9442,end apogee,CONTROL_FINISHED_OK
$STATE,9442,begin climb
$GC,9446,0.59,116.8,3244,2327,2927,2779,757.9,0.0,510,9561,0.82,2.67,104.15,1.598,10756,0.119,0.085,3518,921,2380,2508,2253,0,0,0,0,0,0,13.90,13.67,12.98
$GC,9794,0.59,116.8,3520,921,2508,2251,739.6,8.3,545,9805,0.00,2.55,0.00,0.000,1030,0.000,0.077,3519,2334,2379,2508,2251,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10108,0.59,116.8,3519,2334,2508,2255,714.1,8.1,556,10118,0.00,2.55,0.00,0.000,516,0.000,0.088,3519,918,2378,2508,2249,0,0,0,0,0,0,28.83,14.13,28.83
$GC,10168,0.59,116.8,3516,921,2506,2250,709.3,7.7,562,10178,0.00,2.53,0.00,0.000,1030,0.000,0.076,3519,2334,2378,2507,2249,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10498,0.59,116.8,3519,2333,2507,2248,683.7,7.7,575,10508,0.00,2.53,0.00,0.000,260,0.000,0.094,3519,3738,2377,2508,2247,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10547,0.59,116.8,3519,3738,2508,2247,679.5,8.4,580,10559,0.00,2.50,0.00,0.000,1030,0.000,0.077,3519,2336,2377,2508,2247,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10862,0.59,116.8,3519,2335,2509,2246,654.9,7.9,591,10872,0.00,2.53,0.00,0.000,516,0.000,0.089,3520,914,2376,2507,2246,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10930,0.59,116.8,3519,916,2507,2245,649.1,7.8,598,10940,0.00,2.53,0.00,0.000,1030,0.000,0.074,3519,2337,2376,2507,2246,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11251,0.59,116.8,3519,2337,2507,2245,626.1,7.1,610,11261,0.00,2.53,0.00,0.000,260,0.000,0.095,3519,3738,2376,2508,2245,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11321,0.59,116.8,3520,3738,2507,2244,620.8,8.0,617,11331,0.00,2.50,0.00,0.000,1030,0.000,0.077,3519,2330,2373,2503,2244,0,0,0,0,0,0,28.83,14.21,28.83
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$STATE,19821,end climb,SURFACE_DEPTH_REACHED
$STATE,19821,begin surface coast
$FINISH,1.5,1.023723
$STATE,19864,end surface coast,CONTROL_FINISHED_OK
$STATE,19864,begin surface
$SM_CCo,19890,16.05,0.100,0,0,1329,375.06
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$IRIDIUM_FIX,4726.11,-12521.83,270914,131337
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.00
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3811616
$PM_FREEKB,50914080
$24V_AH,13.0,97.879
$10V_AH,12.8,0.000
$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,23.350,166.075,353.275,16.050,0.000,0.000,0.000,281.900,0.000,0.000,12.474,2777.571,13698.679,631.814,2584.012,758.870,0.000,2346.454,0.000,1797.005,0.000,0.535,0.000
$DEVICE_MAMPS,384.795,169.830,1631.745,100.215,0.000,0.000,0.000,169.065,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19890.000,329.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.000,5.557,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,43251,1173
$CAP_FILE_SIZE,232882,0
$CFSIZE,260034560,217509888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,20933.17,0x2378ba,7,5
$CURRENT,0.145,324.4,1
$GPS,280914,003323,4747.165,-12524.524,81,1.7,81,18.7