version: 66.12
glider: 187
mission: 4
dive: 402
start: 9 29 114 1 56 21
data:
$ID,187
$MISSION,4
$DIVE,402
$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,-1593947.8
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,290914,014736,4750.844,-12518.728,37,1.3,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-74.4
$GPS2,290914,015555,4750.838,-12518.642,11,1.8,11,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,105.3,10597,-14.0,-7.333,-18.81,2445
$D_GRID,440
$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,27,-0.59,-116.8,398,2401,1454,1213,0.0,0.0,0,80,0.00,0.00,-48.25,0.000,16386,0.000,0.000,399,2401,2552,2637,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,399,2401,2639,2466,3.1,-1.8,5,124,12.55,2.55,-17.33,0.000,19204,0.377,0.099,3128,990,3337,3381,3293,0,0,0,0,0,0,13.85,14.16,14.50
$GC,355,-0.59,-116.8,3123,990,3382,3296,43.4,-11.4,32,363,0.00,2.47,0.00,0.000,1030,0.000,0.072,3123,2401,3339,3382,3296,0,0,0,0,0,0,28.83,14.20,28.83
$GC,604,-0.59,-116.8,3123,2397,3384,3297,73.3,-10.5,57,613,0.00,2.47,0.00,0.000,516,0.000,0.074,3123,988,3340,3383,3297,0,0,0,0,0,0,28.83,14.21,28.83
$GC,835,-0.59,-116.8,3123,988,3384,3298,100.0,-12.5,80,844,0.00,2.47,0.00,0.000,1030,0.000,0.071,3123,2397,3340,3384,3297,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1084,-0.59,-116.8,3124,2397,3384,3298,127.2,-10.6,105,1093,0.00,2.50,0.00,0.000,260,0.000,0.089,3123,3806,3340,3383,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1156,-0.59,-116.8,3123,3809,3383,3298,134.9,-10.6,112,1164,0.00,2.45,0.00,0.000,1030,0.000,0.063,3123,2389,3340,3383,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1405,-0.59,-116.8,3123,2383,3384,3302,161.5,-10.6,137,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1654,-0.59,-116.8,3123,2383,3383,3298,187.1,-9.7,162,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1904,-0.59,-116.8,3124,2383,3384,3298,211.6,-9.9,187,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2155,-0.59,-116.8,3123,2383,3384,3297,234.8,-9.4,212,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2415,-0.59,-116.8,3123,2383,3383,3297,258.9,-9.0,232,2422,0.00,2.55,0.00,0.000,260,0.000,0.089,3123,3810,3340,3383,3297,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2504,-0.59,-116.8,3123,3809,3383,3297,267.1,-9.4,241,2512,0.00,2.45,0.00,0.000,1030,0.000,0.065,3129,2396,3337,3379,3296,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2838,-0.59,-116.8,3120,2394,3378,3295,295.5,-8.9,254,2845,0.00,2.45,0.00,0.000,516,0.000,0.078,3123,996,3339,3383,3295,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2895,-0.59,-116.8,3123,995,3384,3294,301.0,-9.2,260,2903,0.00,2.47,0.00,0.000,1030,0.000,0.073,3123,2410,3337,3381,3294,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3228,-0.59,-116.8,3123,2410,3383,3289,330.0,-8.8,273,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2406,3339,3384,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3525,-0.59,-116.8,3129,2409,3383,3293,356.4,-8.6,283,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2410,3341,3390,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3825,-0.59,-116.8,3123,2409,3383,3293,379.8,-7.6,293,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2409,3337,3383,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4126,-0.59,-116.8,3123,2409,3384,3288,402.1,-7.6,303,4134,0.00,2.50,0.00,0.000,516,0.000,0.077,3123,991,3337,3383,3291,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4175,-0.59,-116.8,3123,992,3378,3291,406.5,-8.7,308,4184,0.00,2.47,0.00,0.000,1030,0.000,0.074,3123,2397,3338,3383,3294,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4489,-0.59,-116.8,3123,2394,3383,3292,432.8,-8.6,319,4498,0.00,2.53,0.00,0.000,260,0.000,0.092,3123,3810,3338,3383,3294,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4528,-0.59,-116.8,3123,3810,3383,3289,436.3,-8.5,323,4536,0.00,2.45,0.00,0.000,1030,0.000,0.065,3123,2396,3336,3383,3290,0,0,0,0,0,0,28.83,14.27,28.83
$STATE,4574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4574,begin apogee
$GC,4583,-0.25,0.0,3123,2325,3383,3290,440.4,-8.0,326,4683,0.40,0.00,94.53,1.227,10246,0.181,0.000,3239,2324,2858,2930,2786,0,0,0,0,0,0,14.07,28.83,13.45
$STATE,4686,end apogee,CONTROL_FINISHED_OK
$STATE,4686,begin climb
$GC,4691,0.59,116.8,3239,2324,2928,2782,442.7,0.0,329,4798,0.85,2.55,96.25,1.200,10756,0.130,0.079,3519,925,2383,2513,2254,0,0,0,0,0,0,14.02,13.88,13.30
$GC,4848,0.59,116.8,3519,924,2508,2254,434.9,7.3,339,4858,0.00,2.53,0.00,0.000,1030,0.000,0.072,3519,2336,2380,2508,2253,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5178,0.59,116.8,3519,2336,2508,2252,407.4,8.1,352,5188,0.00,2.50,0.00,0.000,260,0.000,0.091,3519,3739,2378,2506,2251,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5218,0.59,116.8,3519,3738,2508,2251,404.1,8.2,356,5228,0.00,2.45,0.00,0.000,1030,0.000,0.071,3519,2342,2379,2508,2251,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5539,0.59,116.8,3519,2342,2507,2250,378.7,7.9,368,5549,0.00,2.50,0.00,0.000,516,0.000,0.084,3519,917,2379,2508,2250,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5738,0.59,116.8,3519,917,2514,2250,362.8,8.0,388,5749,0.00,2.47,0.00,0.000,1030,0.000,0.073,3519,2331,2378,2507,2249,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6053,0.59,116.8,3520,2331,2507,2248,340.0,7.3,399,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2331,2378,2508,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6353,0.60,116.8,3519,2331,2507,2247,320.1,6.7,409,6363,0.00,2.50,0.00,0.000,260,0.000,0.091,3519,3744,2377,2507,2247,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6482,0.60,116.8,3520,3744,2507,2246,309.6,7.9,422,6492,0.00,2.47,0.00,0.000,1030,0.000,0.069,3519,2322,2376,2507,2246,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6807,0.60,116.8,3519,2322,2507,2245,287.5,6.8,434,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2322,2375,2506,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7107,0.63,116.8,3519,2322,2514,2247,268.3,6.2,444,7117,0.00,2.45,0.00,0.000,516,0.000,0.084,3521,928,2376,2507,2245,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7230,0.65,116.8,3525,928,2507,2244,260.6,6.2,456,7240,0.00,2.47,0.00,0.000,1030,0.000,0.073,3522,2331,2375,2507,2244,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7540,0.68,116.8,3522,2331,2507,2245,242.2,6.1,477,7551,0.00,2.50,0.00,0.000,260,0.000,0.089,3521,3741,2375,2506,2244,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7612,0.68,116.8,3522,3742,2506,2244,237.5,7.1,484,7623,0.00,2.45,0.00,0.000,1030,0.000,0.069,3524,2334,2374,2505,2244,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7864,0.70,116.8,3522,2334,2506,2244,221.9,6.2,509,7875,0.00,2.47,0.00,0.000,516,0.000,0.080,3522,919,2375,2506,2244,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8045,0.72,116.8,3522,919,2506,2244,210.4,6.2,527,8057,0.10,2.47,0.00,0.000,3078,0.166,0.073,3565,2331,2375,2506,2244,0,0,0,0,0,0,14.24,14.26,28.83
$GC,8299,0.72,116.8,3566,2333,2506,2244,192.5,7.3,552,8309,0.00,2.50,0.00,0.000,260,0.000,0.089,3565,3746,2374,2506,2243,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8449,0.72,116.8,3565,3745,2505,2250,179.0,9.1,567,8461,0.00,2.47,0.00,0.000,1030,0.000,0.071,3575,2332,2374,2505,2244,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8701,0.72,116.8,3575,2332,2505,2243,159.2,7.5,592,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2332,2375,2505,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8951,0.72,116.8,3575,2332,2505,2249,141.3,6.8,617,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2332,2375,2505,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9201,0.72,116.8,3581,2332,2505,2244,123.4,7.8,642,9211,0.00,2.53,0.00,0.000,260,0.000,0.087,3575,3746,2374,2505,2243,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9442,0.72,116.8,3575,3747,2505,2243,102.7,7.8,666,9453,0.00,2.50,0.00,0.000,1030,0.000,0.067,3576,2321,2374,2505,2243,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9693,0.78,201.5,3576,2321,2505,2243,89.0,3.8,691,9773,0.00,2.62,65.20,0.804,8452,0.000,0.087,3575,3748,2031,2172,1891,0,0,0,0,0,0,28.83,14.24,13.78
$GC,9933,0.78,201.5,3575,3748,2172,1891,68.9,10.9,715,9944,0.00,2.47,0.00,0.000,1030,0.000,0.067,3575,2333,2031,2172,1891,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10185,0.80,201.5,3576,2333,2172,1891,50.8,6.5,740,10195,0.00,2.50,0.00,0.000,516,0.000,0.080,3578,910,2032,2172,1892,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10299,0.80,201.5,3580,910,2172,1893,42.1,8.2,751,10310,0.00,2.47,0.00,0.000,1030,0.000,0.070,3578,2332,2032,2172,1892,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10552,0.81,201.5,3578,2331,2172,1891,21.6,6.5,776,10562,0.00,2.50,0.00,0.000,260,0.000,0.087,3578,3747,2031,2172,1891,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10645,0.85,201.5,3578,3747,2172,1891,16.0,5.5,785,10656,0.00,2.50,0.00,0.000,1030,0.000,0.066,3579,2319,2031,2172,1891,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10896,0.95,345.2,3579,2319,2172,1890,15.9,1.3,810,10977,0.12,2.45,67.82,0.151,10756,0.142,0.080,3642,927,1452,1598,1306,0,0,0,0,0,0,14.27,14.25,14.16
$GC,11030,0.95,345.2,3643,923,1598,1305,5.9,10.0,823,11042,0.00,2.45,0.00,0.000,1030,0.000,0.070,3643,2330,1453,1598,1309,0,0,0,0,0,0,28.83,14.24,28.83
$STATE,11047,end climb,SURFACE_DEPTH_REACHED
$STATE,11047,begin surface coast
$FINISH,1.2,1.000180
$STATE,11080,end surface coast,CONTROL_FINISHED_OK
$STATE,11080,begin surface
$SM_CCo,11109,13.52,0.099,0,0,1329,375.06
$SM_GC,3.22,9.38,0.12,13.52,0.067,0.161,0.099,399,2415,1329,-9.09,-0.68,375.06,0,0,0,0,0,0,14.25,14.29,14.21
$IRIDIUM_FIX,4729.30,-12517.37,280914,222235
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.43
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3809376
$PM_FREEKB,50771232
$24V_AH,13.3,99.188
$10V_AH,13.5,0.000
$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,23.400,99.800,323.800,13.525,0.000,0.000,0.000,273.350,0.000,0.000,12.733,1971.828,6826.229,538.423,1754.395,522.828,0.000,1668.685,0.000,1273.414,0.000,0.535,0.000
$DEVICE_MAMPS,377.145,161.415,1227.060,99.450,0.000,0.000,0.000,159.885,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11098.000,4744.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.893,4.093,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,30047,828
$CAP_FILE_SIZE,149658,0
$CFSIZE,260034560,216989696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11977.80,0x2378ba,7,5
$CURRENT,0.112,305.7,1
$GPS,290914,050323,4750.708,-12518.204,29,2.0,47,18.7