version: 66.12
glider: 187
mission: 4
dive: 403
start: 9 29 114 5 12 38
data:
$ID,187
$MISSION,4
$DIVE,403
$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,-1593949
$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,36
$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
$GPS1,290914,050323,4750.708,-12518.204,29,2.0,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-74.3
$GPS2,290914,051209,4750.644,-12518.248,13,2.1,33,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,81.0,10195,-14.0,-7.333,-18.81,2445
$D_GRID,443
$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,-116.8,398,2416,1445,1217,0.0,0.0,0,90,0.00,0.00,-57.55,0.000,16386,0.000,0.000,399,2416,2842,2898,2786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,398,2416,2899,2787,4.0,-3.2,6,130,12.62,2.55,-8.80,0.000,19204,0.380,0.093,3124,989,3339,3381,3297,0,0,0,0,0,0,13.85,14.22,14.52
$GC,360,-0.59,-116.8,3124,987,3383,3299,48.7,-13.3,33,371,0.00,2.45,0.00,0.000,1030,0.000,0.072,3124,2387,3340,3383,3298,0,0,0,0,0,0,28.83,14.16,28.83
$GC,611,-0.59,-116.8,3124,2387,3384,3299,77.8,-11.4,58,622,0.00,2.45,0.00,0.000,516,0.000,0.074,3124,994,3341,3383,3299,0,0,0,0,0,0,28.83,14.21,28.83
$GC,651,-0.59,-116.8,3124,998,3384,3304,82.7,-11.9,62,662,0.00,2.45,0.00,0.000,1030,0.000,0.070,3124,2398,3341,3384,3299,0,0,0,0,0,0,28.83,14.23,28.83
$GC,902,-0.59,-116.8,3121,2398,3385,3299,110.9,-11.6,87,913,0.00,2.50,0.00,0.000,260,0.000,0.090,3121,3810,3342,3385,3299,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1072,-0.59,-116.8,3124,3810,3385,3299,130.8,-11.3,104,1084,0.00,2.42,0.00,0.000,1030,0.000,0.062,3124,2402,3342,3385,3299,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1324,-0.59,-116.8,3125,2402,3385,3299,158.2,-10.4,129,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3342,3385,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1574,-0.59,-116.8,3124,2402,3385,3299,182.7,-9.7,154,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3339,3379,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1824,-0.59,-116.8,3124,2402,3384,3305,207.6,-9.9,179,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3341,3384,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2074,-0.59,-116.8,3124,2402,3384,3299,231.5,-9.4,204,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3345,3385,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-0.59,-116.8,3124,2405,3390,3299,256.2,-9.0,227,2354,0.00,2.47,0.00,0.000,516,0.000,0.075,3124,985,3343,3384,3303,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2405,-0.59,-116.8,3124,984,3385,3298,261.9,-9.7,233,2415,0.00,2.50,0.00,0.000,1030,0.000,0.071,3124,2400,3341,3385,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2735,-0.59,-116.8,3124,2400,3384,3297,289.4,-8.0,246,2745,0.00,2.53,0.00,0.000,260,0.000,0.091,3124,3810,3342,3388,3297,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2774,-0.59,-116.8,3124,3810,3384,3297,292.6,-7.9,250,2785,0.00,2.42,0.00,0.000,1030,0.000,0.063,3124,2399,3343,3389,3297,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3098,-0.59,-116.8,3124,2396,3384,3296,316.6,-7.7,262,3108,0.00,2.45,0.00,0.000,516,0.000,0.076,3126,992,3340,3384,3296,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3158,-0.59,-116.8,3124,991,3384,3301,322.0,-8.8,268,3168,0.00,2.47,0.00,0.000,1030,0.000,0.073,3124,2404,3340,3384,3297,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3488,-0.59,-116.8,3124,2404,3384,3294,351.3,-9.2,281,3498,0.00,2.50,0.00,0.000,260,0.000,0.091,3124,3810,3339,3384,3295,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3548,-0.59,-116.8,3124,3809,3384,3291,357.0,-9.2,287,3558,0.00,2.45,0.00,0.000,1030,0.000,0.066,3124,2389,3339,3384,3294,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3878,-0.59,-116.8,3124,2385,3384,3294,385.1,-8.1,300,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3339,3384,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4179,-0.59,-116.8,3124,2384,3385,3293,408.0,-7.7,310,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4478,-0.59,-116.8,3124,2385,3384,3293,429.7,-7.2,320,4489,0.00,2.58,0.00,0.000,260,0.000,0.093,3121,3808,3338,3384,3293,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4618,-0.59,-116.8,3124,3809,3384,3293,439.9,-8.2,334,4629,0.00,2.45,0.00,0.000,1030,0.000,0.068,3124,2398,3338,3384,3293,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,4685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4685,begin apogee
$GC,4694,-0.25,0.0,3124,2315,3384,3293,445.0,-7.4,337,4796,0.40,0.00,94.53,1.236,10246,0.181,0.000,3240,2314,2857,2930,2785,0,0,0,0,0,0,14.07,28.83,13.46
$STATE,4798,end apogee,CONTROL_FINISHED_OK
$STATE,4798,begin climb
$GC,4803,0.59,116.8,3241,2314,2927,2780,448.4,0.0,340,4907,0.82,0.00,96.32,1.210,10502,0.130,0.000,3508,2315,2381,2508,2254,0,0,0,0,0,0,14.02,28.83,13.31
$GC,5198,0.59,116.8,3508,2311,2507,2251,426.2,7.0,356,5208,0.00,2.58,0.00,0.000,260,0.000,0.090,3507,3750,2379,2508,2251,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5361,0.59,116.8,3507,3750,2506,2249,412.9,8.9,372,5371,0.00,2.47,0.00,0.000,1030,0.000,0.068,3508,2335,2376,2507,2246,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5682,0.61,116.8,3508,2336,2507,2243,390.8,6.6,384,5692,0.00,2.53,0.00,0.000,260,0.000,0.090,3508,3749,2377,2507,2247,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5782,0.61,116.8,3509,3746,2506,2247,383.0,7.8,394,5792,0.00,2.47,0.00,0.000,1030,0.000,0.067,3508,2322,2374,2502,2247,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6102,0.61,116.8,3508,2322,2507,2245,360.4,7.0,406,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2322,2376,2507,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6402,0.61,116.8,3508,2322,2507,2244,339.1,7.1,416,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2323,2375,2506,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6706,0.62,116.8,3508,2322,2507,2244,319.5,6.4,426,6716,0.00,2.47,0.00,0.000,516,0.000,0.083,3507,918,2375,2506,2244,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6786,0.66,116.8,3508,918,2506,2244,314.6,5.6,434,6797,0.00,2.47,0.00,0.000,1030,0.000,0.073,3509,2331,2375,2506,2244,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7099,0.69,166.5,3508,2331,2506,2243,298.4,5.2,445,7149,0.12,2.55,38.97,1.066,10500,0.139,0.090,3567,3738,2175,2313,2038,0,0,0,0,0,0,14.35,14.33,13.76
$GC,7191,0.69,166.5,3567,3739,2316,2038,290.5,10.5,454,7201,0.00,2.45,0.00,0.000,1030,0.000,0.069,3575,2327,2177,2316,2038,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7511,0.69,166.5,3576,2328,2316,2038,254.9,11.3,466,7521,0.00,2.47,0.00,0.000,516,0.000,0.083,3582,916,2177,2316,2038,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7571,0.69,166.5,3587,916,2316,2038,247.9,11.6,472,7582,0.15,2.47,0.00,0.000,5126,0.266,0.071,3554,2332,2177,2316,2038,0,0,0,0,0,0,13.99,14.26,28.83
$GC,7822,0.69,166.5,3554,2332,2316,2038,222.1,10.4,497,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2334,2177,2316,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8073,0.69,166.5,3553,2331,2316,2038,196.9,10.1,522,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2329,2177,2316,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8323,0.69,166.5,3554,2331,2316,2035,171.2,10.2,547,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2332,2177,2316,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8574,0.69,166.5,3554,2335,2315,2038,147.0,9.2,572,8585,0.00,2.50,0.00,0.000,260,0.000,0.088,3554,3741,2177,2316,2038,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8645,0.69,166.5,3554,3741,2316,2038,139.4,11.2,579,8656,0.00,2.45,0.00,0.000,1030,0.000,0.067,3561,2331,2177,2316,2039,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8896,0.69,166.5,3562,2330,2315,2038,116.0,9.2,604,8907,0.00,2.47,0.00,0.000,516,0.000,0.083,3562,920,2178,2316,2040,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8967,0.69,166.5,3562,923,2316,2037,109.5,8.8,611,8977,0.00,2.47,0.00,0.000,1030,0.000,0.071,3562,2336,2177,2316,2038,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9217,0.69,166.5,3562,2336,2316,2038,89.1,7.2,636,9228,0.00,2.47,0.00,0.000,260,0.000,0.088,3562,3735,2174,2315,2034,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9268,0.69,166.5,3563,3736,2316,2037,84.7,9.2,641,9280,0.00,2.45,0.00,0.000,1030,0.000,0.068,3562,2329,2176,2315,2038,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9521,0.71,166.5,3561,2325,2316,2040,65.2,6.5,666,9531,0.00,2.53,0.00,0.000,260,0.000,0.088,3565,3735,2176,2315,2038,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9762,0.71,166.5,3562,3736,2316,2039,48.3,7.2,690,9772,0.00,2.45,0.00,0.000,1030,0.000,0.070,3562,2330,2176,2316,2037,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10013,0.74,166.5,3562,2330,2316,2037,31.2,5.6,715,10023,0.00,2.53,0.00,0.000,260,0.000,0.088,3562,3737,2176,2316,2037,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10033,0.77,166.5,3563,3737,2316,2037,29.7,6.2,717,10045,0.00,2.45,0.00,0.000,1030,0.000,0.067,3562,2327,2176,2316,2036,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10286,0.82,241.3,3568,2327,2316,2037,17.7,4.2,742,10335,0.00,2.53,36.65,0.158,8708,0.000,0.084,3568,923,1872,2012,1733,0,0,0,0,0,0,28.83,14.22,14.12
$GC,10385,0.82,241.3,3562,925,2012,1745,11.4,7.2,752,10396,0.00,2.45,0.00,0.000,1030,0.000,0.071,3562,2330,1878,2012,1745,0,0,0,0,0,0,28.83,14.20,28.83
$STATE,10496,end climb,SURFACE_DEPTH_REACHED
$STATE,10496,begin surface coast
$FINISH,1.4,1.023999
$STATE,10573,end surface coast,CONTROL_FINISHED_OK
$STATE,10573,begin surface
$SM_CCo,10599,59.70,0.103,0,0,1328,375.06
$SM_GC,3.31,9.15,0.12,59.70,0.069,0.164,0.103,393,2415,1328,-9.11,-0.68,375.06,0,0,0,0,0,0,14.28,14.31,14.25
$IRIDIUM_FIX,4729.30,-12519.22,290914,010116
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.29
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3809056
$PM_FREEKB,50771200
$24V_AH,13.3,99.339
$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,23.275,94.600,266.475,59.700,0.000,0.000,0.000,252.075,0.000,0.000,34.067,1837.162,6579.785,525.442,1721.927,516.842,0.000,1650.431,0.000,1187.286,0.000,0.535,0.000
$DEVICE_MAMPS,380.205,163.710,1236.240,103.275,0.000,0.000,0.000,164.475,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10593.000,157.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.810,5.390,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,26723,771
$CAP_FILE_SIZE,147930,0
$CFSIZE,260034560,216911872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11776.22,0x2378ba,7,5
$CURRENT,0.170,311.4,1
$GPS,290914,081200,4751.193,-12517.715,50,1.7,51,18.7