version: 66.12
glider: 187
mission: 4
dive: 406
start: 9 29 114 14 17 35
data:
$ID,187
$MISSION,4
$DIVE,406
$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,-1593952.8
$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,37
$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
$GPS1,290914,140506,4751.926,-12516.679,97,1.3,98,18.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-73.2
$GPS2,290914,141706,4752.093,-12516.553,11,1.4,16,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,118.4,7812,-14.0,-7.333,-18.81,2445
$D_GRID,343
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,393,2402,1447,1211,0.0,0.0,0,92,0.00,0.00,-59.35,0.000,16386,0.000,0.000,400,2403,2891,2940,2843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,394,2403,2941,2844,3.9,-3.2,6,132,12.57,2.58,-8.18,0.000,18692,0.376,0.110,3124,3804,3338,3379,3297,0,0,0,0,0,0,13.86,14.21,14.52
$GC,361,-0.59,-116.8,3124,3808,3381,3300,49.7,-12.8,33,371,0.00,2.42,0.00,0.000,1030,0.000,0.060,3125,2404,3341,3382,3300,0,0,0,0,0,0,28.83,14.23,28.83
$GC,612,-0.59,-116.8,3125,2403,3382,3300,79.1,-10.8,58,620,0.00,2.50,0.00,0.000,260,0.000,0.088,3125,3806,3344,3388,3300,0,0,0,0,0,0,28.83,14.14,28.83
$GC,732,-0.59,-116.8,3125,3806,3382,3301,91.6,-10.6,70,741,0.00,2.42,0.00,0.000,1030,0.000,0.062,3124,2398,3341,3382,3301,0,0,0,0,0,0,28.83,14.26,28.83
$GC,981,-0.59,-116.8,3125,2394,3382,3301,118.8,-11.3,95,990,0.00,2.42,0.00,0.000,516,0.000,0.073,3124,992,3341,3382,3301,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1062,-0.59,-116.8,3125,992,3382,3301,129.0,-13.2,103,1071,0.00,2.45,0.00,0.000,1030,0.000,0.070,3125,2396,3344,3382,3306,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1312,-0.59,-116.8,3125,2396,3382,3301,158.1,-10.6,128,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2395,3341,3382,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1561,-0.59,-116.8,3123,2395,3382,3301,184.3,-10.1,153,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3341,3382,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.59,-116.8,3125,2394,3382,3296,207.2,-8.7,178,1820,0.00,2.50,0.00,0.000,260,0.000,0.090,3130,3809,3341,3382,3300,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1863,-0.59,-116.8,3125,3809,3382,3299,211.6,-9.1,183,1871,0.00,2.45,0.00,0.000,1030,0.000,0.063,3125,2388,3341,3382,3301,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2111,-0.59,-116.8,3125,2384,3382,3299,233.4,-8.9,208,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2383,3340,3382,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2372,-0.59,-116.8,3125,2384,3382,3298,256.1,-9.0,230,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3340,3382,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2672,-0.59,-116.8,3125,2383,3378,3292,283.9,-9.3,240,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2972,-0.59,-116.8,3126,2383,3381,3295,310.9,-8.8,250,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3340,3386,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3271,-0.59,-116.8,3125,2383,3382,3294,335.4,-7.9,260,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3358,begin apogee
$GC,3367,-0.25,0.0,3125,2315,3382,3294,343.2,-8.5,263,3465,0.40,0.00,91.75,1.108,10246,0.187,0.000,3239,2315,2861,2932,2791,0,0,0,0,0,0,14.06,28.83,13.55
$STATE,3468,end apogee,CONTROL_FINISHED_OK
$STATE,3468,begin climb
$GC,3472,0.59,116.8,3240,2315,2930,2786,347.7,0.0,266,3576,0.85,0.00,94.85,1.085,10246,0.132,0.000,3513,2315,2379,2507,2251,0,0,0,0,0,0,14.06,28.83,13.40
$GC,3872,0.61,116.8,3513,2315,2507,2251,329.6,6.3,280,3882,0.00,2.55,0.00,0.000,260,0.000,0.087,3513,3741,2377,2506,2249,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3961,0.61,116.8,3514,3741,2507,2249,322.7,8.1,289,3972,0.00,2.42,0.00,0.000,1030,0.000,0.066,3519,2342,2377,2507,2248,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4292,0.62,116.8,3519,2342,2507,2247,299.0,6.8,302,4302,0.00,2.50,0.00,0.000,516,0.000,0.082,3519,913,2376,2506,2247,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4353,0.63,116.8,3519,914,2506,2247,294.3,6.7,308,4363,0.00,2.47,0.00,0.000,1030,0.000,0.070,3519,2343,2375,2503,2247,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4683,0.65,116.8,3519,2342,2506,2246,273.7,6.5,321,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2342,2376,2506,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4987,0.68,116.8,3519,2342,2508,2246,257.0,5.9,331,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2342,2375,2506,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5283,0.68,116.8,3520,2342,2510,2244,237.2,6.8,353,5295,0.00,2.50,0.00,0.000,516,0.000,0.082,3519,920,2375,2506,2244,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5410,0.71,116.8,3520,920,2506,2239,230.0,5.6,365,5422,0.10,2.45,0.00,0.000,3078,0.165,0.073,3562,2325,2375,2506,2244,0,0,0,0,0,0,14.26,14.33,28.83
$GC,5662,0.71,116.8,3562,2325,2506,2244,212.1,7.0,390,5673,0.00,2.50,0.00,0.000,260,0.000,0.088,3562,3744,2372,2501,2244,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5904,0.71,116.8,3562,3744,2504,2243,191.8,8.7,414,5915,0.00,2.45,0.00,0.000,1030,0.000,0.068,3562,2325,2373,2504,2243,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6155,0.71,116.8,3562,2325,2504,2243,173.9,7.3,439,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2325,2371,2500,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6405,0.71,116.8,3561,2325,2504,2243,155.6,7.6,464,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2325,2373,2504,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6656,0.73,116.8,3563,2324,2504,2242,139.3,6.6,489,6667,0.00,2.55,0.00,0.000,260,0.000,0.087,3562,3742,2373,2504,2242,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6837,0.75,116.8,3562,3742,2503,2238,126.2,6.5,507,6848,0.00,2.45,0.00,0.000,1030,0.000,0.068,3563,2336,2372,2503,2242,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7088,0.75,116.8,3563,2336,2503,2242,109.2,6.9,532,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2336,2372,2503,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7338,0.75,116.8,3563,2336,2503,2242,90.6,8.3,557,7349,0.00,2.53,0.00,0.000,516,0.000,0.080,3562,914,2371,2502,2241,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7580,0.80,192.0,3562,914,2503,2242,75.9,4.2,581,7649,0.00,2.47,57.00,0.784,9222,0.000,0.070,3562,2333,2072,2213,1932,0,0,0,0,0,0,28.83,14.26,13.83
$GC,7893,0.80,192.0,3563,2332,2213,1932,56.6,7.2,612,7903,0.00,2.50,0.00,0.000,516,0.000,0.080,3564,915,2071,2210,1932,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7997,0.81,192.0,3563,915,2213,1928,49.5,6.6,622,8007,0.00,2.47,0.00,0.000,1030,0.000,0.069,3562,2333,2072,2213,1932,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8247,0.86,259.8,3562,2333,2213,1932,35.0,4.5,647,8309,0.12,2.55,51.15,0.728,10500,0.140,0.086,3619,3738,1799,1939,1660,0,0,0,0,0,0,14.31,14.28,13.84
$GC,8468,0.86,259.8,3618,3737,1933,1653,16.4,7.3,669,8480,0.00,2.45,0.00,0.000,1030,0.000,0.067,3628,2323,1793,1934,1653,0,0,0,0,0,0,28.83,14.24,28.83
$STATE,8656,end climb,SURFACE_DEPTH_REACHED
$STATE,8656,begin surface coast
$FINISH,1.3,1.006846
$STATE,8718,end surface coast,CONTROL_FINISHED_OK
$STATE,8718,begin surface
$SM_CCo,8744,50.15,0.103,0,0,1328,375.06
$SM_GC,2.48,9.32,0.15,50.15,0.069,0.134,0.103,398,2402,1328,-9.10,-0.71,375.06,0,0,0,0,0,0,14.28,14.31,14.26
$IRIDIUM_FIX,4732.49,-12511.36,290914,141454
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.23
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3808096
$PM_FREEKB,50725152
$24V_AH,13.4,99.791
$10V_AH,13.6,0.000
$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,23.375,59.825,294.750,50.150,0.000,0.000,0.000,372.425,0.000,0.000,17.591,1681.738,5288.140,509.554,1607.594,425.364,0.000,1572.795,0.000,1083.447,0.000,0.536,0.000
$DEVICE_MAMPS,375.615,198.135,1108.485,102.510,0.000,0.000,0.000,162.945,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8736.000,3508.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.326,4.137,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,23402,694
$CAP_FILE_SIZE,124411,0
$CFSIZE,260034560,216719360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10310.20,0x2378ba,7,5
$CURRENT,0.108,326.6,1
$GPS,290914,164536,4751.858,-12516.203,34,1.0,35,18.7