version: 66.12
glider: 187
mission: 4
dive: 407
start: 9 29 114 16 54 2
data:
$ID,187
$MISSION,4
$DIVE,407
$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,-1593954
$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,32
$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
$GPS1,290914,164536,4751.858,-12516.203,34,1.0,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-74.6
$GPS2,290914,165336,4751.851,-12516.085,11,1.4,15,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,95.1,7227,-14.0,-7.333,-18.81,2445
$D_GRID,325
$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,-116.8,398,2404,1447,1210,0.0,0.0,0,91,0.00,0.00,-58.92,0.000,16386,0.000,0.000,397,2407,2876,2928,2825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,398,2404,2929,2825,3.9,-3.2,6,131,12.62,2.53,-8.07,0.000,18692,0.381,0.110,3123,3810,3338,3378,3298,0,0,0,0,0,0,13.86,14.22,14.54
$GC,361,-0.59,-116.8,3123,3807,3380,3297,50.3,-13.4,33,373,0.00,2.42,0.00,0.000,1030,0.000,0.062,3127,2404,3340,3380,3301,0,0,0,0,0,0,28.83,14.26,28.83
$GC,613,-0.59,-116.8,3123,2400,3381,3301,83.3,-13.9,58,623,0.00,2.50,0.00,0.000,260,0.000,0.088,3124,3809,3341,3381,3301,0,0,0,0,0,0,28.83,14.22,28.83
$GC,854,-0.59,-116.8,3124,3809,3381,3302,112.2,-11.5,82,865,0.00,2.42,0.00,0.000,1030,0.000,0.061,3123,2397,3342,3382,3302,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1106,-0.59,-116.8,3124,2392,3382,3301,139.3,-9.9,107,1116,0.00,2.53,0.00,0.000,260,0.000,0.090,3124,3806,3343,3382,3305,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1346,-0.59,-116.8,3124,3806,3381,3302,161.7,-8.7,131,1358,0.00,2.45,0.00,0.000,1030,0.000,0.064,3124,2390,3342,3382,3302,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1597,-0.59,-116.8,3123,2385,3381,3302,184.2,-9.8,156,1608,0.00,2.55,0.00,0.000,260,0.000,0.090,3124,3805,3341,3381,3302,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1678,-0.59,-116.8,3130,3805,3381,3301,192.6,-10.8,164,1689,0.00,2.42,0.00,0.000,1030,0.000,0.065,3124,2397,3341,3381,3302,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1929,-0.59,-116.8,3123,2393,3381,3306,219.5,-10.5,189,1941,0.00,2.53,0.00,0.000,260,0.000,0.090,3122,3806,3339,3382,3297,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2061,-0.59,-116.8,3124,3806,3381,3301,233.0,-10.1,202,2072,0.00,2.45,0.00,0.000,1030,0.000,0.066,3124,2390,3343,3386,3301,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2322,-0.59,-116.8,3124,2386,3381,3300,259.9,-10.3,222,2332,0.00,2.42,0.00,0.000,516,0.000,0.077,3124,1002,3341,3382,3300,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2363,-0.59,-116.8,3124,1001,3381,3300,264.2,-10.5,226,2373,0.00,2.45,0.00,0.000,1030,0.000,0.072,3129,2403,3340,3382,3299,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2686,-0.59,-116.8,3124,2402,3381,3299,296.3,-9.8,238,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3340,3381,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2983,-0.59,-116.8,3124,2402,3382,3298,324.9,-9.4,248,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3339,3381,3298,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3009,begin apogee
$GC,3018,-0.25,0.0,3124,2329,3382,3298,327.9,-9.6,249,3118,0.40,0.00,92.47,1.083,10246,0.182,0.000,3240,2333,2857,2928,2786,0,0,0,0,0,0,14.09,28.83,13.57
$STATE,3120,end apogee,CONTROL_FINISHED_OK
$STATE,3120,begin climb
$GC,3125,0.59,116.8,3240,2329,2926,2783,333.2,0.0,252,3226,0.82,0.00,93.65,1.065,10246,0.132,0.000,3508,2329,2381,2509,2254,0,0,0,0,0,0,14.07,28.83,13.43
$GC,3523,0.63,167.6,3508,2329,2508,2251,319.1,5.2,266,3574,0.00,2.55,40.50,1.056,8452,0.000,0.086,3508,3746,2171,2313,2030,0,0,0,0,0,0,28.83,14.17,13.59
$GC,3656,0.63,167.6,3507,3744,2313,2031,309.6,8.9,279,3666,0.00,2.47,0.00,0.000,1030,0.000,0.067,3509,2326,2171,2312,2030,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3976,0.63,167.6,3509,2325,2313,2031,285.9,7.1,291,3986,0.00,2.45,0.00,0.000,516,0.000,0.083,3508,930,2170,2311,2030,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4175,0.63,167.6,3508,930,2313,2031,271.6,7.2,311,4186,0.00,2.45,0.00,0.000,1030,0.000,0.072,3508,2338,2172,2313,2031,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4491,0.64,167.6,3508,2338,2313,2031,250.1,6.7,322,4501,0.00,2.47,0.00,0.000,260,0.000,0.089,3508,3741,2173,2321,2026,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4540,0.64,167.6,3508,3741,2310,2030,246.0,7.7,327,4551,0.00,2.45,0.00,0.000,1030,0.000,0.067,3508,2323,2171,2313,2030,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4791,0.64,167.6,3508,2322,2318,2030,228.1,7.3,352,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2322,2171,2313,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5042,0.65,167.6,3508,2322,2313,2030,210.9,6.7,377,5054,0.00,2.53,0.00,0.000,260,0.000,0.088,3509,3738,2171,2313,2030,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5134,0.65,167.6,3508,3738,2313,2030,203.6,8.4,386,5144,0.00,2.45,0.00,0.000,1030,0.000,0.070,3508,2335,2171,2313,2029,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5384,0.65,167.6,3508,2335,2313,2030,185.3,7.6,411,5395,0.00,2.50,0.00,0.000,516,0.000,0.082,3508,914,2171,2313,2030,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5466,0.66,167.6,3508,913,2313,2030,179.4,6.7,419,5477,0.00,2.47,0.00,0.000,1030,0.000,0.070,3508,2343,2171,2313,2030,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5718,0.69,167.6,3508,2343,2313,2030,163.7,5.9,444,5729,0.12,0.00,0.00,0.000,2054,0.138,0.000,3577,2343,2172,2314,2030,0,0,0,0,0,0,14.36,28.83,28.83
$GC,5968,0.69,167.6,3573,2347,2313,2030,143.7,7.7,469,5980,0.00,2.47,0.00,0.000,260,0.000,0.088,3573,3740,2171,2313,2030,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6030,0.69,167.6,3569,3740,2313,2035,137.8,10.5,475,6041,0.00,2.45,0.00,0.000,1030,0.000,0.068,3575,2325,2171,2313,2029,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6282,0.69,167.6,3575,2325,2313,2030,112.3,10.5,500,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2325,2169,2309,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6532,0.69,167.6,3574,2325,2316,2029,86.6,10.8,525,6543,0.00,2.45,0.00,0.000,516,0.000,0.083,3581,921,2170,2313,2027,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6613,0.69,167.6,3578,921,2320,2029,77.7,10.7,533,6625,0.15,2.45,0.00,0.000,5126,0.246,0.071,3548,2324,2169,2309,2029,0,0,0,0,0,0,14.02,14.27,28.83
$GC,6865,0.69,167.6,3547,2324,2313,2029,57.1,7.1,558,6876,0.00,2.47,0.00,0.000,516,0.000,0.080,3548,916,2171,2313,2029,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6916,0.71,167.6,3548,916,2313,2029,53.9,6.5,563,6927,0.00,2.47,0.00,0.000,1030,0.000,0.070,3548,2343,2171,2313,2029,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7167,0.75,230.0,3548,2342,2313,2029,39.4,4.7,588,7228,0.00,2.55,47.80,0.744,8708,0.000,0.083,3548,927,1917,2053,1781,0,0,0,0,0,0,28.83,14.31,13.86
$GC,7309,0.75,230.0,3548,928,2053,1779,29.9,7.8,602,7320,0.00,2.47,0.00,0.000,1030,0.000,0.071,3548,2332,1917,2053,1781,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7559,0.84,350.9,3548,2332,2053,1781,18.1,2.3,627,7632,0.12,2.50,58.78,0.165,10756,0.138,0.078,3614,920,1427,1570,1285,0,0,0,0,0,0,14.27,14.23,14.09
$GC,7756,0.84,350.9,3614,920,1570,1287,6.1,7.9,646,7767,0.00,2.50,0.00,0.000,1030,0.000,0.070,3612,2344,1428,1570,1287,0,0,0,0,0,0,28.83,14.23,28.83
$STATE,7783,end climb,SURFACE_DEPTH_REACHED
$STATE,7783,begin surface coast
$FINISH,1.3,1.011485
$STATE,7827,end surface coast,CONTROL_FINISHED_OK
$STATE,7827,begin surface
$SM_CCo,7854,10.70,0.097,0,0,1328,375.06
$SM_GC,3.38,9.23,0.10,10.70,0.063,0.197,0.097,389,2400,1328,-9.10,-0.71,375.06,0,0,0,0,0,0,14.32,14.26,14.23
$IRIDIUM_FIX,4738.89,-12519.55,290914,141407
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.78
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3807776
$PM_FREEKB,50725120
$24V_AH,13.4,99.931
$10V_AH,13.4,0.000
$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,23.475,79.500,333.200,10.700,0.000,0.000,0.000,231.250,0.000,0.000,15.813,1567.096,4371.479,510.419,1441.784,449.035,0.000,1464.264,0.000,1009.172,0.000,0.536,0.000
$DEVICE_MAMPS,380.970,196.605,1083.240,97.155,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7845.000,114.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.429,5.279,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,23367,653
$CAP_FILE_SIZE,124172,0
$CFSIZE,260034560,216649728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9385.73,0x2378ba,7,5
$CURRENT,0.165,310.7,1
$GPS,290914,190651,4751.870,-12516.145,34,2.1,54,18.7