version: 66.12
glider: 187
mission: 4
dive: 511
start: 10 24 114 9 10 20
data:
$ID,187
$MISSION,4
$DIVE,511
$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,1
$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,-1594124.8
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,241014,085753,4750.421,-12516.328,28,1.2,46,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-72.7
$GPS2,241014,090954,4750.598,-12516.160,13,1.8,30,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,85.0,7723,-14.0,-7.333,-18.81,2445
$D_GRID,416
$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,-116.8,396,2415,1461,1197,0.0,0.0,0,80,0.00,0.00,-47.72,0.000,16386,0.000,0.000,398,2415,2549,2635,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,396,2416,2636,2464,3.1,-2.1,5,132,12.65,2.55,-16.95,0.000,18692,0.373,0.111,3124,3808,3337,3382,3293,0,0,0,0,0,0,13.78,14.16,14.53
$GC,363,-0.59,-116.8,3124,3805,3382,3296,46.5,-13.5,33,375,0.00,2.45,0.00,0.000,1030,0.000,0.061,3125,2388,3339,3383,3296,0,0,0,0,0,0,28.83,14.23,28.83
$GC,615,-0.59,-116.8,3124,2383,3383,3297,78.0,-12.2,58,626,0.00,2.53,0.00,0.000,260,0.000,0.086,3125,3802,3340,3383,3297,0,0,0,0,0,0,28.83,14.11,28.83
$GC,846,-0.59,-116.8,3123,3802,3383,3298,103.9,-9.5,81,857,0.00,2.40,0.00,0.000,1030,0.000,0.060,3129,2403,3340,3383,3298,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1098,-0.59,-116.8,3124,2406,3383,3298,127.8,-9.2,106,1108,0.00,2.50,0.00,0.000,260,0.000,0.085,3124,3813,3338,3381,3295,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1228,-0.59,-116.8,3125,3813,3383,3298,140.0,-9.4,119,1239,0.00,2.42,0.00,0.000,1030,0.000,0.060,3124,2403,3340,3383,3298,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1480,-0.59,-116.8,3125,2401,3383,3298,161.9,-8.7,144,1490,0.00,2.47,0.00,0.000,516,0.000,0.073,3125,985,3342,3387,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1520,-0.59,-116.8,3125,984,3383,3298,165.4,-8.4,148,1531,0.00,2.47,0.00,0.000,1030,0.000,0.069,3124,2399,3340,3383,3298,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1772,-0.59,-116.8,3124,2400,3383,3298,187.6,-8.3,173,1783,0.00,2.50,0.00,0.000,260,0.000,0.088,3125,3812,3340,3383,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1853,-0.59,-116.8,3124,3812,3383,3298,195.0,-9.1,181,1867,0.00,2.42,0.00,0.000,1030,0.000,0.062,3124,2398,3340,3383,3298,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2107,-0.59,-116.8,3125,2398,3383,3297,215.9,-8.1,206,2118,0.00,2.45,0.00,0.000,516,0.000,0.074,3125,990,3339,3383,3296,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2149,-0.59,-116.8,3125,990,3383,3293,219.2,-8.3,210,2160,0.00,2.47,0.00,0.000,1030,0.000,0.071,3125,2403,3340,3384,3296,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2401,-0.59,-116.8,3125,2400,3383,3295,238.6,-8.3,235,2412,0.00,2.50,0.00,0.000,260,0.000,0.089,3125,3809,3339,3383,3295,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2552,-0.59,-116.8,3125,3809,3383,3294,251.4,-8.6,250,2562,0.00,2.42,0.00,0.000,1030,0.000,0.064,3125,2403,3338,3383,3294,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2882,-0.59,-116.8,3125,2401,3383,3293,278.9,-8.2,263,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3338,3383,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3182,-0.59,-116.8,3125,2401,3383,3293,302.4,-7.7,273,3192,0.00,2.53,0.00,0.000,260,0.000,0.087,3125,3819,3337,3383,3292,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3274,-0.59,-116.8,3125,3819,3383,3292,309.4,-7.6,282,3284,0.00,2.45,0.00,0.000,1030,0.000,0.063,3122,2397,3337,3383,3292,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3603,-0.59,-116.8,3125,2395,3383,3290,335.5,-8.1,295,3613,0.00,2.53,0.00,0.000,260,0.000,0.088,3128,3814,3340,3390,3291,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3674,-0.59,-116.8,3125,3811,3383,3291,341.2,-8.1,302,3684,0.00,2.45,0.00,0.000,1030,0.000,0.065,3125,2398,3336,3383,3290,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3997,-0.59,-116.8,3125,2395,3382,3289,365.5,-7.4,314,4007,0.00,2.45,0.00,0.000,516,0.000,0.076,3125,994,3336,3383,3289,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4047,-0.59,-116.8,3124,994,3382,3290,369.7,-8.2,319,4058,0.00,2.47,0.00,0.000,1030,0.000,0.073,3125,2393,3335,3383,3288,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4361,-0.59,-116.8,3125,2396,3383,3288,393.2,-7.5,330,4371,0.00,2.47,0.00,0.000,516,0.000,0.076,3124,989,3335,3383,3288,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4421,-0.59,-116.8,3125,989,3382,3287,398.2,-7.7,336,4432,0.00,2.50,0.00,0.000,1030,0.000,0.073,3125,2406,3335,3382,3288,0,0,0,0,0,0,28.83,14.21,28.83
$STATE,4691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4691,begin apogee
$GC,4700,-0.25,0.0,3124,2313,3381,3286,418.2,-7.4,347,4803,0.40,0.00,95.95,1.197,10246,0.170,0.000,3243,2313,2858,2930,2786,0,0,0,0,0,0,14.04,28.83,13.28
$STATE,4805,end apogee,CONTROL_FINISHED_OK
$STATE,4806,begin climb
$GC,4810,0.59,116.8,3243,2313,2928,2780,421.7,0.0,350,4923,0.82,2.67,97.62,1.174,11012,0.122,0.087,3513,3742,2377,2504,2250,0,0,0,0,0,0,14.00,13.92,13.19
$GC,4975,0.59,116.8,3513,3742,2504,2250,415.9,7.0,363,4986,0.00,2.47,0.00,0.000,1030,0.000,0.069,3518,2340,2380,2511,2249,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5300,0.60,116.8,3519,2341,2504,2250,395.2,6.7,375,5310,0.00,2.50,0.00,0.000,516,0.000,0.082,3516,915,2377,2504,2250,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5424,0.63,116.8,3519,915,2505,2250,387.5,6.3,387,5434,0.00,2.47,0.00,0.000,1030,0.000,0.070,3519,2332,2377,2504,2250,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5754,0.64,116.8,3522,2331,2504,2249,366.1,6.4,400,5764,0.00,2.50,0.00,0.000,516,0.000,0.081,3519,916,2376,2504,2249,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5793,0.66,116.8,3520,917,2504,2248,363.4,6.4,404,5803,0.00,2.47,0.00,0.000,1030,0.000,0.071,3520,2338,2376,2504,2249,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6114,0.69,116.8,3517,2332,2505,2247,343.6,6.0,416,6124,0.00,2.50,0.00,0.000,516,0.000,0.083,3520,918,2374,2502,2247,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6224,0.72,116.8,3519,918,2505,2247,337.2,5.6,427,6236,0.12,2.50,0.00,0.000,3078,0.146,0.072,3568,2335,2375,2504,2247,0,0,0,0,0,0,14.26,14.26,28.83
$GC,6535,0.73,116.8,3568,2334,2504,2246,315.8,6.8,438,6545,0.00,2.50,0.00,0.000,260,0.000,0.090,3568,3732,2375,2504,2246,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6645,0.73,116.8,3568,3732,2503,2246,307.2,8.1,449,6656,0.00,2.45,0.00,0.000,1030,0.000,0.070,3572,2331,2372,2499,2245,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6958,0.73,116.8,3575,2330,2503,2244,284.6,7.4,460,6968,0.00,2.53,0.00,0.000,260,0.000,0.088,3575,3744,2374,2503,2245,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7168,0.73,116.8,3575,3744,2502,2244,266.8,8.5,481,7178,0.00,2.47,0.00,0.000,1030,0.000,0.070,3583,2324,2373,2502,2244,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7479,0.73,116.8,3586,2324,2502,2243,243.7,7.2,498,7490,0.00,2.55,0.00,0.000,260,0.000,0.088,3586,3735,2374,2504,2244,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7583,0.73,116.8,3585,3735,2502,2243,235.1,8.8,508,7594,0.00,2.47,0.00,0.000,1030,0.000,0.073,3588,2330,2373,2502,2244,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7833,0.73,116.8,3588,2330,2502,2244,215.6,7.3,533,7845,0.00,2.53,0.00,0.000,260,0.000,0.086,3587,3731,2373,2502,2244,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8076,0.73,116.8,3587,3730,2501,2244,194.8,8.7,557,8087,0.00,2.47,0.00,0.000,1030,0.000,0.068,3591,2321,2372,2501,2244,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8329,0.73,116.8,3591,2321,2501,2244,175.7,7.2,582,8339,0.00,2.55,0.00,0.000,260,0.000,0.086,3591,3735,2373,2504,2243,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8519,0.73,116.8,3588,3735,2501,2243,158.3,8.8,601,8531,0.00,2.45,0.00,0.000,1030,0.000,0.068,3593,2334,2369,2496,2243,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8771,0.73,116.8,3592,2333,2501,2243,139.5,7.5,626,8782,0.12,2.53,0.00,0.000,4356,0.271,0.083,3563,3737,2372,2501,2243,0,0,0,0,0,0,13.99,14.16,28.83
$GC,8942,0.76,116.8,3559,3737,2501,2243,129.0,6.1,643,8953,0.00,2.45,0.00,0.000,1030,0.000,0.067,3562,2319,2371,2500,2242,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9194,0.80,116.8,3561,2323,2501,2243,115.2,5.5,668,9204,0.00,2.47,0.00,0.000,516,0.000,0.081,3562,927,2372,2501,2243,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9265,0.84,173.8,3560,927,2501,2239,111.4,4.9,675,9318,0.00,2.47,43.78,0.835,9222,0.000,0.070,3562,2340,2148,2288,2008,0,0,0,0,0,0,28.83,14.20,13.64
$GC,9562,0.84,173.8,3562,2340,2286,2007,90.4,8.1,704,9573,0.00,2.50,0.00,0.000,260,0.000,0.087,3562,3745,2146,2286,2006,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9803,0.84,173.8,3562,3743,2287,2007,69.6,9.0,728,9814,0.00,2.47,0.00,0.000,1030,0.000,0.067,3562,2335,2149,2287,2012,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10054,0.89,258.3,3562,2334,2286,2007,57.1,3.8,753,10134,0.12,2.55,64.80,0.749,10756,0.140,0.078,3630,920,1799,1939,1659,0,0,0,0,0,0,14.34,14.23,13.67
$GC,10158,0.89,258.3,3630,920,1939,1659,49.8,8.9,763,10168,0.00,2.47,0.00,0.000,1030,0.000,0.070,3630,2330,1799,1939,1660,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10409,0.96,354.5,3630,2330,1939,1666,33.2,3.3,788,10490,0.00,2.58,70.95,0.710,8708,0.000,0.080,3630,917,1409,1552,1267,0,0,0,0,0,0,28.83,14.19,13.63
$GC,10584,0.96,354.5,3631,917,1551,1266,21.3,9.3,805,10596,0.00,2.50,0.00,0.000,1030,0.000,0.070,3630,2330,1408,1551,1266,0,0,0,0,0,0,28.83,14.19,28.83
$STATE,10762,end climb,SURFACE_DEPTH_REACHED
$STATE,10762,begin surface coast
$FINISH,1.2,1.011084
$STATE,10794,end surface coast,CONTROL_FINISHED_OK
$STATE,10794,begin surface
$SM_CCo,10821,8.35,0.096,0,0,1329,375.06
$SM_GC,3.49,9.32,0.12,8.35,0.067,0.152,0.096,389,2414,1329,-9.12,-0.71,375.06,1,0,0,0,0,0,14.20,14.31,14.21
$IRIDIUM_FIX,4732.49,-12522.93,241014,090935
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.57
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3774496
$PM_FREEKB,47859680
$24V_AH,13.2,124.255
$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,23.575,124.775,373.100,8.350,0.000,0.000,0.000,360.200,0.000,0.000,31.254,1935.636,6521.756,582.954,1905.271,592.475,0.000,1863.798,0.000,1273.861,0.000,0.537,0.000
$DEVICE_MAMPS,372.555,152.235,1197.225,96.390,0.000,0.000,0.000,166.005,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10818.000,147.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.907,5.223,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,30031,826
$CAP_FILE_SIZE,158057,0
$CFSIZE,260034560,206430208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$INTR,0,14128.59,0x2378ba,7,5
$CURRENT,0.118,  7.5,1
$GPS,241014,121224,4750.992,-12514.644,41,1.9,42,18.7