version: 66.12
glider: 187
mission: 4
dive: 743
start: 12 29 114 10 15 28
data:
$ID,187
$MISSION,4
$DIVE,743
$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,350
$N_FILEKB,8
$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,-1595379.5
$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,31
$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,49
$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
$GPS1,291214,100436,4748.297,-12515.212,36,1.2,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-68.7
$GPS2,291214,101501,4748.276,-12515.367,17,1.2,17,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,13.9,9268,-14.0,-7.333,-18.81,2445
$D_GRID,525
$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,28,-0.59,-116.8,395,2412,1538,1324,0.0,0.0,0,81,0.00,0.00,-46.40,0.000,16386,0.000,0.000,395,2411,2618,2706,2531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.59,-116.8,395,2411,2707,2532,3.2,-1.7,5,132,12.73,2.58,-16.38,0.000,18692,0.372,0.108,3123,3799,3337,3381,3293,0,0,0,0,0,0,13.67,14.02,14.46
$GC,283,-0.59,-116.8,3125,3804,3382,3295,28.6,-11.4,25,294,0.00,2.47,0.00,0.000,1030,0.000,0.060,3125,2409,3339,3383,3295,0,0,0,0,0,0,28.83,13.97,28.83
$GC,537,-0.59,-116.8,3125,2398,3383,3295,56.7,-9.2,50,547,0.00,2.58,0.00,0.000,260,0.000,0.083,3125,3802,3339,3383,3295,0,0,0,0,0,0,28.83,13.85,28.83
$GC,608,-0.59,-116.8,3130,3805,3385,3295,63.8,-9.7,57,620,0.00,2.50,0.00,0.000,1030,0.000,0.058,3130,2386,3339,3382,3296,0,0,0,0,0,0,28.83,13.96,28.83
$GC,861,-0.59,-116.8,3125,2381,3383,3296,85.5,-8.3,82,871,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2382,3343,3390,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1112,-0.59,-116.8,3125,2381,3384,3296,107.2,-8.3,107,1122,0.00,2.62,0.00,0.000,260,0.000,0.083,3125,3808,3340,3384,3296,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1173,-0.59,-116.8,3125,3808,3384,3296,112.5,-8.2,113,1185,0.00,2.50,0.00,0.000,1030,0.000,0.057,3125,2399,3340,3384,3296,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1426,-0.59,-116.8,3126,2398,3385,3297,133.7,-7.9,138,1437,0.00,2.53,0.00,0.000,516,0.000,0.068,3125,986,3341,3385,3297,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1509,-0.59,-116.8,3125,988,3385,3297,141.4,-9.6,146,1520,0.00,2.53,0.00,0.000,1030,0.000,0.067,3125,2392,3341,3385,3297,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1762,-0.59,-116.8,3125,2391,3380,3297,164.4,-9.5,171,1773,0.00,2.60,0.00,0.000,260,0.000,0.083,3125,3818,3341,3385,3297,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1890,-0.59,-116.8,3125,3818,3385,3297,175.5,-8.7,183,1901,0.00,2.53,0.00,0.000,1030,0.000,0.058,3125,2391,3341,3385,3297,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2142,-0.59,-116.8,3125,2387,3385,3297,197.6,-8.4,208,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2387,3339,3385,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2393,-0.59,-116.8,3125,2387,3385,3297,217.3,-7.6,233,2404,0.00,2.62,0.00,0.000,260,0.000,0.084,3125,3812,3339,3385,3293,0,0,0,0,0,0,28.83,13.78,28.83
$GC,2435,-0.59,-116.8,3130,3812,3385,3297,220.7,-8.3,237,2446,0.00,2.50,0.00,0.000,1030,0.000,0.059,3125,2401,3341,3385,3297,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2688,-0.59,-116.8,3125,2400,3384,3297,240.9,-8.4,262,2698,0.00,2.55,0.00,0.000,516,0.000,0.069,3125,987,3342,3388,3297,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2731,-0.59,-116.8,3125,984,3385,3297,244.6,-8.7,266,2742,0.00,2.58,0.00,0.000,1030,0.000,0.068,3125,2405,3340,3384,3297,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3002,-0.59,-116.8,3125,2405,3384,3298,267.3,-8.0,279,3012,0.00,2.60,0.00,0.000,260,0.000,0.086,3125,3818,3339,3385,3293,0,0,0,0,0,0,28.83,13.76,28.83
$GC,3147,-0.59,-116.8,3121,3817,3384,3296,278.4,-7.4,293,3159,0.00,2.55,0.00,0.000,1030,0.000,0.060,3125,2386,3341,3385,3297,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3457,-0.59,-116.8,3125,2384,3385,3291,299.8,-6.7,304,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3339,3385,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3755,-0.59,-116.8,3125,2381,3385,3294,318.3,-6.1,314,3765,0.00,2.50,0.00,0.000,516,0.000,0.072,3125,1006,3338,3384,3293,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3796,-0.59,-116.8,3125,1002,3384,3294,321.1,-6.6,318,3806,0.00,2.53,0.00,0.000,1030,0.000,0.069,3122,2396,3339,3385,3294,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4117,-0.59,-116.8,3125,2399,3385,3293,341.1,-6.1,330,4127,0.00,2.62,0.00,0.000,260,0.000,0.087,3125,3810,3339,3385,3293,0,0,0,0,0,0,28.83,13.72,28.83
$GC,4197,-0.59,-116.8,3125,3810,3384,3289,346.1,-5.7,338,4208,0.00,2.53,0.00,0.000,1030,0.000,0.062,3126,2402,3339,3385,3293,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4513,-0.59,-116.8,3125,2402,3384,3292,363.7,-5.8,349,4523,0.00,2.58,0.00,0.000,516,0.000,0.071,3126,983,3338,3385,3292,0,0,0,0,0,0,28.83,13.74,28.83
$GC,4553,-0.59,-116.8,3126,983,3385,3292,366.4,-6.1,353,4563,0.00,2.58,0.00,0.000,1030,0.000,0.070,3125,2405,3338,3384,3292,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4879,-0.59,-116.8,3125,2404,3384,3291,386.0,-6.5,365,4891,0.00,2.58,0.00,0.000,260,0.000,0.088,3125,3801,3337,3384,3290,0,0,0,0,0,0,28.83,13.63,28.83
$GC,4951,-0.59,-116.8,3123,3800,3384,3290,391.2,-6.5,372,4961,0.00,2.53,0.00,0.000,1030,0.000,0.062,3125,2390,3337,3384,3290,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5273,-0.59,-116.8,3125,2385,3384,3290,410.5,-6.1,384,5283,0.00,2.55,0.00,0.000,516,0.000,0.074,3125,994,3336,3384,3289,0,0,0,0,0,0,28.83,13.73,28.83
$GC,5323,-0.59,-116.8,3125,993,3384,3288,413.9,-7.1,389,5335,0.00,2.58,0.00,0.000,1030,0.000,0.071,3125,2402,3336,3384,3288,0,0,0,0,0,0,28.83,13.77,28.83
$GC,5638,-0.59,-116.8,3125,2401,3384,3287,433.6,-6.4,400,5648,0.00,2.62,0.00,0.000,260,0.000,0.089,3125,3811,3339,3391,3288,0,0,0,0,0,0,28.83,13.70,28.83
$GC,5709,-0.59,-116.8,3125,3810,3384,3287,438.5,-6.7,407,5719,0.00,2.53,0.00,0.000,1030,0.000,0.064,3125,2405,3335,3384,3287,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6030,-0.59,-116.8,3125,2403,3383,3287,461.0,-7.3,419,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2408,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6331,-0.59,-116.8,3125,2403,3383,3290,481.4,-6.4,429,6342,0.00,2.65,0.00,0.000,260,0.000,0.088,3125,3817,3336,3383,3289,0,0,0,0,0,0,28.83,13.69,28.83
$GC,6423,-0.59,-116.8,3125,3818,3381,3286,487.9,-7.3,438,6433,0.00,2.55,0.00,0.000,1030,0.000,0.063,3125,2402,3336,3387,3286,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6754,-0.59,-116.8,3130,2401,3382,3286,509.1,-6.3,451,6764,0.00,2.65,0.00,0.000,260,0.000,0.087,3125,3814,3334,3383,3286,0,0,0,0,0,0,28.83,13.68,28.83
$GC,6814,-0.59,-116.8,3121,3814,3382,3286,512.8,-6.0,457,6825,0.00,2.55,0.00,0.000,1030,0.000,0.063,3125,2394,3334,3382,3286,0,0,0,0,0,0,28.83,13.79,28.83
$STATE,7021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7022,begin apogee
$GC,7034,-0.25,0.0,3125,2313,3382,3286,525.5,-6.1,466,7146,0.43,0.00,98.78,1.334,10246,0.171,0.000,3246,2313,2855,2928,2783,0,0,0,0,0,0,13.49,28.83,13.12
$STATE,7148,end apogee,CONTROL_FINISHED_OK
$STATE,7148,begin climb
$GC,7153,0.59,116.8,3246,2313,2928,2781,529.0,0.0,470,7273,0.80,2.58,101.53,1.313,10756,0.116,0.078,3510,936,2378,2507,2250,0,0,0,0,0,0,13.89,13.89,13.01
$GC,7304,0.64,186.6,3506,936,2506,2250,525.3,4.4,485,7373,0.00,2.50,59.58,1.300,9222,0.000,0.070,3509,2334,2096,2244,1949,0,0,0,0,0,0,28.83,14.02,13.05
$GC,7684,0.65,186.6,3510,2334,2240,1946,499.5,6.8,503,7694,0.00,2.53,0.00,0.000,516,0.000,0.080,3510,938,2093,2240,1946,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7734,0.65,186.6,3510,938,2240,1946,495.8,7.3,508,7745,0.00,2.50,0.00,0.000,1030,0.000,0.072,3510,2333,2093,2240,1946,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8050,0.67,186.6,3510,2332,2240,1946,474.9,6.6,519,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2335,2093,2241,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,0.69,186.6,3510,2332,2240,1947,455.9,6.3,529,8360,0.12,2.55,0.00,0.000,2564,0.136,0.077,3575,935,2093,2240,1947,0,0,0,0,0,0,14.14,13.93,28.83
$GC,8391,0.69,186.6,3575,935,2241,1947,452.3,7.5,533,8402,0.00,2.50,0.00,0.000,1030,0.000,0.072,3575,2335,2097,2241,1953,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8717,0.69,186.6,3575,2326,2241,1947,422.1,9.7,545,8727,0.00,2.53,0.00,0.000,516,0.000,0.078,3581,939,2093,2240,1947,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8768,0.69,186.6,3581,936,2241,1947,416.8,9.6,550,8780,0.15,2.50,0.00,0.000,5126,0.244,0.071,3549,2328,2093,2240,1947,0,0,0,0,0,0,13.67,13.96,28.83
$GC,9078,0.69,186.6,3550,2328,2240,1947,390.3,8.0,561,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2327,2094,2241,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9379,0.69,186.6,3549,2328,2240,1947,364.0,8.9,571,9389,0.00,2.53,0.00,0.000,516,0.000,0.078,3549,939,2093,2240,1947,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9429,0.69,186.6,3549,938,2240,1947,359.4,9.0,576,9440,0.00,2.53,0.00,0.000,1030,0.000,0.072,3549,2333,2093,2240,1947,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9745,0.69,186.6,3546,2332,2240,1947,333.2,8.9,587,9755,0.00,2.55,0.00,0.000,516,0.000,0.081,3549,936,2093,2240,1947,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9825,0.69,186.6,3549,936,2241,1947,323.9,10.7,595,9836,0.00,2.53,0.00,0.000,1030,0.000,0.072,3550,2330,2093,2240,1947,0,0,0,0,0,0,28.83,13.91,28.83
$GC,10141,0.69,186.6,3546,2330,2241,1948,295.9,8.3,606,10151,0.00,2.55,0.00,0.000,516,0.000,0.080,3550,940,2094,2241,1947,0,0,0,0,0,0,28.83,13.82,28.83
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$STATE,13902,end climb,SURFACE_DEPTH_REACHED
$STATE,13902,begin surface coast
$FINISH,1.7,1.003330
$STATE,13952,end surface coast,CONTROL_FINISHED_OK
$STATE,13953,begin surface
$SM_CCo,13983,44.60,0.090,0,0,1430,350.04
$SM_GC,2.58,9.18,0.12,44.60,0.050,0.151,0.090,388,2412,1430,-9.11,-0.68,350.04,0,0,0,0,0,0,14.07,14.14,14.08
$IRIDIUM_FIX,4726.11,-12517.37,291214,050556
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.27
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3700256
$PM_FREEKB,39528352
$24V_AH,13.0,186.712
$10V_AH,12.4,0.000
$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,23.500,158.225,307.950,44.600,0.000,0.000,0.000,281.225,0.000,0.000,18.206,2261.216,8774.810,619.903,2118.606,853.636,0.000,2037.487,0.000,1481.670,0.000,0.537,0.000
$DEVICE_MAMPS,371.790,150.705,1334.160,90.270,0.000,0.000,0.000,175.950,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13990.000,207.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.582,5.337,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,33337,959
$CAP_FILE_SIZE,191354,0
$CFSIZE,260034560,180453376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,18479.91,0x2378ba,7,5
$CURRENT,0.030, 40.7,1
$GPS,291214,141123,4749.545,-12513.798,70,1.1,70,18.7