version: 66.12
glider: 187
mission: 4
dive: 81
start: 7 6 114 15 21 26
data:
$ID,187
$MISSION,4
$DIVE,81
$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,420
$T_MISSION,470
$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,150
$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,0.0016
$HD_B,0.0099999998
$HD_C,1.4e-05
$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,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,-1593298.5
$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,3310
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,31
$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,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2892
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,060714,151259,4705.775,-12648.923,53,1.7,53,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-73.4
$GPS2,060714,152055,4705.796,-12648.890,14,1.9,14,18.6
$SPEED_LIMITS,0.136,0.216
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,54.8,149379,-10.2,-7.857,-20.01,2434
$D_GRID,1000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.77,-146.0,397,2427,1477,1249,0.0,0.0,0,89,0.00,0.00,-57.60,0.000,16386,0.000,0.000,397,2427,2884,2941,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.77,-146.0,397,2427,2942,2828,3.9,-3.8,6,129,12.82,2.50,-10.12,0.000,19204,0.430,0.114,3054,1005,3490,3509,3471,0,0,0,0,0,0,14.19,14.35,14.56
$GC,359,-0.77,-146.0,3057,1004,3509,3476,70.8,-20.6,33,370,0.00,2.50,0.00,0.000,1030,0.000,0.093,3052,2437,3492,3509,3476,0,0,0,0,0,0,28.83,14.43,28.83
$GC,610,-0.77,-146.0,3054,2437,3510,3474,116.9,-16.8,58,621,0.00,2.47,0.00,0.000,516,0.000,0.093,3054,1005,3493,3510,3477,0,0,0,0,0,0,28.83,14.47,28.83
$GC,790,-0.77,-146.0,3054,1005,3509,3478,146.8,-15.8,76,802,0.00,2.47,0.00,0.000,1030,0.000,0.091,3054,2432,3494,3510,3479,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1042,-0.77,-146.0,3054,2432,3510,3479,182.4,-13.7,101,1053,0.00,2.45,0.00,0.000,260,0.000,0.111,3050,3834,3494,3510,3479,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1113,-0.77,-146.0,3054,3834,3510,3479,192.7,-14.7,108,1124,0.00,2.42,0.00,0.000,1030,0.000,0.086,3054,2415,3495,3511,3479,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1365,-0.77,-146.0,3054,2414,3514,3484,227.4,-13.8,133,1376,0.00,2.45,0.00,0.000,516,0.000,0.107,3054,1014,3494,3510,3478,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1406,-0.77,-146.0,3054,1014,3510,3479,233.2,-14.2,137,1417,0.00,2.45,0.00,0.000,1030,0.000,0.095,3054,2422,3496,3510,3482,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1656,-0.77,-146.0,3054,2422,3510,3479,267.2,-13.5,154,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2422,3494,3510,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1957,-0.77,-146.0,3057,2422,3509,3479,307.3,-13.4,164,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2422,3494,3510,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2257,-0.77,-146.0,3054,2422,3510,3479,347.9,-13.8,174,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2422,3493,3509,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2557,-0.77,-146.0,3054,2422,3509,3477,389.8,-13.9,184,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2422,3493,3509,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2857,-0.77,-146.0,3054,2422,3509,3476,429.8,-13.2,194,2867,0.00,2.45,0.00,0.000,516,0.000,0.099,3054,1012,3492,3508,3476,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2896,-0.77,-146.0,3054,1010,3508,3476,435.4,-13.8,198,2906,0.00,2.45,0.00,0.000,1030,0.000,0.095,3054,2425,3492,3508,3476,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3219,-0.77,-146.0,3054,2425,3508,3474,477.0,-13.0,210,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2425,3491,3508,3474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3517,-0.77,-146.0,3053,2425,3507,3473,515.8,-12.7,220,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2425,3490,3507,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3817,-0.77,-146.0,3054,2425,3506,3472,552.7,-12.4,230,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2425,3490,3508,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4117,-0.77,-146.0,3057,2425,3505,3471,587.8,-11.5,240,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2425,3488,3505,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4417,-0.77,-146.0,3054,2424,3506,3471,621.6,-11.2,250,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2425,3488,3505,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4716,-0.77,-146.0,3054,2425,3504,3471,654.5,-11.0,260,4727,0.00,2.45,0.00,0.000,516,0.000,0.105,3054,1019,3487,3504,3471,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4756,-0.77,-146.0,3054,1019,3504,3471,659.1,-11.6,264,4767,0.00,2.45,0.00,0.000,1030,0.000,0.102,3055,2424,3487,3504,3470,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5079,-0.77,-146.0,3054,2420,3504,3470,692.9,-10.3,276,5089,0.00,2.50,0.00,0.000,260,0.000,0.121,3054,3852,3485,3501,3469,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5139,-0.77,-146.0,3054,3846,3503,3469,699.5,-10.9,282,5149,0.00,2.45,0.00,0.000,1030,0.000,0.098,3053,2429,3486,3503,3469,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5469,-0.77,-146.0,3050,2427,3504,3468,732.5,-9.9,295,5479,0.00,2.50,0.00,0.000,516,0.000,0.122,3054,1021,3486,3503,3469,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5508,-0.77,-146.0,3054,1019,3503,3469,736.6,-10.5,299,5518,0.00,2.47,0.00,0.000,1030,0.000,0.103,3054,2440,3485,3503,3467,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5829,-0.77,-146.0,3054,2440,3504,3467,768.6,-9.9,311,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2440,3483,3502,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6130,-0.77,-146.0,3059,2439,3503,3466,799.4,-10.4,321,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2439,3484,3503,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6429,-0.77,-146.0,3054,2439,3502,3464,830.5,-10.4,331,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2440,3483,3502,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6730,-0.77,-146.0,3054,2439,3502,3463,862.1,-10.6,341,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2439,3483,3502,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7029,-0.77,-146.0,3054,2439,3502,3463,894.6,-10.8,351,7039,0.00,2.50,0.00,0.000,516,0.000,0.106,3054,1008,3482,3501,3463,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7078,-0.77,-146.0,3054,1013,3498,3462,900.2,-11.7,356,7090,0.00,2.47,0.00,0.000,1030,0.000,0.100,3054,2422,3482,3501,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7392,-0.77,-146.0,3054,2422,3501,3463,934.3,-11.1,367,7402,0.00,2.50,0.00,0.000,260,0.000,0.120,3054,3842,3482,3501,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7441,-0.77,-146.0,3054,3842,3501,3459,940.4,-12.1,372,7452,0.00,2.47,0.00,0.000,1030,0.000,0.099,3054,2426,3481,3500,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7754,-0.77,-146.0,3054,2425,3507,3463,974.2,-10.7,383,7764,0.00,2.50,0.00,0.000,516,0.000,0.119,3054,1011,3482,3501,3463,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7814,-0.77,-146.0,3052,1011,3500,3465,981.0,-11.1,389,7824,0.00,2.50,0.00,0.000,1030,0.000,0.106,3054,2436,3481,3500,3463,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,7900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7901,begin apogee
$GC,7910,-0.23,0.0,3054,2326,3500,3458,990.6,-10.6,394,8043,0.62,0.00,125.70,1.925,10246,0.227,0.000,3234,2325,2892,2961,2824,0,0,0,0,0,0,14.54,28.83,13.15
$STATE,8045,end apogee,CONTROL_FINISHED_OK
$STATE,8045,begin climb
$GC,8049,0.77,146.0,3234,2326,2959,2820,995.3,0.0,398,8193,1.02,0.00,134.73,1.878,10502,0.152,0.000,3548,2326,2294,2453,2135,0,0,0,0,0,0,13.79,28.83,13.02
$GC,8504,0.77,146.0,3548,2326,2456,2132,953.7,11.2,418,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2326,2292,2453,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8804,0.77,146.0,3548,2325,2451,2131,920.8,10.9,428,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2325,2291,2451,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9104,0.77,146.0,3547,2325,2450,2130,887.9,10.9,438,9114,0.00,2.55,0.00,0.000,260,0.000,0.122,3548,3739,2290,2450,2130,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9153,0.77,146.0,3548,3739,2447,2126,882.0,11.9,443,9165,0.00,2.53,0.00,0.000,1030,0.000,0.111,3548,2341,2289,2448,2130,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9467,0.77,146.0,3547,2340,2448,2129,847.5,10.9,454,9476,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2341,2289,2448,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9764,0.77,146.0,3553,2340,2446,2129,812.0,11.9,464,9775,0.00,2.55,0.00,0.000,516,0.000,0.125,3548,915,2291,2454,2129,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9814,0.77,146.0,3549,915,2446,2129,806.1,11.6,469,9825,0.00,2.50,0.00,0.000,1030,0.000,0.103,3548,2332,2287,2446,2129,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10127,0.77,146.0,3548,2332,2446,2129,770.3,11.5,480,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2332,2288,2447,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10427,0.77,146.0,3548,2331,2446,2128,735.1,11.9,490,10437,0.00,2.53,0.00,0.000,260,0.000,0.125,3548,3740,2287,2446,2128,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10497,0.77,146.0,3547,3743,2444,2128,725.6,13.3,497,10507,0.00,2.50,0.00,0.000,1030,0.000,0.107,3548,2329,2285,2443,2128,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10817,0.77,146.0,3548,2331,2444,2128,688.6,11.3,509,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2331,2286,2444,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11120,0.77,146.0,3548,2329,2444,2128,656.0,10.7,519,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2331,2289,2450,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11420,0.77,146.0,3548,2331,2444,2127,624.3,10.7,529,11430,0.00,2.58,0.00,0.000,260,0.000,0.125,3548,3748,2286,2444,2128,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11469,0.77,146.0,3546,3749,2443,2128,617.8,12.5,534,11480,0.00,2.53,0.00,0.000,1030,0.000,0.105,3548,2325,2285,2443,2127,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11783,0.77,146.0,3548,2324,2444,2127,584.5,10.5,545,11793,0.00,2.53,0.00,0.000,516,0.000,0.129,3549,919,2285,2443,2127,0,0,0,0,0,0,28.83,14.54,28.83
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$STATE,18068,end climb,SURFACE_DEPTH_REACHED
$STATE,18068,begin surface coast
$FINISH,0.9,1.023482
$STATE,18100,end surface coast,CONTROL_FINISHED_OK
$STATE,18100,begin surface
$SM_CCo,18127,45.20,0.109,0,0,1362,375.06
$SM_GC,2.14,9.60,2.40,45.20,0.090,0.093,0.109,396,2411,1362,-9.06,0.25,375.06,0,0,0,0,0,0,14.40,14.41,14.40
$IRIDIUM_FIX,4644.93,-12651.56,060714,101009
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.71
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3912096
$PM_FREEKB,60238208
$24V_AH,13.0,18.640
$10V_AH,13.3,0.000
$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,24.375,119.850,355.675,45.200,0.000,0.000,0.000,248.150,0.000,0.000,15.075,2361.188,12842.451,624.984,2221.530,593.832,0.000,2122.442,0.000,1476.985,0.000,0.535,0.000
$DEVICE_MAMPS,429.930,145.350,1924.740,108.630,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18119.000,327.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.825,5.689,0.000,0.000
$MEM,290856
$DATA_FILE_SIZE,33386,969
$CAP_FILE_SIZE,199869,0
$CFSIZE,260034560,250322944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18896.77,0x2378ba,7,5
$CURRENT,0.072, 22.3,1
$GPS,060714,202559,4707.196,-12645.671,49,0.9,49,18.6