version: 66.12
glider: 187
mission: 4
dive: 89
start: 7 8 114 2 21 47
data:
$ID,187
$MISSION,4
$DIVE,89
$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,135
$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,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,-1593308.6
$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,24
$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,26
$R_STBD_OVSHOOT,17
$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,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
$GPS1,080714,021206,4716.455,-12628.094,31,1.0,31,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-68.2
$GPS2,080714,022119,4716.436,-12628.157,15,1.3,15,18.6
$SPEED_LIMITS,0.136,0.232
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,64.8,116987,-14.0,-7.857,-18.69,2568
$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,-0.68,-131.4,393,2422,1307,976,0.0,0.0,0,99,0.00,0.00,-68.07,0.000,16386,0.000,0.000,394,2424,2977,3028,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.68,-131.4,394,2423,3029,2927,4.3,-5.5,7,139,12.70,2.53,-6.75,0.000,18948,0.416,0.113,3082,1022,3398,3433,3363,0,0,0,0,0,0,14.17,14.35,14.54
$GC,298,-0.68,-131.4,3082,1019,3435,3365,53.9,-18.4,27,309,0.00,2.45,0.00,0.000,1030,0.000,0.086,3082,2437,3400,3436,3365,0,0,0,0,0,0,28.83,14.41,28.83
$GC,549,-0.68,-131.4,3082,2437,3438,3366,95.6,-15.7,52,560,0.00,2.45,0.00,0.000,260,0.000,0.105,3081,3847,3399,3433,3366,0,0,0,0,0,0,28.83,14.45,28.83
$GC,619,-0.68,-131.4,3082,3846,3438,3366,106.5,-15.2,59,630,0.00,2.40,0.00,0.000,1030,0.000,0.073,3082,2425,3402,3438,3366,0,0,0,0,0,0,28.83,14.50,28.83
$GC,869,-0.68,-131.4,3082,2425,3439,3366,140.8,-13.2,84,880,0.00,2.42,0.00,0.000,516,0.000,0.090,3081,1016,3402,3439,3366,0,0,0,0,0,0,28.83,14.52,28.83
$GC,950,-0.68,-131.4,3084,1015,3439,3366,151.8,-13.6,92,961,0.00,2.42,0.00,0.000,1030,0.000,0.088,3082,2422,3402,3439,3366,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1201,-0.68,-131.4,3082,2422,3438,3366,183.1,-12.5,117,1212,0.00,2.47,0.00,0.000,260,0.000,0.107,3082,3845,3402,3439,3366,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1304,-0.68,-131.4,3082,3842,3439,3364,196.4,-13.3,127,1315,0.00,2.40,0.00,0.000,1030,0.000,0.079,3082,2425,3402,3439,3366,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1555,-0.68,-131.4,3081,2424,3438,3366,227.7,-12.1,152,1566,0.00,2.42,0.00,0.000,516,0.000,0.093,3080,1008,3402,3438,3366,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1616,-0.68,-131.4,3082,1007,3439,3366,235.5,-13.3,158,1626,0.00,2.45,0.00,0.000,1030,0.000,0.089,3082,2431,3402,3439,3366,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1886,-0.68,-131.4,3082,2432,3439,3364,267.7,-11.7,175,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2432,3401,3438,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2186,-0.68,-131.4,3082,2432,3438,3363,301.4,-11.0,185,2196,0.00,2.45,0.00,0.000,516,0.000,0.096,3087,1008,3400,3438,3363,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2236,-0.68,-131.4,3082,1008,3438,3363,307.2,-12.0,190,2246,0.00,2.45,0.00,0.000,1030,0.000,0.090,3082,2430,3400,3438,3362,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2549,-0.68,-131.4,3082,2430,3443,3360,341.3,-11.1,201,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2430,3397,3434,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2846,-0.68,-131.4,3082,2429,3432,3360,374.4,-10.9,211,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2433,3402,3444,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3146,-0.68,-131.4,3082,2430,3437,3358,406.3,-10.7,221,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2430,3398,3438,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3446,-0.68,-131.4,3082,2430,3437,3358,438.1,-10.6,231,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2430,3396,3437,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3746,-0.68,-131.4,3082,2428,3437,3355,469.6,-10.5,241,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2431,3396,3437,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4046,-0.68,-131.4,3082,2430,3437,3353,502.2,-10.8,251,4056,0.00,2.47,0.00,0.000,260,0.000,0.115,3082,3838,3394,3437,3351,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4095,-0.68,-131.4,3082,3838,3436,3353,507.8,-11.8,256,4106,0.00,2.42,0.00,0.000,1030,0.000,0.085,3082,2426,3395,3437,3353,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4409,-0.68,-131.4,3082,2425,3435,3352,540.8,-10.7,267,4419,0.00,2.42,0.00,0.000,516,0.000,0.099,3084,1016,3394,3437,3352,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4499,-0.68,-131.4,3082,1016,3436,3352,550.8,-11.1,276,4509,0.00,2.45,0.00,0.000,1030,0.000,0.098,3082,2431,3392,3436,3349,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4829,-0.68,-131.4,3082,2430,3436,3350,584.6,-10.1,289,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2431,3392,3435,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5129,-0.68,-131.4,3082,2427,3435,3350,615.5,-10.4,299,5139,0.00,2.47,0.00,0.000,516,0.000,0.106,3079,1008,3392,3435,3350,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5189,-0.68,-131.4,3082,1008,3437,3349,622.0,-10.8,305,5199,0.00,2.45,0.00,0.000,1030,0.000,0.099,3082,2423,3392,3435,3350,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5519,-0.68,-131.4,3082,2422,3435,3348,655.2,-10.1,318,5529,0.00,2.47,0.00,0.000,260,0.000,0.116,3082,3842,3391,3434,3348,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5599,-0.68,-131.4,3081,3844,3434,3344,663.2,-9.8,326,5610,0.00,2.45,0.00,0.000,1030,0.000,0.093,3078,2425,3391,3434,3348,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5912,-0.68,-131.4,3082,2424,3434,3347,693.1,-9.8,337,5922,0.00,2.45,0.00,0.000,516,0.000,0.108,3082,1013,3390,3435,3346,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5991,-0.68,-131.4,3082,1013,3433,3346,701.6,-10.4,345,6003,0.00,2.47,0.00,0.000,1030,0.000,0.099,3082,2438,3389,3433,3346,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6304,-0.68,-131.4,3082,2437,3432,3345,731.1,-9.3,356,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2437,3388,3432,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6602,-0.68,-131.4,3082,2436,3433,3344,758.0,-8.7,366,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2438,3388,3432,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6902,-0.68,-131.4,3082,2438,3431,3343,784.0,-8.7,376,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2437,3387,3432,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7203,-0.68,-131.4,3082,2437,3431,3342,810.1,-8.6,386,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2437,3386,3431,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7502,-0.68,-131.4,3082,2437,3430,3348,836.4,-8.8,396,7512,0.00,2.50,0.00,0.000,516,0.000,0.106,3078,1000,3386,3430,3342,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7562,-0.68,-131.4,3082,1004,3430,3342,842.0,-9.8,402,7573,0.00,2.47,0.00,0.000,1030,0.000,0.098,3082,2428,3385,3430,3341,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7892,-0.68,-131.4,3081,2427,3430,3341,871.4,-9.0,415,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2428,3385,3429,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8193,-0.68,-131.4,3082,2428,3429,3341,898.4,-9.0,425,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2428,3385,3429,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8492,-0.68,-131.4,3086,2428,3429,3338,925.5,-9.2,435,8502,0.00,2.50,0.00,0.000,516,0.000,0.108,3082,1004,3384,3429,3340,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8573,-0.68,-131.4,3078,1006,3429,3340,933.3,-9.8,443,8584,0.00,2.47,0.00,0.000,1030,0.000,0.099,3082,2423,3384,3429,3340,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8887,-0.68,-131.4,3081,2423,3430,3339,961.0,-8.8,454,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2423,3383,3429,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9183,-0.68,-131.4,3082,2423,3429,3339,987.0,-8.6,464,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2423,3383,3429,3338,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9239,begin apogee
$GC,9248,-0.29,0.0,3082,2309,3428,3338,992.4,-8.8,466,9368,0.45,0.00,112.60,1.914,10246,0.228,0.000,3210,2311,2862,2943,2781,0,0,0,0,0,0,14.55,28.83,13.20
$STATE,9370,end apogee,CONTROL_FINISHED_OK
$STATE,9370,begin climb
$GC,9374,0.68,131.4,3210,2312,2937,2776,997.2,0.0,470,9510,1.02,2.83,121.85,1.883,10500,0.171,0.118,3518,3745,2317,2478,2157,0,0,0,0,0,0,13.83,13.65,13.05
$GC,9549,0.68,131.4,3518,3745,2474,2157,987.0,9.7,488,9560,0.00,2.62,0.00,0.000,1030,0.000,0.097,3524,2321,2315,2473,2157,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9873,0.68,131.4,3519,2321,2474,2156,956.0,9.8,500,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2320,2314,2474,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10174,0.68,131.4,3519,2318,2474,2153,926.2,10.0,510,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2321,2313,2474,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10473,0.68,131.4,3519,2321,2472,2153,897.7,9.5,520,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2321,2312,2472,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10774,0.68,131.4,3519,2321,2470,2152,869.8,9.3,530,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2321,2314,2471,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11073,0.68,131.4,3519,2321,2470,2152,842.4,8.9,540,11083,0.00,2.58,0.00,0.000,260,0.000,0.119,3519,3754,2311,2470,2152,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11103,0.68,131.4,3519,3754,2469,2152,839.3,9.1,543,11113,0.00,2.50,0.00,0.000,1030,0.000,0.097,3519,2327,2310,2469,2152,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11433,0.68,131.4,3520,2327,2469,2152,809.4,9.1,556,11443,0.00,2.53,0.00,0.000,516,0.000,0.126,3522,921,2310,2469,2152,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11463,0.68,131.4,3522,921,2468,2152,806.7,9.0,559,11473,0.00,2.47,0.00,0.000,1030,0.000,0.102,3522,2333,2309,2466,2152,0,0,0,0,0,0,28.83,14.54,28.83
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$STATE,21005,end climb,SURFACE_DEPTH_REACHED
$STATE,21009,begin surface coast
$FINISH,0.9,1.023047
$STATE,21067,end surface coast,CONTROL_FINISHED_OK
$STATE,21067,begin surface
$SM_CCo,21155,0.00,0.000,0,0,1279,387.33
$SM_GC,2.05,9.20,2.67,0.00,0.083,0.087,0.000,396,2423,1279,-9.06,-0.71,387.33,0,0,0,0,0,0,14.44,14.45,28.83
$IRIDIUM_FIX,4700.70,-12628.71,070714,222208
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.12
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3909536
$PM_FREEKB,60094912
$24V_AH,13.0,20.626
$10V_AH,13.0,0.000
$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,23.500,144.675,408.325,0.000,0.000,0.000,0.000,269.325,0.000,0.000,16.130,2726.237,15082.392,634.206,2576.285,680.503,0.000,2367.193,0.000,1726.099,0.000,0.536,0.000
$DEVICE_MAMPS,416.160,157.590,1914.030,0.000,0.000,0.000,0.000,166.005,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21083.000,385.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.825,5.711,0.000,0.000
$MEM,290896
$DATA_FILE_SIZE,39908,1133
$CAP_FILE_SIZE,234104,0
$CFSIZE,260034560,249626624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14899.94,0x2378ba,7,5
$CURRENT,0.094,349.9,1
$GPS,080714,081556,4717.865,-12624.635,27,2.2,47,18.6