version: 66.12
glider: 187
mission: 4
dive: 130
start: 7 16 114 14 41 15
data:
$ID,187
$MISSION,4
$DIVE,130
$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,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,-1593369.2
$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,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,22
$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
$GPS1,160714,143235,4742.287,-12533.794,95,1.3,95,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-70.3
$GPS2,160714,144049,4742.252,-12533.697,13,1.5,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,206.7,134184,-14.0,-7.333,-18.81,2445
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,388,2434,1454,1203,0.0,0.0,0,92,0.00,0.00,-60.00,0.000,16386,0.000,0.000,396,2426,2933,2978,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,395,2430,2980,2888,3.7,-3.8,6,125,12.75,2.58,-6.93,0.000,18692,0.407,0.122,3124,3833,3337,3382,3293,0,0,0,0,0,0,14.14,14.30,14.55
$GC,355,-0.59,-116.8,3121,3833,3387,3293,55.3,-16.3,32,365,0.00,2.40,0.00,0.000,1030,0.000,0.072,3124,2426,3341,3386,3297,0,0,0,0,0,0,28.83,14.43,28.83
$GC,606,-0.59,-116.8,3124,2425,3389,3297,87.4,-11.5,57,614,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2429,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,856,-0.59,-116.8,3124,2422,3389,3298,116.1,-11.8,82,864,0.00,2.42,0.00,0.000,516,0.000,0.083,3124,1019,3341,3389,3294,0,0,0,0,0,0,28.83,14.49,28.83
$GC,936,-0.59,-116.8,3125,1019,3389,3298,125.3,-11.0,90,945,0.00,2.45,0.00,0.000,1030,0.000,0.081,3125,2433,3341,3389,3293,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1186,-0.59,-116.8,3124,2429,3389,3297,150.4,-10.1,115,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2433,3343,3384,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1435,-0.59,-116.8,3124,2433,3389,3297,175.6,-9.8,140,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2433,3346,3389,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1685,-0.59,-116.8,3125,2434,3389,3297,199.5,-9.6,165,1695,0.00,2.47,0.00,0.000,260,0.000,0.103,3124,3846,3341,3386,3297,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1766,-0.59,-116.8,3121,3846,3389,3296,207.8,-10.5,173,1775,0.00,2.42,0.00,0.000,1030,0.000,0.072,3124,2412,3342,3388,3296,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2016,-0.59,-116.8,3125,2410,3389,3297,233.6,-10.9,198,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2410,3342,3389,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2276,-0.59,-116.8,3124,2410,3389,3295,259.5,-9.6,218,2283,0.00,2.38,0.00,0.000,516,0.000,0.086,3126,1023,3342,3390,3295,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2315,-0.59,-116.8,3124,1022,3389,3294,263.4,-10.0,222,2323,0.00,2.42,0.00,0.000,1030,0.000,0.083,3124,2431,3343,3389,3297,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2640,-0.59,-116.8,3126,2432,3390,3289,293.1,-9.5,234,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2432,3345,3396,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2935,-0.59,-116.8,3124,2433,3386,3293,321.0,-9.1,244,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2432,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3236,-0.59,-116.8,3125,2432,3389,3292,347.6,-8.5,254,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2432,3340,3390,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3535,-0.59,-116.8,3124,2432,3388,3291,373.7,-9.2,264,3543,0.00,2.42,0.00,0.000,516,0.000,0.089,3124,1021,3339,3388,3291,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3615,-0.59,-116.8,3125,1022,3388,3291,381.6,-9.9,272,3624,0.00,2.45,0.00,0.000,1030,0.000,0.086,3125,2419,3339,3388,3291,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3925,-0.59,-116.8,3124,2418,3387,3290,409.0,-8.7,283,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2419,3337,3386,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4226,-0.59,-116.8,3124,2417,3388,3288,435.2,-8.7,293,4234,0.00,2.40,0.00,0.000,516,0.000,0.087,3121,1024,3337,3387,3288,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4294,-0.59,-116.8,3123,1024,3386,3289,441.7,-9.4,300,4303,0.00,2.47,0.00,0.000,1030,0.000,0.086,3121,2424,3337,3386,3289,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4618,-0.59,-116.8,3124,2424,3386,3284,470.3,-8.8,312,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2424,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4916,-0.59,-116.8,3124,2424,3386,3287,495.9,-8.4,322,4924,0.00,2.42,0.00,0.000,516,0.000,0.091,3124,1023,3336,3385,3287,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4964,-0.59,-116.8,3124,1023,3385,3287,500.4,-9.2,327,4974,0.00,2.47,0.00,0.000,1030,0.000,0.088,3125,2421,3336,3384,3288,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5276,-0.59,-116.8,3125,2421,3384,3290,525.4,-7.8,338,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2421,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5575,-0.59,-116.8,3124,2421,3379,3286,549.0,-7.7,348,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2421,3337,3384,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5876,-0.59,-116.8,3124,2421,3387,3285,573.5,-8.4,358,5884,0.00,2.47,0.00,0.000,260,0.000,0.107,3125,3839,3334,3383,3285,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5924,-0.59,-116.8,3124,3840,3383,3286,577.9,-8.9,363,5934,0.00,2.45,0.00,0.000,1030,0.000,0.075,3124,2423,3332,3379,3286,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6239,-0.59,-116.8,3124,2425,3382,3285,603.4,-8.2,374,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2424,3332,3384,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6536,-0.59,-116.8,3124,2425,3382,3283,628.8,-8.2,384,6544,0.00,2.42,0.00,0.000,516,0.000,0.090,3124,1015,3333,3383,3283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6614,-0.59,-116.8,3125,1015,3382,3284,636.3,-9.4,392,6624,0.00,2.50,0.00,0.000,1030,0.000,0.089,3125,2431,3332,3382,3283,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6929,-0.59,-116.8,3124,2431,3378,3282,662.2,-8.2,403,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2431,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7225,-0.59,-116.8,3124,2431,3382,3282,686.1,-7.8,413,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2431,3331,3381,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7526,-0.59,-116.8,3125,2428,3381,3281,709.0,-7.6,423,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2431,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7825,-0.59,-116.8,3124,2431,3376,3281,732.0,-7.6,433,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2429,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8125,-0.59,-116.8,3125,2431,3385,3280,754.3,-7.4,443,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2431,3331,3382,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8426,-0.59,-116.8,3124,2431,3381,3280,776.0,-7.2,453,8434,0.00,2.47,0.00,0.000,516,0.000,0.098,3125,1017,3330,3381,3279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8565,-0.59,-116.8,3124,1017,3381,3282,787.0,-8.2,467,8574,0.00,2.50,0.00,0.000,1030,0.000,0.094,3124,2420,3330,3381,3279,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8879,-0.59,-116.8,3124,2420,3387,3284,809.1,-7.0,478,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2420,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9175,-0.59,-116.8,3125,2420,3380,3278,829.9,-6.8,488,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2420,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9476,-0.59,-116.8,3128,2420,3380,3278,849.2,-6.3,498,9483,0.00,2.45,0.00,0.000,516,0.000,0.095,3130,1018,3328,3380,3277,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9544,-0.59,-116.8,3124,1018,3380,3278,854.2,-7.1,505,9554,0.00,2.50,0.00,0.000,1030,0.000,0.093,3124,2422,3328,3380,3277,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9868,-0.59,-116.8,3124,2423,3380,3277,875.0,-6.5,517,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2422,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10165,-0.59,-116.8,3124,2422,3380,3276,895.5,-6.7,527,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2421,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10465,-0.59,-116.8,3124,2422,3380,3276,914.2,-6.1,537,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2422,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10766,-0.59,-116.8,3121,2421,3379,3276,933.7,-6.7,547,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2421,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11065,-0.59,-116.8,3124,2422,3379,3277,953.5,-6.7,557,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2420,3327,3378,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11366,-0.59,-116.8,3121,2421,3379,3275,973.9,-6.8,567,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2418,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11632,begin apogee
$GC,11641,-0.25,0.0,3125,2318,3379,3274,991.7,-6.6,576,11747,0.40,0.00,100.78,1.923,10246,0.203,0.000,3240,2318,2858,2934,2783,0,0,0,0,0,0,14.46,28.83,13.25
$STATE,11750,end apogee,CONTROL_FINISHED_OK
$STATE,11750,begin climb
$GC,11754,0.59,116.8,3240,2318,2933,2778,994.4,0.0,579,11876,0.88,0.00,109.55,1.883,10246,0.150,0.000,3510,2318,2378,2521,2235,0,0,0,0,0,0,13.88,28.83,13.10
$GC,12176,0.59,116.8,3510,2318,2520,2230,966.5,7.9,594,12186,0.00,2.60,0.00,0.000,260,0.000,0.112,3510,3735,2375,2520,2230,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12236,0.59,116.8,3511,3735,2524,2230,961.0,9.2,600,12246,0.00,2.47,0.00,0.000,1030,0.000,0.086,3519,2344,2373,2517,2230,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12566,0.59,116.8,3519,2339,2517,2233,932.5,8.4,613,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2339,2372,2517,2227,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24521,end climb,SURFACE_DEPTH_REACHED
$STATE,24521,begin surface coast
$FINISH,0.9,1.023550
$STATE,24563,end surface coast,CONTROL_FINISHED_OK
$STATE,24563,begin surface
$SM_CCo,24588,33.33,0.103,0,0,1328,375.06
$SM_GC,1.97,9.35,0.20,33.33,0.083,0.135,0.103,393,2426,1328,-9.12,-0.57,375.06,0,0,0,0,0,0,14.44,14.45,14.42
$IRIDIUM_FIX,4722.92,-12634.30,160714,070719
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.34
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3896416
$PM_FREEKB,59103488
$24V_AH,13.1,29.488
$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
$DEVICE_SECS,23.600,123.525,333.625,33.325,0.000,0.000,0.000,268.600,0.000,0.000,16.752,3146.764,17880.279,639.068,2712.279,717.402,0.000,2351.937,0.000,1970.897,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24584.000,11946.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.833,4.070,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,46642,1295
$CAP_FILE_SIZE,244808,0
$CFSIZE,260034560,245800960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,24759.77,0x2378ba,7,5
$CURRENT,0.009,283.7,1
$GPS,160714,213406,4740.318,-12536.707,97,1.4,97,18.7