version: 66.12
glider: 187
mission: 4
dive: 150
start: 7 22 114 14 51 27
data:
$ID,187
$MISSION,4
$DIVE,150
$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,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,-1593599.4
$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,25
$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,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
$GPS1,220714,144236,4714.256,-12632.799,42,1.6,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-75.4
$GPS2,220714,145101,4714.317,-12632.871,17,1.8,17,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,198.2,43327,-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,-116.8,391,2401,1443,1218,0.0,0.0,0,91,0.00,0.00,-60.20,0.000,16386,0.000,0.000,391,2408,2937,2988,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,387,2402,2988,2888,3.9,-4.2,6,121,12.55,0.00,-6.80,0.000,18950,0.395,0.000,3126,2402,3336,3380,3293,0,0,0,0,0,0,14.09,28.83,14.54
$GC,361,-0.59,-116.8,3126,2403,3389,3300,56.7,-14.9,33,370,0.00,2.42,0.00,0.000,516,0.000,0.078,3126,988,3341,3388,3294,0,0,0,0,0,0,28.83,14.40,28.83
$GC,513,-0.59,-116.8,3126,987,3389,3295,78.5,-14.2,48,523,0.00,2.45,0.00,0.000,1030,0.000,0.078,3126,2398,3342,3389,3295,0,0,0,0,0,0,28.83,14.42,28.83
$GC,762,-0.59,-116.8,3126,2398,3391,3296,108.9,-11.8,73,772,0.00,2.47,0.00,0.000,260,0.000,0.096,3126,3816,3343,3390,3296,0,0,0,0,0,0,28.83,14.45,28.83
$GC,822,-0.59,-116.8,3126,3815,3390,3296,115.5,-10.8,79,831,0.00,2.40,0.00,0.000,1030,0.000,0.067,3126,2390,3342,3390,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1073,-0.59,-116.8,3126,2391,3391,3296,143.1,-10.8,104,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3343,3391,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1322,-0.59,-116.8,3126,2386,3392,3296,168.6,-9.5,129,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2387,3343,3390,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1573,-0.59,-116.8,3126,2387,3392,3295,191.2,-9.1,154,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2383,3340,3389,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1822,-0.59,-116.8,3126,2386,3389,3296,213.9,-9.5,179,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2072,-0.59,-116.8,3126,2386,3390,3296,237.5,-9.3,204,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2333,-0.59,-116.8,3127,2386,3390,3294,261.8,-9.3,222,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2384,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2633,-0.59,-116.8,3127,2387,3390,3294,289.4,-9.2,232,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2933,-0.59,-116.8,3126,2386,3390,3293,317.5,-9.4,242,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3341,3390,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,-0.59,-116.8,3126,2386,3390,3291,344.4,-8.6,252,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3344,3397,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3533,-0.59,-116.8,3126,2386,3390,3290,369.3,-8.3,262,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3340,3390,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3833,-0.59,-116.8,3126,2386,3389,3289,394.1,-8.3,272,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3339,3389,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,-0.59,-116.8,3126,2386,3389,3288,419.3,-8.5,282,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3338,3389,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4433,-0.59,-116.8,3126,2386,3388,3287,444.6,-8.4,292,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4733,-0.59,-116.8,3126,2389,3387,3287,471.5,-9.0,302,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3335,3387,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5032,-0.59,-116.8,3127,2386,3382,3286,497.4,-8.4,312,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3336,3387,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5333,-0.59,-116.8,3126,2386,3386,3286,521.1,-7.7,322,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5632,-0.59,-116.8,3126,2386,3385,3285,544.8,-7.9,332,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3335,3386,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5933,-0.59,-116.8,3126,2387,3385,3284,568.0,-7.7,342,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3334,3385,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6232,-0.59,-116.8,3126,2386,3384,3284,590.7,-7.5,352,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3334,3385,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6533,-0.59,-116.8,3126,2385,3384,3282,613.6,-7.5,362,6541,0.00,2.40,0.00,0.000,516,0.000,0.093,3126,997,3334,3385,3283,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6581,-0.59,-116.8,3126,997,3383,3283,617.6,-8.3,367,6591,0.00,2.47,0.00,0.000,1030,0.000,0.086,3126,2398,3332,3383,3282,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6896,-0.59,-116.8,3126,2397,3383,3282,640.1,-7.3,378,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3332,3383,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7193,-0.59,-116.8,3126,2397,3383,3281,661.8,-7.3,388,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7493,-0.59,-116.8,3127,2400,3382,3281,683.3,-7.2,398,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7793,-0.59,-116.8,3126,2397,3382,3280,705.1,-7.3,408,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3331,3382,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8093,-0.59,-116.8,3129,2397,3382,3279,727.2,-7.4,418,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3330,3382,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8393,-0.59,-116.8,3126,2397,3382,3278,751.5,-8.2,428,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3329,3382,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8693,-0.59,-116.8,3126,2397,3382,3278,775.8,-8.0,438,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8993,-0.59,-116.8,3126,2397,3376,3278,798.1,-7.1,448,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9293,-0.59,-116.8,3126,2397,3382,3277,818.8,-6.9,458,9300,0.00,2.42,0.00,0.000,516,0.000,0.092,3126,1002,3329,3381,3277,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9352,-0.59,-116.8,3126,1002,3381,3274,823.1,-7.2,464,9360,0.00,2.42,0.00,0.000,1030,0.000,0.087,3126,2399,3331,3381,3282,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9686,-0.59,-116.8,3126,2398,3381,3276,844.9,-6.6,477,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9982,-0.59,-116.8,3126,2398,3380,3276,865.2,-6.8,487,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3329,3382,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10283,-0.59,-116.8,3126,2399,3380,3275,886.4,-7.1,497,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10582,-0.59,-116.8,3127,2398,3383,3275,907.8,-7.1,507,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3328,3381,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10883,-0.59,-116.8,3126,2398,3380,3274,928.1,-6.7,517,10886,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11182,-0.59,-116.8,3126,2403,3380,3274,948.8,-6.8,527,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3328,3383,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11483,-0.59,-116.8,3126,2398,3380,3273,969.1,-6.8,537,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11779,begin apogee
$GC,11788,-0.25,0.0,3126,2328,3380,3273,990.3,-7.0,547,11893,0.40,0.00,100.57,1.919,10246,0.203,0.000,3242,2328,2858,2934,2782,0,0,0,0,0,0,14.42,28.83,13.26
$STATE,11897,end apogee,CONTROL_FINISHED_OK
$STATE,11897,begin climb
$GC,11901,0.59,116.8,3242,2328,2933,2777,993.5,0.0,550,12017,0.85,0.00,108.15,1.887,10246,0.146,0.000,3507,2328,2381,2529,2233,0,0,0,0,0,0,13.89,28.83,13.10
$GC,12297,0.59,116.8,3507,2328,2525,2228,967.4,8.3,564,12306,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2328,2377,2525,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12601,0.59,116.8,3507,2326,2523,2227,942.5,8.3,574,12610,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2328,2374,2523,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12900,0.59,116.8,3507,2328,2522,2225,917.6,8.5,584,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2328,2371,2518,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13201,0.59,116.8,3508,2328,2522,2224,891.2,8.9,594,13210,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2328,2373,2522,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13500,0.59,116.8,3508,2328,2521,2224,863.8,9.1,604,13509,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2328,2372,2521,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13801,0.59,116.8,3513,2328,2521,2220,837.2,8.9,614,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2328,2371,2522,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14100,0.59,116.8,3508,2327,2520,2223,811.1,8.6,624,14110,0.00,2.47,0.00,0.000,516,0.000,0.104,3508,926,2373,2523,2223,0,0,0,0,0,0,28.83,14.47,28.83
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$STATE,24609,end climb,SURFACE_DEPTH_REACHED
$STATE,24609,begin surface coast
$FINISH,0.8,1.002901
$STATE,24641,end surface coast,CONTROL_FINISHED_OK
$STATE,24641,begin surface
$SM_CCo,24669,11.48,0.103,0,0,1329,375.06
$SM_GC,3.19,9.18,2.38,11.48,0.066,0.072,0.103,388,2389,1329,-9.11,0.57,375.06,0,0,0,0,0,0,14.45,14.44,14.40
$IRIDIUM_FIX,4657.54,-12636.35,220714,070754
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.70
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3890016
$PM_FREEKB,58423520
$24V_AH,13.1,34.980
$10V_AH,13.5,0.000
$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,23.350,73.850,365.025,11.475,0.000,0.000,0.000,271.050,0.000,0.000,18.449,3002.685,18292.568,570.304,2584.769,716.769,0.000,2204.381,0.000,1838.403,0.000,0.536,0.000
$DEVICE_MAMPS,394.740,179.775,1919.385,103.275,0.000,0.000,0.000,167.535,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24662.000,12120.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.735,4.047,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,43188,1211
$CAP_FILE_SIZE,231765,0
$CFSIZE,260034560,243601408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25870.84,0x2378ba,7,5
$CURRENT,0.079,291.6,1
$GPS,220714,214449,4712.422,-12636.692,50,4.2,70,18.6