version: 66.12
glider: 187
mission: 4
dive: 152
start: 7 23 114 5 0 20
data:
$ID,187
$MISSION,4
$DIVE,152
$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,-1593602
$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,26
$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
$GPS1,230714,045136,4709.862,-12639.163,43,1.5,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-70.6
$GPS2,230714,045954,4709.878,-12639.150,11,1.5,16,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,217.3,32066,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,404,2399,539,420,0.0,0.0,0,119,0.00,0.00,-88.40,0.000,16386,0.000,0.000,404,2404,2827,2888,2767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.59,-116.8,404,2404,2889,2768,3.6,-3.4,9,159,12.50,2.53,-9.23,0.000,18948,0.396,0.105,3124,992,3338,3386,3291,0,0,0,0,0,0,14.11,14.31,14.55
$GC,390,-0.59,-116.8,3126,992,3388,3293,56.9,-12.7,36,399,0.00,2.42,0.00,0.000,1030,0.000,0.078,3124,2399,3340,3388,3293,0,0,0,0,0,0,28.83,14.40,28.83
$GC,640,-0.59,-116.8,3125,2399,3389,3294,87.5,-13.1,61,649,0.00,2.42,0.00,0.000,516,0.000,0.077,3130,980,3342,3390,3294,0,0,0,0,0,0,28.83,14.44,28.83
$GC,870,-0.59,-116.8,3124,980,3390,3294,115.1,-11.4,84,879,0.00,2.47,0.00,0.000,1030,0.000,0.076,3125,2409,3342,3390,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1120,-0.59,-116.8,3125,2409,3390,3294,140.5,-10.5,109,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2409,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1370,-0.59,-116.8,3125,2414,3390,3294,166.9,-10.3,134,1379,0.00,2.42,0.00,0.000,516,0.000,0.082,3125,994,3342,3390,3294,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1450,-0.59,-116.8,3125,994,3390,3294,175.2,-10.7,142,1459,0.00,2.42,0.00,0.000,1030,0.000,0.080,3125,2399,3342,3390,3294,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1700,-0.59,-116.8,3125,2399,3390,3293,199.2,-9.6,167,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3341,3390,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1950,-0.59,-116.8,3127,2398,3389,3292,222.4,-9.1,192,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3340,3390,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-0.59,-116.8,3124,2398,3390,3290,246.9,-10.2,217,2208,0.00,2.42,0.00,0.000,516,0.000,0.081,3125,977,3340,3389,3291,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2260,-0.59,-116.8,3125,980,3390,3286,253.3,-11.2,223,2268,0.00,2.45,0.00,0.000,1030,0.000,0.080,3125,2408,3339,3388,3290,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2593,-0.59,-116.8,3124,2409,3390,3288,285.4,-9.7,236,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2408,3339,3390,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2890,-0.59,-116.8,3125,2408,3390,3287,314.4,-9.5,246,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2408,3338,3389,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3190,-0.59,-116.8,3125,2408,3390,3287,341.1,-8.9,256,3198,0.00,2.42,0.00,0.000,516,0.000,0.086,3125,994,3337,3389,3286,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3259,-0.59,-116.8,3125,995,3387,3286,347.4,-9.2,263,3268,0.00,2.47,0.00,0.000,1030,0.000,0.084,3125,2399,3337,3389,3286,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3583,-0.59,-116.8,3125,2399,3388,3285,374.3,-8.2,275,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3336,3388,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3880,-0.59,-116.8,3124,2399,3387,3283,398.6,-8.1,285,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3335,3387,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4180,-0.59,-116.8,3125,2399,3391,3282,422.7,-8.2,295,4189,0.00,2.42,0.00,0.000,516,0.000,0.084,3125,982,3334,3387,3282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4240,-0.59,-116.8,3124,983,3386,3282,428.0,-9.2,301,4247,0.00,2.45,0.00,0.000,1030,0.000,0.083,3125,2400,3334,3386,3282,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4573,-0.59,-116.8,3125,2400,3385,3282,457.4,-8.9,314,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3333,3385,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4870,-0.59,-116.8,3125,2400,3385,3287,483.6,-8.7,324,4877,0.00,2.42,0.00,0.000,516,0.000,0.086,3125,985,3335,3391,3280,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4960,-0.59,-116.8,3122,984,3384,3280,491.8,-9.2,333,4968,0.00,2.45,0.00,0.000,1030,0.000,0.084,3125,2400,3336,3390,3283,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5293,-0.59,-116.8,3125,2400,3383,3278,518.9,-8.1,346,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3331,3384,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5590,-0.59,-116.8,3125,2400,3389,3277,542.5,-7.7,356,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3330,3383,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5890,-0.59,-116.8,3125,2400,3383,3277,566.8,-8.2,366,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3330,3383,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6190,-0.59,-116.8,3124,2400,3382,3276,591.8,-8.1,376,6198,0.00,2.47,0.00,0.000,260,0.000,0.104,3125,3819,3325,3377,3273,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6250,-0.59,-116.8,3124,3819,3382,3276,597.2,-8.9,382,6258,0.00,2.42,0.00,0.000,1030,0.000,0.073,3125,2389,3328,3381,3276,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6582,-0.59,-116.8,3125,2383,3382,3275,623.4,-7.6,395,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3328,3382,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6880,-0.59,-116.8,3124,2384,3382,3274,644.3,-6.8,405,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3327,3381,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,-0.59,-116.8,3125,2381,3381,3278,664.2,-6.6,415,7188,0.00,2.40,0.00,0.000,516,0.000,0.090,3125,992,3327,3381,3273,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7229,-0.59,-116.8,3125,990,3382,3273,667.9,-7.4,420,7238,0.00,2.45,0.00,0.000,1030,0.000,0.083,3124,2408,3327,3381,3273,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7543,-0.59,-116.8,3124,2408,3380,3272,690.0,-7.4,431,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2413,3326,3381,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7840,-0.59,-116.8,3124,2408,3381,3271,713.1,-7.7,441,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2408,3326,3381,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8140,-0.59,-116.8,3125,2409,3380,3270,737.2,-7.9,451,8148,0.00,2.47,0.00,0.000,516,0.000,0.092,3124,985,3325,3380,3270,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8200,-0.59,-116.8,3125,985,3380,3270,742.3,-8.6,457,8208,0.00,2.47,0.00,0.000,1030,0.000,0.086,3124,2408,3325,3380,3270,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8533,-0.59,-116.8,3125,2407,3385,3269,766.3,-7.1,470,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2408,3324,3380,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8831,-0.59,-116.8,3125,2408,3379,3269,786.8,-6.7,480,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2407,3323,3379,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9130,-0.59,-116.8,3124,2408,3379,3268,806.1,-6.2,490,9137,0.00,2.47,0.00,0.000,516,0.000,0.093,3124,991,3323,3379,3268,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9191,-0.59,-116.8,3127,990,3379,3264,810.2,-7.1,496,9198,0.00,2.45,0.00,0.000,1030,0.000,0.087,3125,2399,3320,3378,3263,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9523,-0.59,-116.8,3125,2404,3378,3268,833.4,-7.2,509,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3323,3378,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9820,-0.59,-116.8,3125,2399,3378,3268,855.8,-7.6,519,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3323,3378,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10120,-0.59,-116.8,3126,2399,3378,3267,879.0,-7.6,529,10127,0.00,2.45,0.00,0.000,516,0.000,0.091,3125,990,3322,3378,3267,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10199,-0.59,-116.8,3124,990,3377,3268,885.5,-8.5,537,10208,0.00,2.50,0.00,0.000,1030,0.000,0.087,3121,2400,3321,3376,3266,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10513,-0.59,-116.8,3124,2400,3377,3267,908.6,-7.4,548,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3321,3378,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10810,-0.59,-116.8,3125,2400,3377,3266,929.6,-6.9,558,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3320,3377,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11111,-0.59,-116.8,3125,2400,3377,3271,949.7,-6.7,568,11118,0.00,2.45,0.00,0.000,516,0.000,0.091,3124,986,3321,3377,3265,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11170,-0.59,-116.8,3125,986,3377,3265,954.0,-7.5,574,11178,0.00,2.47,0.00,0.000,1030,0.000,0.086,3125,2405,3320,3376,3264,0,0,0,0,0,0,28.83,14.51,28.83
$GC,11503,-0.59,-116.8,3121,2405,3377,3265,975.7,-6.7,587,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3321,3377,3265,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11706,begin apogee
$GC,11715,-0.25,0.0,3124,2318,3377,3265,990.0,-6.7,594,11820,0.40,0.00,100.00,1.913,10246,0.200,0.000,3241,2318,2858,2938,2778,0,0,0,0,0,0,14.43,28.83,13.26
$STATE,11824,end apogee,CONTROL_FINISHED_OK
$STATE,11824,begin climb
$GC,11828,0.59,116.8,3240,2318,2934,2775,993.0,0.0,597,11944,0.85,0.00,107.95,1.888,10246,0.144,0.000,3502,2318,2380,2531,2229,0,0,0,0,0,0,13.90,28.83,13.11
$GC,12224,0.59,116.8,3506,2318,2528,2221,966.5,8.3,611,12233,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2318,2374,2528,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12527,0.59,116.8,3507,2318,2527,2220,941.2,8.5,621,12537,0.00,2.58,0.00,0.000,260,0.000,0.109,3506,3752,2376,2527,2225,0,0,0,0,0,0,28.83,14.35,28.83
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$STATE,24751,end climb,SURFACE_DEPTH_REACHED
$STATE,24752,begin surface coast
$FINISH,0.8,1.023089
$STATE,24784,end surface coast,CONTROL_FINISHED_OK
$STATE,24784,begin surface
$SM_CCo,24870,0.00,0.000,0,0,1217,402.54
$SM_GC,1.93,9.43,0.12,0.00,0.080,0.174,0.000,395,2404,1217,-9.11,-0.68,402.54,0,0,0,0,0,0,14.30,14.31,28.83
$IRIDIUM_FIX,4654.38,-12634.46,220714,212109
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.95
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3889376
$PM_FREEKB,58354464
$24V_AH,13.1,35.563
$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,23.425,128.425,417.475,0.000,0.000,0.000,0.000,264.150,0.000,0.000,17.216,3190.237,17977.414,698.286,2737.485,740.497,0.000,2426.605,0.000,2021.340,0.000,0.536,0.000
$DEVICE_MAMPS,395.505,174.420,1913.265,0.000,0.000,0.000,0.000,168.300,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24805.000,12014.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.834,4.053,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,46675,1328
$CAP_FILE_SIZE,247872,0
$CFSIZE,260034560,243372032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25546.48,0x2378ba,7,5
$CURRENT,0.017,183.6,1
$GPS,230714,115606,4707.985,-12642.228,29,1.4,29,18.6