version: 66.12
glider: 187
mission: 4
dive: 154
start: 7 23 114 19 7 12
data:
$ID,187
$MISSION,4
$DIVE,154
$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,-1593604.5
$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,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,28
$R_STBD_OVSHOOT,24
$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
$GPS1,230714,185806,4706.641,-12646.033,35,2.0,35,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-70.0
$GPS2,230714,190643,4706.567,-12645.986,14,2.0,14,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,215.9,21475,-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,-116.8,387,2381,1290,1002,0.0,0.0,0,90,0.00,0.00,-59.15,0.000,16386,0.000,0.000,387,2382,2688,2766,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,388,2382,2767,2606,3.2,-2.8,6,131,12.73,2.53,-12.62,0.000,18692,0.401,0.112,3127,3805,3337,3387,3287,0,0,0,0,0,0,14.09,14.28,14.55
$GC,361,-0.59,-116.8,3127,3805,3387,3292,52.8,-13.8,33,370,0.00,2.42,0.00,0.000,1030,0.000,0.066,3127,2407,3340,3388,3292,0,0,0,0,0,0,28.83,14.40,28.83
$GC,611,-0.59,-116.8,3126,2405,3389,3294,85.5,-12.5,58,619,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2408,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,861,-0.59,-116.8,3127,2405,3389,3294,115.0,-11.1,83,870,0.00,2.42,0.00,0.000,516,0.000,0.079,3127,983,3341,3389,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,901,-0.59,-116.8,3127,984,3390,3294,119.2,-10.4,87,910,0.00,2.42,0.00,0.000,1030,0.000,0.074,3127,2397,3340,3386,3294,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1151,-0.59,-116.8,3127,2397,3389,3294,143.8,-9.6,112,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2396,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1401,-0.59,-116.8,3127,2397,3389,3294,168.5,-9.6,137,1409,0.00,2.45,0.00,0.000,260,0.000,0.096,3127,3819,3341,3389,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1481,-0.59,-116.8,3127,3819,3389,3290,176.3,-9.7,145,1490,0.00,2.40,0.00,0.000,1030,0.000,0.067,3127,2390,3341,3389,3294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1731,-0.59,-116.8,3127,2386,3389,3293,200.1,-9.6,170,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3342,3389,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1981,-0.59,-116.8,3127,2386,3389,3293,223.3,-9.2,195,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3340,3389,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.59,-116.8,3127,2386,3389,3291,245.7,-8.8,220,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3340,3389,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2491,-0.59,-116.8,3123,2386,3389,3289,268.7,-8.9,232,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3339,3389,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2791,-0.59,-116.8,3127,2386,3389,3288,294.5,-8.5,242,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3338,3389,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3091,-0.59,-116.8,3127,2386,3389,3287,319.4,-8.1,252,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3337,3389,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3391,-0.59,-116.8,3127,2386,3389,3286,343.8,-8.4,262,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2386,3337,3389,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3692,-0.59,-116.8,3127,2386,3388,3284,370.3,-9.0,272,3699,0.00,2.38,0.00,0.000,516,0.000,0.087,3127,1000,3336,3388,3284,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3740,-0.59,-116.8,3127,1000,3388,3284,375.0,-9.7,277,3749,0.00,2.45,0.00,0.000,1030,0.000,0.082,3127,2399,3337,3389,3285,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4052,-0.59,-116.8,3127,2399,3387,3283,403.0,-8.7,288,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3334,3387,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4351,-0.59,-116.8,3124,2404,3382,3282,428.2,-8.5,298,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3334,3386,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4651,-0.59,-116.8,3127,2402,3385,3282,453.5,-8.5,308,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3331,3386,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4951,-0.59,-116.8,3127,2399,3385,3281,477.8,-8.1,318,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3334,3385,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5251,-0.59,-116.8,3130,2395,3384,3279,502.9,-8.5,328,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3332,3385,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5551,-0.59,-116.8,3127,2399,3384,3279,528.1,-8.4,338,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3331,3384,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5851,-0.59,-116.8,3126,2399,3383,3274,552.2,-7.9,348,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3330,3383,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6151,-0.59,-116.8,3127,2399,3383,3277,574.8,-7.7,358,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3330,3383,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6451,-0.59,-116.8,3126,2397,3382,3276,597.4,-7.5,368,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3329,3382,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6751,-0.59,-116.8,3127,2399,3382,3276,619.1,-7.2,378,6758,0.00,2.42,0.00,0.000,516,0.000,0.088,3132,1000,3328,3382,3275,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6811,-0.59,-116.8,3127,1000,3382,3275,623.6,-7.7,384,6819,0.00,2.42,0.00,0.000,1030,0.000,0.086,3123,2407,3328,3382,3275,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7144,-0.59,-116.8,3127,2401,3382,3274,647.4,-7.2,397,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3328,3383,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7441,-0.59,-116.8,3127,2401,3381,3273,669.4,-7.3,407,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2401,3327,3382,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7741,-0.59,-116.8,3125,2401,3381,3273,691.0,-7.3,417,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3327,3381,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8041,-0.59,-116.8,3127,2402,3381,3272,713.8,-7.7,427,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3327,3381,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8341,-0.59,-116.8,3126,2401,3381,3271,736.8,-7.7,437,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3326,3381,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8641,-0.59,-116.8,3127,2401,3381,3270,759.9,-7.7,447,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3325,3380,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8941,-0.59,-116.8,3127,2402,3381,3270,783.0,-7.8,457,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3327,3385,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9241,-0.59,-116.8,3127,2402,3380,3269,805.7,-7.7,467,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3324,3379,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9541,-0.59,-116.8,3127,2402,3380,3269,828.5,-7.7,477,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3324,3380,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9841,-0.59,-116.8,3127,2401,3379,3269,851.2,-7.5,487,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3324,3379,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10141,-0.59,-116.8,3125,2401,3379,3268,873.5,-7.2,497,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3324,3379,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10441,-0.59,-116.8,3128,2402,3379,3268,894.3,-6.8,507,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3321,3374,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10741,-0.59,-116.8,3121,2401,3377,3268,913.6,-6.2,517,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3321,3374,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11041,-0.59,-116.8,3126,2401,3378,3268,931.0,-5.8,527,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3323,3378,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11341,-0.59,-116.8,3127,2401,3375,3269,947.2,-5.3,537,11345,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3320,3378,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11641,-0.59,-116.8,3127,2400,3373,3266,962.8,-5.3,547,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3322,3378,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11941,-0.59,-116.8,3127,2401,3378,3266,979.2,-5.5,557,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3322,3378,3267,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12148,begin apogee
$GC,12156,-0.25,0.0,3127,2331,3377,3266,991.0,-5.7,564,12261,0.40,0.00,99.10,1.920,10246,0.204,0.000,3242,2331,2858,2937,2780,0,0,0,0,0,0,14.42,28.83,13.26
$STATE,12264,end apogee,CONTROL_FINISHED_OK
$STATE,12264,begin climb
$GC,12268,0.59,116.8,3242,2331,2934,2776,993.1,0.0,567,12384,0.85,0.00,107.70,1.888,10246,0.145,0.000,3507,2330,2381,2528,2235,0,0,0,0,0,0,13.89,28.83,13.09
$GC,12664,0.59,116.8,3508,2331,2524,2228,963.4,8.7,581,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2331,2376,2524,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12967,0.59,116.8,3507,2331,2523,2225,938.2,8.4,591,12977,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2331,2374,2523,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13267,0.59,116.8,3507,2331,2523,2224,913.2,8.3,601,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2330,2373,2522,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13567,0.59,116.8,3507,2331,2522,2222,888.3,8.5,611,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2330,2372,2522,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13867,0.59,116.8,3513,2331,2521,2222,863.3,8.2,621,13877,0.00,2.53,0.00,0.000,260,0.000,0.108,3508,3748,2372,2522,2222,0,0,0,0,0,0,28.83,14.48,28.83
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$FREEZE,25.60,16.083,-1.752,0,1,0
$STATE,24972,end climb,NO_VERTICAL_VELOCITY
$STATE,24972,begin surface
$SM_CCo,24977,266.75,0.675,1,0,467,586.51
$SM_GC,1.74,9.70,2.67,0.00,0.106,0.075,0.000,405,2401,468,-9.10,-0.71,586.27,0,0,0,0,0,0,14.10,14.14,28.83
$IRIDIUM_FIX,4651.23,-12638.89,230714,121237
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.51
$INTERNAL_PRESSURE,8.89367
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3888736
$PM_FREEKB,58282688
$24V_AH,13.1,36.146
$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,23.800,69.025,290.175,266.750,0.000,0.000,0.000,286.850,0.000,0.000,15.541,3148.102,18593.836,774.512,2675.010,704.452,0.000,2446.317,0.000,1930.179,0.000,0.537,0.000
$DEVICE_MAMPS,400.860,188.955,1920.150,674.730,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24993.000,12458.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.804,4.069,0.000,0.000
$MEM,290812
$DATA_FILE_SIZE,43300,1280
$CAP_FILE_SIZE,238813,0
$CFSIZE,260034560,243175424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,25261.74,0x2378ba,7,5
$CURRENT,0.023,331.1,1
$GPS,240714,021224,4705.169,-12649.329,67,1.5,67,18.6