version: 66.12
glider: 187
mission: 4
dive: 156
start: 7 24 114 9 29 11
data:
$ID,187
$MISSION,4
$DIVE,156
$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,-1593607
$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,29
$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
$GPS1,240714,091624,4703.856,-12652.714,64,1.5,64,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-72.7
$GPS2,240714,092843,4703.693,-12652.801,11,2.0,11,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,202.5,11378,-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,-116.8,396,2395,1438,1224,0.0,0.0,0,80,0.00,0.00,-49.03,0.000,16386,0.000,0.000,400,2395,2601,2681,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,400,2395,2685,2519,3.0,-2.3,5,122,12.62,2.58,-15.20,0.000,18692,0.398,0.118,3128,3805,3336,3386,3286,0,0,0,0,0,0,14.09,14.30,14.52
$GC,352,-0.59,-116.8,3127,3806,3387,3290,53.1,-14.7,32,361,0.00,2.42,0.00,0.000,1030,0.000,0.067,3127,2389,3336,3383,3290,0,0,0,0,0,0,28.83,14.40,28.83
$GC,602,-0.59,-116.8,3128,2384,3389,3292,86.0,-12.3,57,611,0.00,2.50,0.00,0.000,260,0.000,0.093,3124,3806,3340,3389,3292,0,0,0,0,0,0,28.83,14.41,28.83
$GC,841,-0.59,-116.8,3127,3806,3389,3293,114.9,-11.8,81,851,0.00,2.42,0.00,0.000,1030,0.000,0.069,3127,2403,3341,3389,3293,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1091,-0.59,-116.8,3127,2399,3389,3292,143.2,-10.7,106,1101,0.00,2.47,0.00,0.000,260,0.000,0.095,3127,3817,3340,3392,3288,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1182,-0.59,-116.8,3127,3817,3389,3292,152.8,-10.6,115,1191,0.00,2.42,0.00,0.000,1030,0.000,0.067,3127,2385,3340,3388,3292,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1431,-0.59,-116.8,3127,2388,3389,3288,176.1,-9.5,140,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2383,3341,3391,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1681,-0.59,-116.8,3128,2383,3389,3292,200.0,-9.7,165,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2383,3341,3390,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.59,-116.8,3127,2387,3396,3291,223.7,-9.7,190,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2381,3340,3389,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2182,-0.59,-116.8,3127,2383,3389,3289,247.4,-9.2,215,2191,0.00,2.38,0.00,0.000,516,0.000,0.081,3128,988,3337,3389,3285,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2230,-0.59,-116.8,3128,989,3389,3289,252.1,-9.4,220,2241,0.00,2.45,0.00,0.000,1030,0.000,0.078,3129,2399,3339,3389,3289,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2545,-0.59,-116.8,3128,2395,3389,3286,280.0,-9.0,231,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2395,3338,3389,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2842,-0.59,-116.8,3128,2395,3389,3286,306.6,-8.8,241,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3336,3389,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3142,-0.59,-116.8,3128,2395,3387,3286,332.0,-8.5,251,3149,0.00,2.47,0.00,0.000,260,0.000,0.099,3128,3818,3336,3387,3286,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3221,-0.59,-116.8,3127,3818,3387,3286,338.7,-8.3,259,3230,0.00,2.42,0.00,0.000,1030,0.000,0.072,3131,2388,3336,3386,3286,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3534,-0.59,-116.8,3127,2385,3386,3284,362.3,-7.4,270,3542,0.00,2.38,0.00,0.000,516,0.000,0.085,3127,997,3335,3387,3284,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3601,-0.59,-116.8,3127,997,3386,3284,368.0,-8.3,277,3611,0.00,2.45,0.00,0.000,1030,0.000,0.083,3124,2396,3335,3386,3284,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3925,-0.59,-116.8,3127,2396,3385,3282,393.0,-7.9,289,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3333,3385,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4223,-0.59,-116.8,3128,2396,3385,3281,417.5,-8.2,299,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2396,3333,3385,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4522,-0.59,-116.8,3127,2395,3384,3281,441.1,-7.9,309,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3332,3384,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4823,-0.59,-116.8,3128,2395,3383,3279,465.2,-8.2,319,4830,0.00,2.40,0.00,0.000,516,0.000,0.087,3127,1005,3331,3383,3279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4871,-0.59,-116.8,3128,1000,3383,3279,469.7,-9.1,324,4881,0.00,2.42,0.00,0.000,1030,0.000,0.084,3128,2403,3331,3383,3279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5185,-0.59,-116.8,3128,2403,3382,3278,496.5,-8.6,335,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2408,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5482,-0.59,-116.8,3128,2403,3382,3277,523.4,-8.9,345,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5783,-0.59,-116.8,3128,2403,3382,3276,549.8,-8.6,355,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3329,3382,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6082,-0.59,-116.8,3127,2403,3382,3276,575.6,-8.6,365,6090,0.00,2.47,0.00,0.000,260,0.000,0.106,3127,3812,3328,3381,3275,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6131,-0.59,-116.8,3127,3810,3381,3275,580.1,-8.9,370,6143,0.00,2.45,0.00,0.000,1030,0.000,0.076,3127,2406,3327,3381,3273,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6445,-0.59,-116.8,3127,2406,3384,3274,606.8,-8.6,381,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2406,3327,3381,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6742,-0.59,-116.8,3127,2406,3381,3274,633.0,-8.5,391,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2406,3327,3381,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7042,-0.59,-116.8,3128,2406,3381,3272,657.8,-8.3,401,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2406,3326,3380,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7343,-0.59,-116.8,3127,2406,3380,3272,681.9,-7.8,411,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3326,3380,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7642,-0.59,-116.8,3127,2409,3379,3271,703.7,-7.0,421,7650,0.00,2.45,0.00,0.000,516,0.000,0.090,3131,985,3325,3379,3271,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7692,-0.59,-116.8,3128,985,3380,3270,707.5,-7.7,426,7702,0.00,2.45,0.00,0.000,1030,0.000,0.083,3128,2399,3325,3380,3271,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8005,-0.59,-116.8,3127,2398,3379,3270,726.9,-6.0,437,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8303,-0.59,-116.8,3130,2398,3379,3269,743.8,-5.5,447,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3323,3377,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8602,-0.59,-116.8,3128,2399,3378,3269,760.4,-5.7,457,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2398,3322,3378,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8902,-0.59,-116.8,3127,2397,3378,3274,780.2,-6.8,467,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3321,3378,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9202,-0.59,-116.8,3127,2399,3378,3268,801.9,-7.4,477,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3323,3378,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9502,-0.59,-116.8,3127,2396,3378,3268,824.1,-7.5,487,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3323,3378,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9802,-0.59,-116.8,3128,2399,3378,3270,845.3,-6.9,497,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3326,3379,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10102,-0.59,-116.8,3127,2396,3378,3267,866.4,-6.9,507,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3322,3377,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10402,-0.59,-116.8,3128,2398,3377,3267,886.9,-6.6,517,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3322,3377,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10702,-0.59,-116.8,3127,2399,3377,3266,906.1,-6.4,527,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3321,3377,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11002,-0.59,-116.8,3127,2398,3377,3264,924.7,-6.2,537,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3320,3376,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11302,-0.59,-116.8,3127,2398,3376,3265,943.3,-6.1,547,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3321,3376,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11602,-0.59,-116.8,3127,2400,3376,3265,962.0,-6.3,557,11606,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3320,3376,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11903,-0.59,-116.8,3127,2398,3376,3265,982.0,-6.7,567,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3320,3376,3265,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12049,begin apogee
$GC,12057,-0.25,0.0,3127,2327,3373,3265,992.0,-6.7,572,12162,0.40,0.00,99.10,1.923,10246,0.203,0.000,3243,2327,2858,2935,2782,0,0,0,0,0,0,14.42,28.83,13.26
$STATE,12165,end apogee,CONTROL_FINISHED_OK
$STATE,12165,begin climb
$GC,12169,0.59,116.8,3243,2327,2934,2777,995.0,0.0,575,12285,0.85,0.00,107.60,1.896,10246,0.145,0.000,3508,2326,2382,2529,2235,0,0,0,0,0,0,13.88,28.83,13.09
$GC,12565,0.59,116.8,3508,2326,2523,2229,968.6,8.5,589,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2327,2378,2526,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12868,0.59,116.8,3508,2327,2525,2227,942.1,9.1,599,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2327,2374,2524,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13168,0.59,116.8,3508,2327,2523,2227,913.9,9.4,609,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2327,2375,2524,2226,0,0,0,0,0,0,28.83,28.83,28.83
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$FREEZE,25.61,16.259,-1.752,0,1,0
$STATE,25094,end climb,NO_VERTICAL_VELOCITY
$STATE,25094,begin surface
$SM_CCo,25102,224.45,0.669,0,0,468,585.78
$SM_GC,1.85,9.70,0.15,0.00,0.085,0.145,0.000,400,2402,466,-9.11,-0.79,586.76,0,0,0,0,0,0,14.05,14.09,28.83
$IRIDIUM_FIX,4651.23,-12655.36,240714,090919
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.94
$INTERNAL_PRESSURE,8.88391
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3888096
$PM_FREEKB,58210528
$24V_AH,13.1,36.730
$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,23.875,123.550,329.275,224.450,0.000,0.000,0.000,444.775,0.000,0.000,12.691,3198.067,18496.250,815.309,2888.844,763.448,0.000,2714.837,0.000,2012.863,0.000,0.536,0.000
$DEVICE_MAMPS,397.800,179.775,1923.210,668.610,0.000,0.000,0.000,168.300,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25122.000,12347.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.782,4.079,0.000,0.000
$MEM,290764
$DATA_FILE_SIZE,46645,1317
$CAP_FILE_SIZE,254963,0
$CFSIZE,260034560,242941952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25611.91,0x2378ba,7,5
$CURRENT,0.024,103.8,1
$GPS,240714,163500,4701.642,-12655.085,58,1.0,58,18.6