version: 66.12
glider: 187
mission: 4
dive: 157
start: 7 24 114 16 44 56
data:
$ID,187
$MISSION,4
$DIVE,157
$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,-1593608.2
$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,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,23
$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
$GPS1,240714,163500,4701.642,-12655.085,58,1.0,58,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-71.6
$GPS2,240714,164430,4701.727,-12655.048,15,1.0,21,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,228.5,7025,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.59,-116.8,399,2404,532,420,0.0,0.0,0,119,0.00,0.00,-87.85,0.000,16386,0.000,0.000,399,2403,2844,2901,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.59,-116.8,399,2401,2903,2788,3.5,-3.5,9,160,12.52,2.55,-8.70,0.000,18692,0.396,0.116,3124,3809,3337,3387,3288,0,0,0,0,0,0,14.10,14.29,14.53
$GC,249,-0.59,-116.8,3123,3808,3388,3290,35.8,-18.6,22,261,0.00,2.42,0.00,0.000,1030,0.000,0.067,3124,2395,3339,3389,3290,0,0,0,0,0,0,28.83,14.36,28.83
$GC,501,-0.59,-116.8,3129,2391,3390,3291,70.6,-13.9,47,512,0.00,2.40,0.00,0.000,516,0.000,0.079,3124,986,3337,3388,3287,0,0,0,0,0,0,28.83,14.43,28.83
$GC,582,-0.59,-116.8,3121,984,3389,3292,81.5,-13.4,55,593,0.00,2.42,0.00,0.000,1030,0.000,0.075,3125,2398,3341,3390,3292,0,0,0,0,0,0,28.83,14.44,28.83
$GC,833,-0.59,-116.8,3124,2398,3391,3292,110.4,-11.1,80,843,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3341,3390,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1083,-0.59,-116.8,3121,2397,3386,3292,136.5,-10.3,105,1093,0.00,2.40,0.00,0.000,516,0.000,0.078,3124,992,3343,3391,3296,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1163,-0.59,-116.8,3124,992,3391,3292,145.3,-11.0,113,1174,0.00,2.42,0.00,0.000,1030,0.000,0.076,3124,2410,3340,3390,3290,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1414,-0.59,-116.8,3121,2409,3390,3287,170.5,-9.7,138,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3340,3390,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1664,-0.59,-116.8,3124,2409,3391,3291,194.5,-9.2,163,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2409,3340,3390,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,-0.59,-116.8,3125,2409,3390,3289,216.9,-8.8,188,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2409,3339,3390,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-0.59,-116.8,3121,2409,3387,3287,238.6,-8.8,213,2174,0.00,2.42,0.00,0.000,516,0.000,0.085,3125,998,3338,3390,3287,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2234,-0.59,-116.8,3124,998,3390,3287,245.0,-9.0,220,2245,0.00,2.40,0.00,0.000,1030,0.000,0.082,3124,2397,3338,3390,3287,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2504,-0.59,-116.8,3124,2398,3390,3286,267.8,-8.2,233,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3335,3390,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2806,-0.59,-116.8,3124,2397,3389,3285,292.6,-8.3,243,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3340,3396,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3105,-0.59,-116.8,3124,2397,3388,3284,318.2,-8.6,253,3115,0.00,2.42,0.00,0.000,516,0.000,0.083,3125,987,3336,3388,3284,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3195,-0.59,-116.8,3124,986,3389,3284,326.5,-9.2,262,3205,0.00,2.42,0.00,0.000,1030,0.000,0.083,3125,2400,3335,3388,3283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3528,-0.59,-116.8,3124,2399,3387,3282,353.3,-8.1,275,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3334,3386,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3825,-0.59,-116.8,3125,2399,3386,3282,377.5,-8.2,285,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3333,3386,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4126,-0.59,-116.8,3124,2399,3385,3279,403.8,-8.9,295,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3332,3385,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4425,-0.59,-116.8,3124,2399,3385,3278,429.7,-8.4,305,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2399,3331,3386,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4726,-0.59,-116.8,3124,2399,3385,3277,455.1,-8.4,315,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2399,3330,3383,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5025,-0.59,-116.8,3125,2403,3383,3276,480.1,-8.1,325,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2399,3329,3383,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5325,-0.59,-116.8,3124,2399,3382,3274,503.8,-7.8,335,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2399,3328,3383,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5625,-0.59,-116.8,3124,2399,3382,3273,527.5,-7.8,345,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3327,3382,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5926,-0.59,-116.8,3124,2399,3382,3273,549.8,-7.4,355,5936,0.00,2.42,0.00,0.000,516,0.000,0.088,3130,991,3329,3386,3272,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5986,-0.59,-116.8,3125,991,3381,3272,554.6,-8.3,361,5996,0.00,2.42,0.00,0.000,1030,0.000,0.084,3124,2398,3326,3381,3272,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6315,-0.59,-116.8,3124,2398,3381,3266,579.5,-7.5,374,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3325,3381,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6616,-0.59,-116.8,3124,2395,3381,3269,600.9,-7.0,384,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3325,3381,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6915,-0.59,-116.8,3124,2398,3380,3269,622.1,-7.1,394,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3324,3380,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7216,-0.59,-116.8,3125,2399,3380,3268,643.2,-7.1,404,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3326,3380,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7515,-0.59,-116.8,3124,2399,3380,3269,664.4,-7.1,414,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3323,3379,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7816,-0.59,-116.8,3125,2398,3379,3268,687.0,-7.6,424,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3326,3384,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8115,-0.59,-116.8,3125,2398,3378,3267,710.4,-7.9,434,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3322,3378,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8416,-0.59,-116.8,3125,2398,3378,3268,733.3,-7.6,444,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3322,3378,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8715,-0.59,-116.8,3124,2398,3378,3266,754.6,-6.9,454,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3322,3378,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,-0.59,-116.8,3124,2398,3378,3265,773.9,-6.3,464,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3322,3381,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9315,-0.59,-116.8,3124,2398,3377,3265,791.8,-6.0,474,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3321,3378,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9616,-0.59,-116.8,3124,2398,3377,3265,809.5,-5.9,484,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3322,3378,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9915,-0.59,-116.8,3124,2398,3377,3264,828.6,-6.5,494,9926,0.00,2.45,0.00,0.000,516,0.000,0.091,3121,999,3320,3377,3264,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9976,-0.59,-116.8,3124,999,3377,3265,832.9,-7.3,500,9986,0.00,2.45,0.00,0.000,1030,0.000,0.090,3124,2404,3320,3377,3264,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10306,-0.59,-116.8,3125,2403,3375,3264,855.3,-7.0,513,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3319,3374,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10609,-0.59,-116.8,3124,2403,3371,3264,876.1,-6.8,523,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3320,3377,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10909,-0.59,-116.8,3125,2403,3376,3263,896.3,-6.8,533,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3320,3376,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11210,-0.59,-116.8,3125,2404,3376,3263,916.4,-6.7,543,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3320,3376,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11509,-0.59,-116.8,3124,2403,3376,3263,935.8,-6.5,553,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3319,3376,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11810,-0.59,-116.8,3124,2403,3375,3268,955.1,-6.5,563,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3319,3375,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12109,-0.59,-116.8,3124,2403,3375,3263,974.8,-6.6,573,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3317,3375,3260,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12342,begin apogee
$GC,12351,-0.25,0.0,3125,2333,3374,3263,990.5,-6.6,581,12458,0.40,0.00,99.90,1.903,10246,0.200,0.000,3238,2338,2857,2937,2777,0,0,0,0,0,0,14.45,28.83,13.28
$STATE,12460,end apogee,CONTROL_FINISHED_OK
$STATE,12461,begin climb
$GC,12465,0.59,116.8,3241,2333,2934,2773,993.2,0.0,584,12580,0.85,0.00,107.57,1.890,10758,0.146,0.000,3505,2333,2380,2531,2230,0,0,0,0,0,0,13.90,28.83,13.09
$GC,12860,0.59,116.8,3506,2333,2527,2223,966.4,8.2,602,12869,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2333,2373,2527,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13163,0.59,116.8,3506,2333,2526,2221,942.2,8.0,612,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2334,2373,2526,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13463,0.59,116.8,3506,2332,2529,2221,918.3,8.0,622,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2333,2371,2522,2221,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24934,end climb,SURFACE_DEPTH_REACHED
$STATE,24935,begin surface coast
$FINISH,1.2,1.023167
$STATE,24961,end surface coast,CONTROL_FINISHED_OK
$STATE,24962,begin surface
$SM_CCo,25049,0.00,0.000,0,0,1143,420.69
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$TT8_MAMPS,0.024717,0.024717
$HUMID,47.87
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$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3887776
$PM_FREEKB,58210496
$24V_AH,13.1,37.006
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.754,5.741,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,43267,1254
$CAP_FILE_SIZE,253297,0
$CFSIZE,260034560,242839552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26143.39,0x2378ba,7,5
$CURRENT,0.049, 12.6,1
$GPS,240714,234359,4701.232,-12658.507,42,1.0,47,18.6