version: 66.12
glider: 187
mission: 4
dive: 167
start: 7 27 114 16 10 38
data:
$ID,187
$MISSION,4
$DIVE,167
$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,-1593629.2
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,270714,160036,4718.899,-12626.395,61,1.1,61,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-73.8
$GPS2,270714,161013,4718.868,-12626.358,16,1.3,16,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,71.5,112634,-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,22,begin dive
$GC,26,-0.59,-116.8,389,2412,1446,1215,0.0,0.0,0,80,0.00,0.00,-48.15,0.000,16386,0.000,0.000,389,2413,2585,2670,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,389,2412,2671,2500,3.1,-2.1,5,124,12.70,2.58,-14.85,0.000,18948,0.400,0.105,3125,982,3339,3386,3292,0,0,0,0,0,0,14.08,14.32,14.54
$GC,354,-0.59,-116.8,3126,982,3388,3297,50.3,-15.6,32,365,0.00,2.45,0.00,0.000,1030,0.000,0.076,3125,2392,3342,3388,3296,0,0,0,0,0,0,28.83,14.41,28.83
$GC,605,-0.59,-116.8,3123,2392,3390,3302,83.5,-12.1,57,616,0.00,2.42,0.00,0.000,516,0.000,0.080,3126,982,3343,3390,3297,0,0,0,0,0,0,28.83,14.43,28.83
$GC,686,-0.59,-116.8,3127,981,3390,3297,93.7,-13.1,65,698,0.00,2.42,0.00,0.000,1030,0.000,0.076,3127,2397,3343,3390,3297,0,0,0,0,0,0,28.83,14.44,28.83
$GC,939,-0.59,-116.8,3126,2397,3390,3297,121.1,-10.2,90,949,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3346,3396,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1189,-0.59,-116.8,3125,2397,3390,3297,144.9,-9.0,115,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3345,3393,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1439,-0.59,-116.8,3126,2397,3390,3297,168.1,-9.7,140,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3343,3390,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1689,-0.59,-116.8,3126,2397,3390,3297,192.1,-10.0,165,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1939,-0.59,-116.8,3122,2397,3389,3297,216.2,-9.1,190,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3343,3390,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2189,-0.59,-116.8,3126,2397,3390,3295,239.3,-9.3,215,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3343,3391,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,-0.59,-116.8,3126,2397,3390,3294,265.6,-9.9,232,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3341,3390,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2759,-0.59,-116.8,3126,2397,3391,3293,295.2,-9.8,242,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3341,3390,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3059,-0.59,-116.8,3126,2397,3389,3292,323.1,-9.0,252,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3344,3397,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3359,-0.59,-116.8,3126,2397,3390,3290,348.7,-8.7,262,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3340,3390,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3659,-0.59,-116.8,3126,2397,3389,3289,374.6,-8.8,272,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3339,3389,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3961,-0.59,-116.8,3126,2397,3389,3288,401.6,-9.1,282,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3339,3391,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4259,-0.59,-116.8,3124,2396,3388,3287,429.0,-9.0,292,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3337,3388,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4559,-0.59,-116.8,3125,2397,3388,3287,455.9,-8.7,302,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3335,3387,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4859,-0.59,-116.8,3126,2397,3387,3286,482.2,-8.8,312,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5159,-0.59,-116.8,3126,2397,3387,3286,508.4,-8.5,322,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5459,-0.59,-116.8,3126,2397,3380,3281,532.9,-7.8,332,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3335,3386,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5759,-0.59,-116.8,3125,2397,3385,3288,555.3,-7.4,342,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3334,3385,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6059,-0.59,-116.8,3125,2397,3386,3283,577.3,-7.2,352,6069,0.00,2.47,0.00,0.000,260,0.000,0.103,3125,3816,3333,3385,3282,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6140,-0.59,-116.8,3125,3814,3384,3283,583.5,-7.7,360,6150,0.00,2.40,0.00,0.000,1030,0.000,0.074,3126,2400,3333,3384,3283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6454,-0.59,-116.8,3126,2400,3383,3282,607.6,-8.0,371,6464,0.00,2.45,0.00,0.000,516,0.000,0.090,3126,983,3332,3383,3282,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6495,-0.59,-116.8,3125,981,3383,3282,611.2,-8.1,375,6505,0.00,2.47,0.00,0.000,1030,0.000,0.084,3127,2414,3332,3383,3282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6815,-0.59,-116.8,3126,2414,3383,3287,635.8,-7.5,387,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2419,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7116,-0.59,-116.8,3126,2414,3383,3280,657.8,-7.4,397,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2415,3331,3382,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7415,-0.59,-116.8,3125,2414,3383,3279,680.0,-7.5,407,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2418,3331,3383,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7716,-0.59,-116.8,3127,2414,3385,3278,702.2,-7.2,417,7726,0.00,2.45,0.00,0.000,260,0.000,0.106,3125,3806,3330,3382,3279,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7776,-0.59,-116.8,3126,3807,3388,3278,706.6,-7.1,423,7786,0.00,2.42,0.00,0.000,1030,0.000,0.077,3124,2391,3330,3382,3278,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8106,-0.59,-116.8,3126,2390,3382,3278,729.4,-6.8,436,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2390,3331,3382,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8406,-0.59,-116.8,3126,2390,3382,3273,750.0,-6.8,446,8416,0.00,2.50,0.00,0.000,260,0.000,0.105,3125,3807,3326,3375,3277,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8456,-0.59,-116.8,3125,3807,3381,3277,753.7,-7.7,451,8466,0.00,2.42,0.00,0.000,1030,0.000,0.080,3126,2395,3329,3381,3277,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8770,-0.59,-116.8,3125,2395,3377,3277,776.8,-7.6,462,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3329,3382,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9066,-0.59,-116.8,3125,2394,3381,3272,799.9,-7.8,472,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9367,-0.59,-116.8,3126,2394,3375,3276,823.3,-7.8,482,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9667,-0.59,-116.8,3126,2394,3380,3275,845.4,-7.2,492,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2391,3327,3381,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9967,-0.59,-116.8,3125,2394,3380,3275,866.1,-6.8,502,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10269,-0.59,-116.8,3125,2394,3380,3275,885.7,-6.6,512,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10569,-0.59,-116.8,3126,2394,3381,3271,904.2,-6.1,522,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3330,3386,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10869,-0.59,-116.8,3125,2395,3380,3273,922.5,-6.2,532,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3326,3380,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11169,-0.59,-116.8,3126,2394,3380,3273,941.0,-6.2,542,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3326,3380,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11469,-0.59,-116.8,3131,2394,3380,3272,959.6,-6.2,552,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11771,-0.59,-116.8,3126,2394,3379,3267,977.5,-6.0,562,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3325,3379,3272,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12003,begin apogee
$GC,12012,-0.25,0.0,3126,2318,3379,3272,991.7,-5.9,570,12120,0.38,0.00,100.72,1.932,10246,0.200,0.000,3239,2318,2858,2935,2782,0,0,0,0,0,0,14.42,28.83,13.27
$STATE,12122,end apogee,CONTROL_FINISHED_OK
$STATE,12122,begin climb
$GC,12126,0.59,116.8,3236,2318,2933,2778,994.2,0.0,573,12247,0.88,0.00,108.82,1.894,10758,0.147,0.000,3508,2318,2380,2522,2239,0,0,0,0,0,0,13.90,28.83,13.09
$GC,12546,0.59,116.8,3508,2316,2521,2229,962.5,9.1,590,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2318,2375,2521,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12850,0.59,116.8,3508,2318,2520,2227,934.7,9.2,600,12859,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2318,2375,2520,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13149,0.59,116.8,3508,2318,2519,2226,907.5,8.9,610,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2318,2374,2523,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13449,0.59,116.8,3509,2318,2518,2225,881.1,8.7,620,13459,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2318,2371,2518,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13749,0.59,116.8,3513,2318,2518,2224,856.7,7.9,630,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2318,2371,2518,2225,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25090,end climb,SURFACE_DEPTH_REACHED
$STATE,25090,begin surface coast
$FINISH,1.1,1.003352
$STATE,25121,end surface coast,CONTROL_FINISHED_OK
$STATE,25121,begin surface
$SM_CCo,25149,0.35,0.101,0,0,1329,375.06
$SM_GC,3.20,9.38,2.42,0.35,0.076,0.073,0.101,386,2384,1329,-9.12,0.28,375.06,0,0,0,0,0,0,14.30,14.31,14.31
$IRIDIUM_FIX,4703.87,-12630.60,270714,090953
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.58
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3884576
$PM_FREEKB,57882048
$24V_AH,13.1,39.732
$10V_AH,13.4,0.000
$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,23.550,99.225,395.850,0.350,0.000,0.000,0.000,306.550,0.000,0.000,17.445,3138.114,18219.742,617.486,2946.449,782.165,0.000,2569.153,0.000,1979.894,0.000,0.537,0.000
$DEVICE_MAMPS,400.095,154.530,1931.625,100.980,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25146.000,470.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.807,5.658,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,46638,1289
$CAP_FILE_SIZE,256711,0
$CFSIZE,260034560,241709056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25383.00,0x2378ba,7,5
$CURRENT,0.123,335.0,1
$GPS,270714,231150,4720.471,-12623.455,51,2.1,71,18.6