version: 66.12
glider: 187
mission: 4
dive: 215
start: 8 9 114 2 47 57
data:
$ID,187
$MISSION,4
$DIVE,215
$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,-1593689.5
$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,27
$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
$GPS1,090814,023805,4716.008,-12629.500,33,1.0,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-73.6
$GPS2,090814,024731,4716.006,-12629.558,14,1.4,14,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,204.6,48550,-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,-116.8,394,2404,1402,1093,0.0,0.0,0,91,0.00,0.00,-59.45,0.000,16386,0.000,0.000,394,2404,2839,2897,2782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,394,2405,2898,2782,3.7,-3.4,6,131,12.70,2.50,-8.30,0.000,18692,0.396,0.116,3124,3805,3338,3381,3295,0,0,0,0,0,0,14.02,14.28,14.53
$GC,361,-0.59,-116.8,3124,3805,3386,3299,57.8,-14.8,33,373,0.00,2.40,0.00,0.000,1030,0.000,0.065,3124,2391,3341,3385,3297,0,0,0,0,0,0,28.83,14.38,28.83
$GC,613,-0.59,-116.8,3125,2387,3387,3298,88.2,-12.0,58,623,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2384,3343,3388,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,863,-0.59,-116.8,3124,2387,3389,3298,118.4,-12.0,83,873,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2387,3343,3389,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1113,-0.59,-116.8,3124,2387,3389,3298,145.1,-10.3,108,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3345,3387,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-0.59,-116.8,3124,2386,3388,3298,170.8,-10.3,133,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2387,3343,3389,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1614,-0.59,-116.8,3124,2387,3388,3298,196.3,-10.3,158,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2386,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1864,-0.59,-116.8,3125,2387,3388,3292,220.9,-9.4,183,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3341,3388,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2113,-0.59,-116.8,3130,2387,3388,3294,243.4,-9.2,208,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2377,-0.59,-116.8,3124,2387,3388,3290,268.6,-10.0,222,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2673,-0.59,-116.8,3124,2386,3388,3292,296.9,-9.2,232,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2387,3340,3388,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,-0.59,-116.8,3124,2387,3387,3290,323.5,-8.4,242,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3342,3388,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3273,-0.59,-116.8,3125,2386,3387,3288,348.6,-8.3,252,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2386,3337,3387,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3574,-0.59,-116.8,3125,2387,3387,3287,373.4,-8.4,262,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3337,3387,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3873,-0.59,-116.8,3125,2387,3386,3286,399.4,-8.7,272,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4175,-0.59,-116.8,3124,2387,3385,3286,425.9,-8.7,282,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4474,-0.59,-116.8,3125,2386,3384,3285,451.4,-8.6,292,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3335,3385,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4774,-0.59,-116.8,3126,2386,3384,3284,476.7,-8.4,302,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2386,3333,3383,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5074,-0.59,-116.8,3125,2387,3383,3283,501.7,-8.2,312,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2384,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5374,-0.59,-116.8,3124,2386,3382,3282,526.2,-8.2,322,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2389,3332,3383,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5674,-0.59,-116.8,3125,2386,3388,3281,550.2,-8.0,332,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2383,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5974,-0.59,-116.8,3124,2386,3382,3281,574.0,-8.1,342,5984,0.00,2.50,0.00,0.000,260,0.000,0.102,3126,3804,3331,3381,3281,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6053,-0.59,-116.8,3124,3804,3381,3281,580.7,-8.5,350,6064,0.00,2.40,0.00,0.000,1030,0.000,0.074,3125,2400,3331,3381,3281,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6367,-0.59,-116.8,3121,2400,3381,3279,605.8,-8.2,361,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3330,3381,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6665,-0.59,-116.8,3121,2400,3381,3278,630.7,-8.4,371,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2400,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6964,-0.59,-116.8,3125,2400,3381,3278,656.2,-8.5,381,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7264,-0.59,-116.8,3124,2400,3381,3277,681.7,-8.3,391,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7564,-0.59,-116.8,3125,2400,3380,3276,705.5,-7.6,401,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7864,-0.59,-116.8,3124,2400,3380,3276,726.2,-6.8,411,7874,0.00,2.42,0.00,0.000,516,0.000,0.087,3125,995,3331,3380,3282,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7924,-0.59,-116.8,3124,995,3379,3275,730.5,-7.2,417,7934,0.00,2.42,0.00,0.000,1030,0.000,0.083,3121,2397,3327,3378,3276,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8255,-0.59,-116.8,3124,2397,3379,3275,750.9,-6.2,430,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3327,3379,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8554,-0.59,-116.8,3125,2397,3378,3274,770.8,-6.7,440,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3326,3379,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8855,-0.59,-116.8,3124,2397,3379,3273,791.1,-6.9,450,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3326,3379,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9154,-0.59,-116.8,3128,2397,3378,3273,812.6,-7.2,460,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2397,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9455,-0.59,-116.8,3124,2397,3378,3268,834.5,-7.4,470,9465,0.00,2.50,0.00,0.000,260,0.000,0.102,3122,3808,3325,3378,3272,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9535,-0.59,-116.8,3124,3808,3377,3272,840.6,-7.3,478,9545,0.00,2.42,0.00,0.000,1030,0.000,0.074,3124,2390,3323,3377,3269,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9850,-0.59,-116.8,3124,2387,3377,3272,863.3,-7.3,489,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3324,3377,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10148,-0.59,-116.8,3124,2387,3377,3271,885.7,-7.7,499,10158,0.00,2.55,0.00,0.000,260,0.000,0.104,3124,3818,3324,3377,3271,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10217,-0.59,-116.8,3124,3818,3377,3272,891.6,-8.2,506,10227,0.00,2.45,0.00,0.000,1030,0.000,0.080,3124,2401,3324,3377,3271,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10538,-0.59,-116.8,3124,2400,3377,3270,916.2,-7.7,518,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3323,3377,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10841,-0.59,-116.8,3124,2400,3377,3269,938.6,-7.3,528,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3323,3376,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11141,-0.59,-116.8,3125,2398,3376,3269,959.1,-6.5,538,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3322,3376,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11441,-0.59,-116.8,3125,2400,3376,3269,977.9,-6.2,548,11450,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3322,3376,3269,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11644,begin apogee
$GC,11652,-0.25,0.0,3124,2317,3376,3269,990.8,-6.2,555,11761,0.40,0.00,101.30,1.913,10246,0.194,0.000,3240,2317,2858,2935,2781,0,0,0,0,0,0,14.32,28.83,13.23
$STATE,11763,end apogee,CONTROL_FINISHED_OK
$STATE,11763,begin climb
$GC,11767,0.59,116.8,3240,2317,2933,2777,993.5,0.0,558,11888,0.85,0.00,109.07,1.890,10758,0.138,0.000,3507,2317,2378,2520,2236,0,0,0,0,0,0,13.90,28.83,13.05
$GC,12187,0.59,116.8,3508,2316,2518,2230,962.6,8.9,577,12197,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2317,2373,2518,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12491,0.59,116.8,3508,2317,2517,2229,936.4,8.9,587,12501,0.00,2.50,0.00,0.000,516,0.000,0.099,3508,922,2373,2519,2227,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12551,0.59,116.8,3508,922,2517,2227,930.9,8.6,593,12561,0.00,2.47,0.00,0.000,1030,0.000,0.084,3508,2332,2372,2517,2227,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12881,0.59,116.8,3508,2331,2517,2226,902.8,8.5,606,12891,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2331,2371,2516,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13184,0.59,116.8,3509,2331,2515,2225,878.1,8.1,616,13194,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2331,2370,2516,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13484,0.59,116.8,3508,2331,2514,2225,853.8,8.3,626,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2331,2370,2517,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13784,0.59,116.8,3505,2331,2514,2224,828.9,8.4,636,13794,0.00,2.50,0.00,0.000,516,0.000,0.096,3509,922,2368,2513,2224,0,0,0,0,0,0,28.83,14.42,28.83
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$STATE,25219,end climb,SURFACE_DEPTH_REACHED
$STATE,25219,begin surface coast
$FINISH,0.9,1.022931
$STATE,25260,end surface coast,CONTROL_FINISHED_OK
$STATE,25260,begin surface
$SM_CCo,25286,10.77,0.103,0,0,1328,375.06
$SM_GC,3.73,9.12,0.12,10.77,0.060,0.166,0.103,393,2415,1328,-9.11,-0.62,375.06,0,0,0,0,0,0,14.36,14.35,14.33
$IRIDIUM_FIX,4657.54,-12626.82,080814,191953
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.03
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3869216
$PM_FREEKB,56489280
$24V_AH,13.0,51.342
$10V_AH,13.0,0.000
$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,23.200,103.775,369.675,10.775,0.000,0.000,0.000,297.125,0.000,0.000,15.596,3238.545,18209.904,614.232,2992.107,789.350,0.000,2579.515,0.000,2059.609,0.000,0.538,0.000
$DEVICE_MAMPS,395.505,166.005,1913.265,103.275,0.000,0.000,0.000,168.300,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25287.000,446.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.816,5.743,0.000,0.000
$MEM,290816
$DATA_FILE_SIZE,46591,1343
$CAP_FILE_SIZE,261593,0
$CFSIZE,260034560,236711936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25670.04,0x2378ba,7,5
$CURRENT,0.070,311.0,1
$GPS,090814,095200,4714.698,-12633.499,94,1.8,94,18.6