version: 66.12
glider: 187
mission: 4
dive: 243
start: 8 17 114 10 15 56
data:
$ID,187
$MISSION,4
$DIVE,243
$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,-1593724.5
$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,19
$R_STBD_OVSHOOT,26
$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
$GPS1,170814,100536,4731.071,-12553.365,36,1.4,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-71.0
$GPS2,170814,101530,4731.019,-12553.257,10,1.4,10,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,6.2,65973,-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,-116.8,394,2406,1269,961,0.0,0.0,0,90,0.00,0.00,-57.83,0.000,16386,0.000,0.000,394,2407,2636,2715,2558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,393,2407,2716,2558,3.2,-2.5,6,131,12.57,2.58,-13.10,0.000,18948,0.386,0.101,3123,980,3336,3384,3288,0,0,0,0,0,0,13.94,14.23,14.50
$GC,251,-0.59,-116.8,3123,980,3385,3294,40.4,-17.1,22,261,0.00,2.47,0.00,0.000,1030,0.000,0.073,3124,2410,3339,3385,3293,0,0,0,0,0,0,28.83,14.25,28.83
$GC,501,-0.59,-116.8,3123,2405,3390,3294,71.4,-12.9,47,511,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,751,-0.59,-116.8,3123,2405,3390,3296,102.0,-12.5,72,762,0.00,2.45,0.00,0.000,260,0.000,0.092,3123,3814,3344,3392,3296,0,0,0,0,0,0,28.83,14.35,28.83
$GC,923,-0.59,-116.8,3123,3814,3389,3296,124.3,-13.5,89,934,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2386,3343,3390,3296,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1173,-0.59,-116.8,3123,2382,3389,3296,153.0,-10.4,114,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2382,3343,3390,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1423,-0.59,-116.8,3123,2383,3390,3292,179.0,-9.2,139,1434,0.00,2.50,0.00,0.000,260,0.000,0.089,3123,3815,3343,3390,3296,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1464,-0.59,-116.8,3123,3815,3390,3295,182.9,-9.8,143,1475,0.00,2.40,0.00,0.000,1030,0.000,0.063,3123,2397,3344,3393,3295,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1715,-0.59,-116.8,3124,2393,3389,3295,204.5,-8.8,168,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2393,3342,3389,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1965,-0.59,-116.8,3123,2393,3389,3294,228.9,-10.0,193,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2392,3341,3390,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2215,-0.59,-116.8,3121,2392,3384,3289,253.6,-9.6,216,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2392,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,-0.59,-116.8,3123,2392,3389,3291,283.6,-9.9,226,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2392,3340,3389,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,-0.59,-116.8,3123,2393,3389,3289,314.7,-10.7,236,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2392,3339,3389,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3116,-0.59,-116.8,3123,2393,3389,3287,345.9,-10.1,246,3126,0.00,2.42,0.00,0.000,516,0.000,0.082,3120,984,3338,3389,3287,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3164,-0.59,-116.8,3123,981,3389,3287,350.9,-10.3,251,3175,0.00,2.45,0.00,0.000,1030,0.000,0.076,3124,2404,3338,3390,3287,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3480,-0.59,-116.8,3123,2404,3388,3286,378.2,-8.8,262,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3337,3388,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,-0.59,-116.8,3121,2404,3388,3286,405.5,-9.3,272,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3337,3388,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4076,-0.59,-116.8,3124,2404,3387,3284,433.6,-9.9,282,4086,0.00,2.45,0.00,0.000,516,0.000,0.082,3123,997,3336,3387,3285,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4135,-0.59,-116.8,3123,993,3387,3284,439.7,-10.7,288,4146,0.00,2.45,0.00,0.000,1030,0.000,0.078,3123,2407,3335,3386,3284,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4467,-0.59,-116.8,3123,2407,3385,3283,470.4,-8.9,301,4477,0.00,2.45,0.00,0.000,260,0.000,0.097,3121,3812,3334,3385,3283,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4526,-0.59,-116.8,3123,3813,3384,3283,476.3,-9.8,307,4536,0.00,2.42,0.00,0.000,1030,0.000,0.071,3123,2392,3333,3384,3282,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4857,-0.59,-116.8,3123,2389,3384,3282,508.6,-9.5,320,4867,0.00,2.42,0.00,0.000,516,0.000,0.087,3124,995,3332,3384,3281,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4917,-0.59,-116.8,3124,995,3384,3281,514.6,-10.3,326,4927,0.00,2.45,0.00,0.000,1030,0.000,0.080,3123,2405,3332,3384,3281,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5247,-0.59,-116.8,3120,2404,3384,3280,542.5,-8.3,339,5257,0.00,2.47,0.00,0.000,260,0.000,0.097,3123,3819,3330,3380,3280,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5419,-0.59,-116.8,3123,3819,3383,3280,556.7,-8.7,356,5430,0.00,2.45,0.00,0.000,1030,0.000,0.076,3124,2399,3331,3383,3280,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5731,-0.59,-116.8,3123,2397,3383,3279,582.4,-8.1,367,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2397,3331,3383,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6028,-0.59,-116.8,3120,2397,3382,3277,604.5,-6.9,377,6038,0.00,2.45,0.00,0.000,516,0.000,0.084,3123,990,3330,3382,3278,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6088,-0.59,-116.8,3123,990,3382,3278,608.9,-7.3,383,6099,0.00,2.45,0.00,0.000,1030,0.000,0.079,3128,2401,3329,3382,3277,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6418,-0.59,-116.8,3119,2400,3382,3276,637.9,-10.3,396,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6719,-0.59,-116.8,3124,2405,3381,3276,665.3,-8.3,406,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2399,3331,3386,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7018,-0.59,-116.8,3123,2400,3381,3275,689.0,-7.2,416,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2400,3328,3381,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7319,-0.59,-116.8,3123,2401,3381,3274,715.4,-9.6,426,7329,0.00,2.50,0.00,0.000,260,0.000,0.100,3123,3810,3327,3381,3274,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7399,-0.59,-116.8,3123,3810,3381,3274,723.4,-9.8,434,7410,0.00,2.42,0.00,0.000,1030,0.000,0.073,3122,2404,3327,3380,3274,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7714,-0.59,-116.8,3123,2402,3377,3272,750.8,-8.4,445,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3327,3381,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8009,-0.59,-116.8,3123,2402,3380,3273,774.9,-8.2,455,8019,0.00,2.47,0.00,0.000,516,0.000,0.084,3123,990,3326,3380,3272,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8069,-0.59,-116.8,3123,990,3380,3272,780.1,-9.0,461,8079,0.00,2.47,0.00,0.000,1030,0.000,0.080,3123,2401,3325,3379,3272,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8399,-0.59,-116.8,3124,2401,3380,3271,806.8,-7.6,474,8409,0.00,2.50,0.00,0.000,260,0.000,0.100,3123,3818,3325,3380,3271,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8490,-0.59,-116.8,3123,3819,3379,3271,813.8,-7.7,483,8500,0.00,2.45,0.00,0.000,1030,0.000,0.075,3127,2397,3324,3379,3270,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8819,-0.59,-116.8,3123,2395,3379,3270,834.8,-6.0,496,8829,0.00,2.47,0.00,0.000,516,0.000,0.090,3124,987,3326,3382,3270,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8869,-0.59,-116.8,3124,987,3378,3270,838.0,-6.6,501,8880,0.00,2.47,0.00,0.000,1030,0.000,0.082,3123,2401,3324,3378,3270,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9182,-0.59,-116.8,3123,2400,3378,3269,856.3,-6.2,512,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3323,3378,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9480,-0.59,-116.8,3121,2401,3378,3269,876.8,-7.2,522,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3323,3378,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9779,-0.59,-116.8,3123,2401,3382,3269,897.7,-6.8,532,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3326,3378,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10080,-0.59,-116.8,3124,2404,3378,3268,918.0,-6.8,542,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3322,3378,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10382,-0.59,-116.8,3123,2401,3378,3269,938.3,-6.9,552,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3322,3377,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10683,-0.59,-116.8,3124,2400,3378,3268,959.7,-7.3,562,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3322,3377,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10982,-0.59,-116.8,3123,2401,3378,3273,983.6,-8.2,572,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3320,3377,3263,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11066,begin apogee
$GC,11075,-0.25,0.0,3120,2327,3377,3268,991.6,-8.8,575,11183,0.40,0.00,100.78,1.929,10246,0.192,0.000,3235,2327,2859,2935,2783,0,0,0,0,0,0,14.26,28.83,13.16
$STATE,11185,end apogee,CONTROL_FINISHED_OK
$STATE,11185,begin climb
$GC,11189,0.59,116.8,3239,2327,2934,2779,995.6,0.0,578,11311,0.85,0.00,109.60,1.896,10502,0.135,0.000,3509,2327,2376,2516,2236,0,0,0,0,0,0,13.88,28.83,12.96
$GC,11609,0.59,116.8,3509,2323,2518,2233,971.8,8.0,595,11619,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2327,2375,2518,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11913,0.59,116.8,3509,2324,2517,2228,946.0,8.6,605,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2327,2374,2517,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12213,0.59,116.8,3509,2327,2514,2229,920.2,8.5,615,12223,0.00,2.53,0.00,0.000,516,0.000,0.096,3509,918,2372,2516,2229,0,0,0,0,0,0,28.83,14.28,28.83
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$STATE,23731,end climb,SURFACE_DEPTH_REACHED
$STATE,23731,begin surface coast
$FINISH,1.0,1.002425
$STATE,23803,end surface coast,CONTROL_FINISHED_OK
$STATE,23803,begin surface
$SM_CCo,23829,34.55,0.103,0,0,1328,375.06
$SM_GC,1.80,9.27,0.10,34.55,0.073,0.195,0.103,385,2401,1328,-9.11,-0.74,375.06,0,0,0,0,0,0,14.37,14.29,14.29
$IRIDIUM_FIX,4710.21,-12607.02,170814,030302
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.93
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3860256
$PM_FREEKB,55554208
$24V_AH,13.0,59.112
$10V_AH,13.3,0.000
$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,23.225,163.650,342.800,34.550,0.000,0.000,0.000,319.600,0.000,0.000,11.022,3109.891,16915.057,658.341,2915.288,836.591,0.000,2610.463,0.000,1966.569,0.000,0.537,0.000
$DEVICE_MAMPS,385.560,195.075,1928.565,102.510,0.000,0.000,0.000,167.535,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23829.000,412.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.837,5.778,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,46652,1293
$CAP_FILE_SIZE,262839,0
$CFSIZE,260034560,233607168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25681.77,0x2378ba,7,5
$CURRENT,0.179,116.1,1
$GPS,170814,165554,4732.417,-12548.348,82,1.1,82,18.7