version: 66.12
glider: 187
mission: 4
dive: 269
start: 8 22 114 22 47 9
data:
$ID,187
$MISSION,4
$DIVE,269
$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,-1593760
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,220814,223653,4741.490,-12533.727,53,1.0,53,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-74.6
$GPS2,220814,224643,4741.394,-12533.657,15,1.7,15,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,213.7,133305,-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,-116.8,392,2391,1459,1204,0.0,0.0,0,91,0.00,0.00,-58.28,0.000,16386,0.000,0.000,392,2391,2890,2945,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,392,2391,2946,2836,4.2,-3.9,6,131,12.45,2.60,-7.72,0.000,18692,0.379,0.116,3124,3803,3339,3382,3296,0,0,0,0,0,0,13.93,14.23,14.50
$GC,361,-0.59,-116.8,3124,3803,3385,3300,52.2,-12.9,33,372,0.00,2.42,0.00,0.000,1030,0.000,0.066,3125,2391,3344,3385,3303,0,0,0,0,0,0,28.83,14.26,28.83
$GC,612,-0.59,-116.8,3127,2387,3387,3300,84.3,-13.0,58,621,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2387,3343,3387,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,862,-0.59,-116.8,3125,2383,3387,3299,110.1,-9.8,83,873,0.00,2.50,0.00,0.000,260,0.000,0.092,3125,3802,3344,3389,3300,0,0,0,0,0,0,28.83,14.30,28.83
$GC,913,-0.59,-116.8,3127,3802,3387,3300,115.3,-10.3,88,926,0.00,2.40,0.00,0.000,1030,0.000,0.065,3125,2402,3344,3387,3301,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1166,-0.59,-116.8,3125,2400,3387,3301,141.5,-11.6,113,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3343,3387,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1415,-0.59,-116.8,3125,2400,3387,3299,168.0,-9.7,138,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3343,3387,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1665,-0.59,-116.8,3125,2400,3387,3302,192.6,-10.1,163,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3343,3387,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1916,-0.59,-116.8,3125,2400,3387,3299,218.2,-10.0,188,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3343,3387,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2167,-0.59,-116.8,3125,2400,3386,3299,242.5,-9.3,213,2177,0.00,2.47,0.00,0.000,260,0.000,0.092,3125,3803,3342,3387,3298,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2227,-0.59,-116.8,3125,3802,3386,3298,248.6,-9.8,219,2238,0.00,2.40,0.00,0.000,1030,0.000,0.065,3125,2391,3342,3387,3298,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2492,-0.59,-116.8,3125,2387,3388,3297,271.1,-8.4,229,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2387,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2787,-0.59,-116.8,3125,2383,3387,3296,298.0,-9.2,239,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2391,3341,3388,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3089,-0.59,-116.8,3125,2386,3387,3295,326.1,-9.3,249,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2390,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3387,-0.59,-116.8,3125,2386,3386,3294,353.3,-9.1,259,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2386,3340,3387,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3688,-0.59,-116.8,3130,2386,3393,3293,379.7,-8.5,269,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2386,3339,3386,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3987,-0.59,-116.8,3125,2386,3386,3292,405.1,-8.3,279,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2387,3339,3386,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4289,-0.59,-116.8,3125,2386,3386,3292,430.4,-8.9,289,4299,0.00,2.40,0.00,0.000,516,0.000,0.083,3126,1001,3339,3386,3292,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4319,-0.59,-116.8,3125,1001,3385,3291,433.4,-8.9,292,4329,0.00,2.42,0.00,0.000,1030,0.000,0.077,3125,2398,3338,3385,3291,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4650,-0.59,-116.8,3121,2398,3385,3290,462.3,-8.8,305,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2398,3337,3385,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4949,-0.59,-116.8,3125,2398,3385,3289,487.8,-8.3,315,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3340,3391,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5250,-0.59,-116.8,3125,2398,3384,3288,512.5,-8.1,325,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3336,3384,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5549,-0.59,-116.8,3121,2398,3384,3287,534.7,-7.2,335,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5850,-0.59,-116.8,3124,2398,3383,3287,558.2,-8.1,345,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6149,-0.59,-116.8,3125,2398,3383,3286,583.8,-8.9,355,6159,0.00,2.50,0.00,0.000,260,0.000,0.096,3125,3814,3334,3382,3286,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6218,-0.59,-116.8,3124,3812,3382,3287,590.2,-8.9,362,6229,0.00,2.42,0.00,0.000,1030,0.000,0.068,3125,2404,3334,3382,3286,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6540,-0.59,-116.8,3125,2402,3382,3286,617.6,-8.4,374,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6839,-0.59,-116.8,3125,2402,3382,3286,641.7,-7.7,384,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7139,-0.59,-116.8,3125,2402,3382,3285,664.0,-7.4,394,7149,0.00,2.47,0.00,0.000,516,0.000,0.081,3125,982,3333,3382,3285,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7209,-0.59,-116.8,3125,982,3381,3285,669.7,-8.6,401,7219,0.00,2.47,0.00,0.000,1030,0.000,0.077,3125,2400,3333,3382,3285,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7532,-0.59,-116.8,3125,2400,3381,3284,693.7,-7.2,413,7542,0.00,2.53,0.00,0.000,260,0.000,0.098,3125,3821,3332,3381,3284,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7661,-0.59,-116.8,3125,3821,3381,3284,703.7,-7.3,426,7671,0.00,2.45,0.00,0.000,1030,0.000,0.071,3125,2394,3332,3380,3284,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7982,-0.59,-116.8,3125,2391,3381,3284,724.9,-6.3,438,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3332,3381,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8283,-0.59,-116.8,3125,2391,3380,3283,744.1,-6.7,448,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3335,3381,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8582,-0.59,-116.8,3125,2391,3380,3282,764.4,-6.8,458,8592,0.00,2.45,0.00,0.000,516,0.000,0.088,3125,997,3331,3380,3282,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8642,-0.59,-116.8,3124,997,3380,3282,768.9,-7.6,464,8653,0.00,2.47,0.00,0.000,1030,0.000,0.081,3125,2409,3331,3380,3282,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8975,-0.59,-116.8,3125,2408,3380,3281,792.4,-7.2,477,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2409,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9273,-0.59,-116.8,3125,2410,3380,3281,813.4,-6.9,487,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2409,3329,3377,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9573,-0.59,-116.8,3125,2408,3380,3281,834.0,-6.7,497,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2408,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9873,-0.59,-116.8,3125,2408,3379,3281,854.4,-6.8,507,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2408,3330,3380,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10176,-0.59,-116.8,3125,2408,3379,3275,875.8,-6.9,517,10186,0.00,2.50,0.00,0.000,260,0.000,0.103,3127,3804,3329,3379,3279,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10257,-0.59,-116.8,3125,3804,3379,3279,881.6,-7.0,525,10268,0.00,2.42,0.00,0.000,1030,0.000,0.073,3123,2405,3328,3378,3279,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10568,-0.59,-116.8,3125,2404,3378,3278,902.7,-6.5,536,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10869,-0.59,-116.8,3125,2407,3378,3278,922.3,-6.4,546,10879,0.00,2.50,0.00,0.000,516,0.000,0.083,3125,982,3328,3378,3278,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10938,-0.59,-116.8,3122,982,3378,3279,927.3,-7.1,553,10948,0.00,2.50,0.00,0.000,1030,0.000,0.080,3125,2400,3327,3376,3278,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11259,-0.59,-116.8,3130,2400,3378,3278,948.0,-6.5,565,11269,0.00,2.53,0.00,0.000,260,0.000,0.098,3125,3809,3327,3378,3277,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11328,-0.59,-116.8,3125,3810,3377,3278,952.8,-7.2,572,11339,0.00,2.45,0.00,0.000,1030,0.000,0.074,3125,2392,3327,3377,3278,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11649,-0.59,-116.8,3125,2392,3379,3278,973.7,-6.5,584,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2392,3327,3377,3278,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11916,begin apogee
$GC,11925,-0.25,0.0,3125,2333,3377,3277,990.2,-6.0,593,12042,0.40,0.00,102.88,1.921,10246,0.184,0.000,3242,2333,2854,2930,2778,0,0,0,0,0,0,14.22,28.83,13.14
$STATE,12044,end apogee,CONTROL_FINISHED_OK
$STATE,12044,begin climb
$GC,12048,0.59,116.8,3242,2333,2929,2777,992.9,0.0,597,12165,0.88,0.00,109.75,1.886,10246,0.125,0.000,3517,2332,2381,2517,2245,0,0,0,0,0,0,13.90,28.83,12.94
$GC,12459,0.59,116.8,3517,2333,2513,2236,962.1,8.8,611,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2333,2374,2513,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12763,0.59,116.8,3517,2333,2513,2234,936.8,8.2,621,12772,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2332,2373,2512,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$FREEZE,8.11,15.573,-1.726,0,1,0
$STATE,24661,end climb,NO_VERTICAL_VELOCITY
$STATE,24662,begin surface
$SM_CCo,24667,152.65,0.110,0,0,469,585.78
$SM_GC,1.92,9.07,0.10,0.00,0.056,0.184,0.000,389,2400,474,-9.10,-0.76,584.80,0,0,0,0,0,0,14.36,14.30,28.83
$IRIDIUM_FIX,4729.30,-12528.91,220814,151527
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.16
$INTERNAL_PRESSURE,8.87414
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3851936
$PM_FREEKB,54967040
$24V_AH,12.9,64.644
$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,22.900,119.125,307.800,152.650,0.000,0.000,0.000,312.300,0.000,0.000,16.388,3109.838,17957.420,711.494,2911.618,814.880,0.000,2651.984,0.000,1951.472,0.000,0.535,0.000
$DEVICE_MAMPS,378.675,184.365,1920.915,110.160,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24676.000,458.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.781,5.718,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,43286,1271
$CAP_FILE_SIZE,258978,0
$CFSIZE,260034560,231194624
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25443.24,0x2378ba,7,5
$INTR,1,24111.51,0x213680,1,24
$CURRENT,0.018, 59.2,1
$GPS,230814,054423,4739.900,-12536.557,29,0.8,47,18.7