version: 66.12
glider: 187
mission: 4
dive: 279
start: 8 25 114 22 32 21
data:
$ID,187
$MISSION,4
$DIVE,279
$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,-1593775.2
$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,25
$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
$GPS1,250814,222200,4726.026,-12605.602,66,1.2,66,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-74.0
$GPS2,250814,223155,4725.971,-12605.686,13,1.7,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,215.7,83784,-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,-116.8,394,2400,1445,1216,0.0,0.0,0,79,0.00,0.00,-47.62,0.000,16386,0.000,0.000,394,2401,2559,2645,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,394,2401,2646,2472,3.0,-1.9,5,129,12.60,2.58,-15.88,0.000,18692,0.385,0.114,3125,3807,3337,3382,3292,0,0,0,0,0,0,13.92,14.22,14.50
$GC,359,-0.59,-116.8,3125,3806,3383,3296,51.8,-16.2,33,370,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2389,3339,3383,3295,0,0,0,0,0,0,28.83,14.29,28.83
$GC,610,-0.59,-116.8,3125,2383,3381,3296,86.8,-13.6,58,620,0.00,2.50,0.00,0.000,260,0.000,0.089,3125,3805,3340,3385,3296,0,0,0,0,0,0,28.83,14.26,28.83
$GC,690,-0.59,-116.8,3125,3805,3385,3296,96.9,-12.2,66,701,0.00,2.40,0.00,0.000,1030,0.000,0.063,3125,2395,3341,3385,3298,0,0,0,0,0,0,28.83,14.31,28.83
$GC,941,-0.59,-116.8,3125,2389,3386,3293,126.3,-12.4,91,952,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2391,3342,3386,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1192,-0.59,-116.8,3125,2391,3386,3297,153.2,-10.0,116,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1442,-0.59,-116.8,3125,2391,3386,3297,178.5,-9.7,141,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3341,3386,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1692,-0.59,-116.8,3125,2390,3386,3293,202.6,-9.8,166,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3342,3388,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1942,-0.59,-116.8,3122,2391,3386,3296,226.1,-9.7,191,1953,0.00,2.50,0.00,0.000,260,0.000,0.094,3125,3805,3340,3385,3295,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2013,-0.59,-116.8,3125,3805,3385,3295,233.3,-10.0,198,2024,0.00,2.40,0.00,0.000,1030,0.000,0.067,3125,2401,3340,3385,3295,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2273,-0.59,-116.8,3125,2400,3386,3294,259.0,-10.0,218,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3339,3385,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2574,-0.59,-116.8,3125,2399,3386,3292,290.0,-10.4,228,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3338,3385,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2873,-0.59,-116.8,3125,2400,3385,3292,319.3,-9.6,238,2884,0.00,2.42,0.00,0.000,516,0.000,0.079,3125,990,3338,3385,3292,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2964,-0.59,-116.8,3121,990,3385,3292,328.4,-10.3,247,2974,0.00,2.45,0.00,0.000,1030,0.000,0.076,3125,2399,3338,3385,3291,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3295,-0.59,-116.8,3125,2399,3385,3289,358.2,-8.7,260,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3337,3385,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3595,-0.59,-116.8,3125,2399,3385,3288,381.8,-7.6,270,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3337,3385,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3895,-0.59,-116.8,3125,2399,3385,3284,406.1,-8.4,280,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4195,-0.59,-116.8,3125,2400,3380,3286,433.3,-9.5,290,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3337,3384,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4495,-0.59,-116.8,3125,2396,3384,3286,462.4,-9.5,300,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4795,-0.59,-116.8,3125,2396,3390,3286,491.0,-9.4,310,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5095,-0.59,-116.8,3125,2399,3383,3285,518.3,-8.9,320,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3334,3383,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5395,-0.59,-116.8,3125,2399,3382,3284,543.9,-8.1,330,5405,0.00,2.47,0.00,0.000,516,0.000,0.080,3125,983,3333,3382,3284,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5474,-0.59,-116.8,3123,983,3382,3284,550.8,-8.8,338,5485,0.00,2.50,0.00,0.000,1030,0.000,0.077,3125,2404,3333,3382,3284,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5788,-0.59,-116.8,3125,2404,3382,3283,574.5,-7.1,349,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6084,-0.59,-116.8,3125,2403,3382,3282,594.8,-6.7,359,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6385,-0.59,-116.8,3125,2406,3382,3281,615.9,-7.2,369,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6684,-0.59,-116.8,3125,2404,3381,3281,640.0,-8.3,379,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3329,3376,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6985,-0.59,-116.8,3125,2403,3381,3277,666.6,-9.1,389,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7285,-0.59,-116.8,3125,2404,3380,3280,691.6,-7.7,399,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2407,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7585,-0.59,-116.8,3125,2404,3380,3279,711.4,-6.3,409,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3329,3380,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7885,-0.59,-116.8,3125,2404,3380,3278,730.3,-6.5,419,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,-0.59,-116.8,3125,2403,3380,3278,752.0,-7.3,429,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8484,-0.59,-116.8,3125,2404,3379,3278,774.5,-7.5,439,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8785,-0.59,-116.8,3125,2403,3379,3277,796.1,-7.0,449,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2408,3326,3375,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9084,-0.59,-116.8,3125,2403,3386,3277,816.1,-6.7,459,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9385,-0.59,-116.8,3125,2403,3379,3276,835.7,-6.6,469,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3327,3378,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9685,-0.59,-116.8,3125,2403,3378,3276,856.0,-7.0,479,9695,0.00,2.50,0.00,0.000,516,0.000,0.086,3126,984,3327,3378,3276,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9754,-0.59,-116.8,3125,984,3385,3276,862.0,-8.3,486,9764,0.00,2.50,0.00,0.000,1030,0.000,0.082,3125,2402,3326,3378,3275,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10075,-0.59,-116.8,3125,2402,3377,3275,888.4,-8.5,498,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3326,3377,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10378,-0.59,-116.8,3125,2402,3378,3274,914.0,-8.6,508,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3325,3377,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10678,-0.59,-116.8,3125,2402,3372,3274,939.8,-8.6,518,10688,0.00,2.53,0.00,0.000,260,0.000,0.103,3128,3817,3325,3377,3274,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10768,-0.59,-116.8,3125,3817,3376,3274,948.1,-8.9,527,10778,0.00,2.45,0.00,0.000,1030,0.000,0.073,3130,2403,3325,3376,3274,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11099,-0.59,-116.8,3125,2402,3376,3270,974.0,-7.4,540,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3324,3374,3274,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11335,begin apogee
$GC,11344,-0.25,0.0,3125,2317,3377,3273,991.7,-7.4,548,11460,0.40,0.00,102.90,1.918,10246,0.184,0.000,3242,2316,2852,2926,2779,0,0,0,0,0,0,14.21,28.83,13.14
$STATE,11463,end apogee,CONTROL_FINISHED_OK
$STATE,11463,begin climb
$GC,11467,0.59,116.8,3242,2316,2931,2778,995.5,0.0,552,11585,0.88,0.00,110.12,1.883,10246,0.126,0.000,3515,2316,2381,2517,2246,0,0,0,0,0,0,13.89,28.83,12.93
$GC,11878,0.59,116.8,3515,2316,2513,2239,962.9,9.7,566,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2316,2377,2513,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12182,0.59,116.8,3514,2316,2512,2236,932.7,10.0,576,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2316,2374,2512,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12481,0.59,116.8,3516,2314,2511,2234,902.7,10.0,586,12491,0.00,2.60,0.00,0.000,260,0.000,0.099,3516,3750,2373,2511,2235,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12542,0.59,116.8,3515,3750,2510,2235,896.1,10.9,592,12552,0.00,2.50,0.00,0.000,1030,0.000,0.077,3519,2343,2372,2511,2234,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12871,0.59,116.8,3519,2342,2510,2234,864.7,9.0,605,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2343,2372,2510,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13175,0.59,116.8,3519,2343,2510,2234,840.2,7.8,615,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2343,2373,2512,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13474,0.59,116.8,3519,2342,2510,2233,818.1,7.2,625,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2342,2371,2510,2233,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24235,end climb,SURFACE_DEPTH_REACHED
$STATE,24235,begin surface coast
$FINISH,1.2,1.023918
$STATE,24283,end surface coast,CONTROL_FINISHED_OK
$STATE,24283,begin surface
$SM_CCo,24311,39.75,0.103,0,0,1328,375.06
$SM_GC,2.02,9.38,2.38,39.75,0.069,0.065,0.103,393,2399,1328,-9.11,0.88,375.06,0,0,0,0,0,0,14.26,14.29,14.26
$IRIDIUM_FIX,4713.38,-12601.88,250814,151536
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.60
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3848736
$PM_FREEKB,54624192
$24V_AH,12.9,67.299
$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,23.450,89.500,338.550,39.750,0.000,0.000,0.000,319.775,0.000,0.000,14.631,3090.378,17580.291,598.225,2886.083,770.243,0.000,2503.764,0.000,1921.930,0.000,0.536,0.000
$DEVICE_MAMPS,384.795,168.300,1917.855,103.275,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24298.000,453.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.861,5.674,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,43319,1263
$CAP_FILE_SIZE,249259,0
$CFSIZE,260034560,230113280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25718.96,0x2378ba,7,5
$CURRENT,0.073,143.8,1
$GPS,260814,051959,4723.612,-12608.116,51,1.6,56,18.6