version: 66.12
glider: 187
mission: 4
dive: 291
start: 8 29 114 12 13 23
data:
$ID,187
$MISSION,4
$DIVE,291
$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,-1593790.5
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,290814,120225,4708.511,-12643.792,95,6.6,115,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-74.7
$GPS2,290814,121257,4708.528,-12643.736,13,5.6,33,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,201.0,25912,-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,-116.8,387,2403,1445,1221,0.0,0.0,0,91,0.00,0.00,-58.28,0.000,16386,0.000,0.000,387,2402,2923,2969,2878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,387,2403,2971,2874,4.4,-4.6,6,131,12.65,2.58,-6.55,0.000,18692,0.383,0.109,3126,3821,3334,3370,3298,0,0,0,0,0,0,13.93,14.20,14.50
$GC,154,-0.59,-116.8,3126,3820,3378,3299,27.5,-36.2,12,165,0.00,2.42,0.00,0.000,1030,0.000,0.062,3127,2408,3338,3378,3299,0,0,0,0,0,0,28.83,14.26,28.83
$GC,405,-0.59,-116.8,3127,2404,3379,3299,66.9,-12.6,37,416,0.00,2.47,0.00,0.000,260,0.000,0.086,3127,3806,3340,3381,3299,0,0,0,0,0,0,28.83,14.26,28.83
$GC,466,-0.59,-116.8,3126,3806,3382,3299,75.0,-13.4,43,477,0.00,2.42,0.00,0.000,1030,0.000,0.059,3127,2389,3340,3382,3299,0,0,0,0,0,0,28.83,14.28,28.83
$GC,716,-0.59,-116.8,3127,2382,3384,3304,106.0,-12.7,68,727,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2383,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,967,-0.59,-116.8,3126,2382,3384,3300,134.5,-10.6,93,977,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2382,3342,3385,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1217,-0.59,-116.8,3127,2382,3384,3299,161.4,-10.7,118,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2383,3339,3380,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1467,-0.59,-116.8,3126,2382,3384,3299,185.5,-9.4,143,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2382,3341,3384,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1717,-0.59,-116.8,3127,2382,3384,3298,208.0,-9.0,168,1729,0.00,2.50,0.00,0.000,260,0.000,0.089,3127,3805,3341,3384,3298,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1769,-0.59,-116.8,3127,3805,3384,3298,212.8,-9.5,173,1780,0.00,2.40,0.00,0.000,1030,0.000,0.062,3126,2389,3342,3384,3301,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2020,-0.59,-116.8,3126,2384,3381,3296,235.3,-8.5,198,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2384,3340,3384,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2270,-0.59,-116.8,3127,2384,3384,3294,255.3,-7.8,219,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2384,3339,3384,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2570,-0.59,-116.8,3127,2384,3384,3293,279.7,-8.2,229,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2384,3338,3383,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2870,-0.59,-116.8,3126,2381,3383,3292,306.5,-9.4,239,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2384,3336,3383,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3170,-0.59,-116.8,3126,2384,3383,3290,334.6,-9.1,249,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2384,3337,3384,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-0.59,-116.8,3124,2384,3382,3288,361.1,-8.9,259,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2384,3335,3382,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-0.59,-116.8,3127,2387,3382,3287,388.8,-9.3,269,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2384,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4070,-0.59,-116.8,3127,2385,3389,3286,417.3,-9.3,279,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2383,3333,3381,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-0.59,-116.8,3126,2385,3381,3286,443.6,-8.7,289,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2384,3333,3381,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,-0.59,-116.8,3126,2384,3380,3285,469.5,-8.6,299,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2384,3333,3381,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4970,-0.59,-116.8,3126,2384,3379,3284,495.6,-8.9,309,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2382,3331,3379,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5270,-0.59,-116.8,3127,2382,3379,3282,522.3,-8.9,319,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2384,3330,3379,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5570,-0.59,-116.8,3127,2384,3378,3281,548.2,-8.4,329,5580,0.00,2.55,0.00,0.000,260,0.000,0.095,3127,3819,3329,3377,3281,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5640,-0.59,-116.8,3127,3814,3377,3281,554.2,-8.4,336,5650,0.00,2.42,0.00,0.000,1030,0.000,0.068,3127,2408,3329,3378,3281,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5963,-0.59,-116.8,3127,2405,3373,3280,580.7,-8.2,348,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3328,3376,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6261,-0.59,-116.8,3126,2405,3377,3279,603.2,-7.3,358,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3329,3377,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6560,-0.59,-116.8,3127,2405,3376,3283,623.8,-6.7,368,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3327,3376,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6860,-0.59,-116.8,3127,2405,3376,3277,645.3,-7.3,378,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7160,-0.59,-116.8,3127,2405,3375,3277,667.6,-7.4,388,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3325,3375,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7461,-0.59,-116.8,3124,2405,3375,3276,691.2,-7.9,398,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3325,3374,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7760,-0.59,-116.8,3127,2405,3374,3274,715.6,-8.1,408,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3324,3374,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8061,-0.59,-116.8,3126,2405,3374,3274,739.2,-7.7,418,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3323,3375,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8360,-0.59,-116.8,3127,2405,3374,3274,760.8,-7.0,428,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3323,3373,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8661,-0.59,-116.8,3127,2404,3373,3273,782.5,-7.4,438,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3323,3373,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8960,-0.59,-116.8,3126,2402,3373,3272,804.8,-7.3,448,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3322,3373,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9261,-0.59,-116.8,3127,2404,3372,3272,826.2,-7.2,458,9271,0.00,2.50,0.00,0.000,516,0.000,0.084,3126,983,3323,3372,3275,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9320,-0.59,-116.8,3127,983,3372,3272,831.0,-8.1,464,9331,0.00,2.47,0.00,0.000,1030,0.000,0.077,3127,2396,3323,3372,3275,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9651,-0.59,-116.8,3127,2396,3372,3270,854.1,-6.9,477,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3320,3371,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9951,-0.59,-116.8,3126,2396,3372,3273,875.4,-7.1,487,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3320,3371,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10255,-0.59,-116.8,3123,2393,3371,3269,897.1,-7.3,497,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3320,3371,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10553,-0.59,-116.8,3126,2396,3372,3269,919.3,-7.4,507,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2396,3318,3371,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10855,-0.59,-116.8,3126,2396,3371,3269,942.5,-7.7,517,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2396,3320,3371,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11153,-0.59,-116.8,3126,2396,3371,3269,965.1,-7.4,527,11164,0.00,2.53,0.00,0.000,260,0.000,0.097,3127,3818,3320,3371,3269,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11223,-0.59,-116.8,3127,3818,3371,3269,970.5,-7.7,534,11233,0.00,2.45,0.00,0.000,1030,0.000,0.070,3127,2394,3319,3371,3268,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,11540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11540,begin apogee
$GC,11548,-0.25,0.0,3131,2333,3367,3268,991.5,-6.3,546,11657,0.40,0.00,100.85,1.923,10246,0.182,0.000,3244,2330,2859,2933,2785,0,0,0,0,0,0,14.17,28.83,13.14
$STATE,11659,end apogee,CONTROL_FINISHED_OK
$STATE,11659,begin climb
$GC,11663,0.59,116.8,3244,2331,2932,2781,994.0,0.0,549,11784,0.85,0.00,110.88,1.882,10246,0.124,0.000,3515,2330,2378,2515,2241,0,0,0,0,0,0,13.87,28.83,12.90
$GC,12084,0.59,116.8,3515,2330,2514,2237,960.3,9.9,564,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2330,2375,2514,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12386,0.59,116.8,3516,2335,2514,2235,931.7,9.4,574,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2330,2374,2514,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12687,0.59,116.8,3515,2330,2513,2234,903.6,9.4,584,12696,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2330,2374,2514,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12986,0.59,116.8,3511,2329,2513,2239,875.9,9.2,594,12996,0.00,2.55,0.00,0.000,260,0.000,0.099,3515,3740,2374,2513,2236,0,0,0,0,0,0,28.83,14.22,28.83
$GC,13047,0.59,116.8,3515,3740,2512,2233,869.4,10.9,600,13057,0.00,2.47,0.00,0.000,1030,0.000,0.076,3519,2334,2372,2512,2233,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13377,0.59,116.8,3519,2334,2512,2231,837.0,9.8,613,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2334,2371,2511,2232,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24341,end climb,SURFACE_DEPTH_REACHED
$STATE,24341,begin surface coast
$FINISH,1.0,1.018263
$STATE,24373,end surface coast,CONTROL_FINISHED_OK
$STATE,24373,begin surface
$SM_CCo,24401,18.85,0.099,0,0,1327,375.06
$SM_GC,2.24,9.48,2.40,18.85,0.071,0.063,0.099,395,2395,1327,-9.11,0.68,375.06,0,0,0,0,0,0,14.21,14.26,14.22
$IRIDIUM_FIX,4654.38,-12638.24,290814,040404
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.35
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3844896
$PM_FREEKB,54225664
$24V_AH,12.9,70.638
$10V_AH,13.2,0.000
$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,23.625,84.675,370.600,18.850,0.000,0.000,0.000,332.125,0.000,0.000,34.709,3080.479,17640.637,594.518,2921.800,792.727,0.000,2518.335,0.000,1931.838,0.000,0.537,0.000
$DEVICE_MAMPS,383.265,184.365,1923.210,99.450,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24399.000,465.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.811,5.862,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,43344,1257
$CAP_FILE_SIZE,248162,0
$CFSIZE,260034560,228839424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25883.18,0x2378ba,7,5
$CURRENT,0.065,226.7,1
$GPS,290814,190231,4705.828,-12647.187,77,1.4,77,18.6