version: 66.12
glider: 187
mission: 4
dive: 135
start: 7 18 114 1 49 51
data:
$ID,187
$MISSION,4
$DIVE,135
$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,8
$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,-1593375.5
$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,26
$R_STBD_OVSHOOT,23
$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,49
$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
$GPS1,180714,013629,4733.583,-12549.295,40,1.3,40,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.3
$GPS2,180714,014925,4733.574,-12549.240,11,1.5,11,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,219.8,108875,-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,-116.8,398,2404,524,419,0.0,0.0,0,119,0.00,0.00,-87.25,0.000,16386,0.000,0.000,398,2405,2812,2874,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.59,-116.8,398,2406,2879,2751,3.6,-4.1,9,160,12.55,2.53,-9.32,0.000,18692,0.398,0.114,3126,3831,3336,3386,3286,0,0,0,0,0,0,14.13,14.32,14.54
$GC,340,-0.59,-116.8,3126,3831,3390,3287,47.7,-15.2,31,351,0.00,2.42,0.00,0.000,1030,0.000,0.067,3126,2394,3341,3390,3293,0,0,0,0,0,0,28.83,14.43,28.83
$GC,591,-0.59,-116.8,3125,2390,3391,3289,80.7,-11.2,56,601,0.00,2.38,0.00,0.000,516,0.000,0.080,3124,995,3340,3391,3289,0,0,0,0,0,0,28.83,14.45,28.83
$GC,641,-0.59,-116.8,3126,995,3391,3289,86.7,-12.2,61,652,0.00,2.40,0.00,0.000,1030,0.000,0.078,3126,2398,3340,3391,3290,0,0,0,0,0,0,28.83,14.45,28.83
$GC,892,-0.59,-116.8,3126,2398,3391,3285,113.7,-10.7,86,904,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3343,3397,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1144,-0.59,-116.8,3126,2398,3391,3291,140.1,-10.0,111,1155,0.00,2.40,0.00,0.000,516,0.000,0.079,3126,984,3339,3389,3289,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1225,-0.59,-116.8,3126,986,3391,3290,148.8,-11.1,119,1236,0.00,2.42,0.00,0.000,1030,0.000,0.076,3126,2406,3340,3391,3290,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1476,-0.59,-116.8,3126,2406,3391,3289,173.4,-9.8,144,1487,0.00,2.45,0.00,0.000,260,0.000,0.097,3126,3819,3340,3391,3289,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1566,-0.59,-116.8,3126,3818,3397,3289,182.7,-10.1,153,1577,0.00,2.40,0.00,0.000,1030,0.000,0.071,3124,2390,3339,3391,3288,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1817,-0.59,-116.8,3126,2388,3387,3287,206.9,-9.4,178,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2388,3339,3391,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2068,-0.59,-116.8,3126,2388,3391,3286,232.3,-10.1,203,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2388,3338,3391,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2317,-0.59,-116.8,3126,2388,3390,3285,256.6,-9.8,224,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3337,3390,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2617,-0.59,-116.8,3126,2387,3391,3283,285.0,-9.2,234,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2388,3337,3390,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2917,-0.59,-116.8,3126,2388,3389,3282,311.4,-8.6,244,2928,0.00,2.38,0.00,0.000,516,0.000,0.087,3126,996,3335,3389,3282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2966,-0.59,-116.8,3126,999,3388,3282,315.8,-9.1,249,2977,0.00,2.40,0.00,0.000,1030,0.000,0.082,3126,2399,3334,3388,3281,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3280,-0.59,-116.8,3126,2402,3387,3281,339.9,-7.4,260,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3334,3388,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,-0.59,-116.8,3128,2402,3387,3279,363.5,-7.9,270,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3336,3392,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3877,-0.59,-116.8,3126,2402,3385,3278,386.7,-7.7,280,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2402,3331,3385,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4177,-0.59,-116.8,3126,2402,3384,3277,410.3,-8.1,290,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3330,3384,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4478,-0.59,-116.8,3126,2402,3384,3275,436.4,-9.0,300,4488,0.00,2.40,0.00,0.000,516,0.000,0.087,3126,999,3329,3384,3275,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4547,-0.59,-116.8,3126,999,3390,3275,443.2,-9.8,307,4557,0.00,2.42,0.00,0.000,1030,0.000,0.085,3126,2402,3329,3383,3275,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4868,-0.59,-116.8,3126,2402,3383,3273,471.4,-8.7,319,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3328,3383,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5167,-0.59,-116.8,3126,2401,3380,3272,496.6,-8.4,329,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3327,3382,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5468,-0.59,-116.8,3126,2402,3382,3270,522.2,-8.5,339,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3326,3382,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5767,-0.59,-116.8,3126,2402,3382,3269,547.4,-8.2,349,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3324,3381,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6068,-0.59,-116.8,3122,2401,3381,3271,570.6,-7.5,359,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3325,3382,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,-0.59,-116.8,3126,2402,3381,3268,594.4,-8.1,369,6379,0.00,2.42,0.00,0.000,516,0.000,0.091,3126,990,3324,3381,3268,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6429,-0.59,-116.8,3126,990,3381,3268,599.5,-8.6,375,6439,0.00,2.42,0.00,0.000,1030,0.000,0.086,3127,2400,3324,3380,3268,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6759,-0.59,-116.8,3126,2400,3380,3267,624.1,-7.3,388,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3323,3380,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7060,-0.59,-116.8,3126,2400,3380,3266,645.4,-7.3,398,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3323,3380,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7359,-0.59,-116.8,3126,2400,3385,3266,667.9,-7.5,408,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3320,3376,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7659,-0.59,-116.8,3126,2404,3383,3265,690.4,-7.4,418,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3321,3378,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7959,-0.59,-116.8,3126,2400,3379,3265,711.8,-7.2,428,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3321,3378,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,-0.59,-116.8,3126,2400,3377,3266,734.4,-7.7,438,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3321,3378,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8559,-0.59,-116.8,3126,2400,3378,3264,758.9,-8.3,448,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3320,3377,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,-0.59,-116.8,3127,2400,3377,3264,783.1,-8.1,458,8870,0.00,2.42,0.00,0.000,516,0.000,0.093,3126,996,3320,3377,3263,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8920,-0.59,-116.8,3126,996,3377,3264,788.0,-8.5,464,8930,0.00,2.42,0.00,0.000,1030,0.000,0.090,3126,2400,3320,3377,3264,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9249,-0.59,-116.8,3126,2400,3377,3263,813.0,-7.3,477,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3319,3376,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9550,-0.59,-116.8,3126,2405,3376,3267,834.7,-7.1,487,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3319,3376,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9850,-0.59,-116.8,3126,2403,3376,3261,855.0,-6.7,497,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3319,3375,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10153,-0.59,-116.8,3126,2400,3376,3262,875.5,-6.8,507,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3319,3376,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10453,-0.59,-116.8,3124,2397,3375,3261,895.3,-6.6,517,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3318,3376,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10753,-0.59,-116.8,3126,2400,3374,3256,916.6,-7.1,527,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3317,3375,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11053,-0.59,-116.8,3126,2400,3374,3259,939.0,-7.6,537,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3316,3374,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11353,-0.59,-116.8,3126,2400,3374,3258,960.1,-6.7,547,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3316,3373,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11654,-0.59,-116.8,3126,2400,3374,3254,980.3,-6.7,557,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2396,3314,3371,3258,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11796,begin apogee
$GC,11805,-0.25,0.0,3126,2330,3381,3257,990.6,-6.9,562,11910,0.40,0.00,98.10,1.915,10246,0.203,0.000,3242,2330,2857,2937,2778,0,0,0,0,0,0,14.49,28.83,13.27
$STATE,11912,end apogee,CONTROL_FINISHED_OK
$STATE,11912,begin climb
$GC,11916,0.59,116.8,3242,2330,2935,2773,993.4,0.0,565,12032,0.85,0.00,107.75,1.883,10246,0.145,0.000,3510,2330,2380,2533,2228,0,0,0,0,0,0,13.91,28.83,13.12
$GC,12312,0.59,116.8,3508,2330,2524,2220,965.9,8.5,579,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2331,2376,2531,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12615,0.59,116.8,3512,2330,2524,2221,940.8,8.6,589,12624,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2330,2375,2529,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12915,0.59,116.8,3508,2330,2527,2220,912.0,9.6,599,12925,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2330,2373,2527,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13214,0.59,116.8,3508,2330,2525,2219,884.2,9.1,609,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2330,2372,2526,2219,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25253,end climb,SURFACE_DEPTH_REACHED
$STATE,25253,begin surface coast
$FINISH,0.9,1.011651
$STATE,25284,end surface coast,CONTROL_FINISHED_OK
$STATE,25284,begin surface
$SM_CCo,25312,2.15,0.103,0,0,1328,375.06
$SM_GC,2.38,9.55,2.38,2.15,0.097,0.073,0.103,401,2387,1328,-9.09,0.59,375.06,0,0,0,0,0,0,14.38,14.43,14.40
$IRIDIUM_FIX,4716.56,-12552.27,180714,010133
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.70
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3894816
$PM_FREEKB,58967616
$24V_AH,13.1,30.847
$10V_AH,13.5,0.000
$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,23.725,117.875,362.525,2.150,0.000,0.000,0.000,404.650,0.000,0.000,12.690,3204.926,18359.141,629.875,3093.329,783.510,0.000,2707.221,0.000,2002.245,0.000,0.537,0.000
$DEVICE_MAMPS,397.800,191.250,1914.795,102.510,0.000,0.000,0.000,169.830,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25307.000,471.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.836,5.628,0.000,0.000
$MEM,290856
$DATA_FILE_SIZE,46601,1313
$CAP_FILE_SIZE,263319,0
$CFSIZE,260034560,245231616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25580.81,0x2378ba,7,5
$CURRENT,0.080,131.5,1
$GPS,180714,085359,4731.313,-12551.384,62,2.0,82,18.7