version: 66.12
glider: 187
mission: 4
dive: 136
start: 7 18 114 9 3 31
data:
$ID,187
$MISSION,4
$DIVE,136
$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,-1593376.8
$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,31
$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
$GPS1,180714,085359,4731.313,-12551.384,62,2.0,82,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.4
$GPS2,180714,090305,4731.229,-12551.377,52,1.8,62,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,238.7,104200,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,401,2379,1458,1203,0.0,0.0,0,92,0.00,0.00,-60.12,0.000,16386,0.000,0.000,401,2380,2964,3010,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,400,2382,3012,2918,4.2,-5.2,6,124,12.57,2.60,-6.32,0.000,18692,0.401,0.116,3124,3815,3338,3382,3294,0,0,0,0,0,0,14.15,14.35,14.57
$GC,354,-0.59,-116.8,3124,3815,3388,3296,55.5,-13.7,32,363,0.00,2.42,0.00,0.000,1030,0.000,0.069,3124,2391,3342,3388,3296,0,0,0,0,0,0,28.83,14.45,28.83
$GC,604,-0.59,-116.8,3124,2389,3390,3298,89.4,-15.2,57,614,0.00,2.50,0.00,0.000,260,0.000,0.096,3124,3812,3344,3391,3297,0,0,0,0,0,0,28.83,14.46,28.83
$GC,844,-0.59,-116.8,3124,3812,3390,3297,120.9,-13.2,81,854,0.00,2.42,0.00,0.000,1030,0.000,0.070,3124,2389,3342,3390,3294,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1095,-0.59,-116.8,3127,2388,3391,3297,146.4,-8.7,106,1103,0.00,2.40,0.00,0.000,516,0.000,0.085,3130,989,3346,3395,3297,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1164,-0.59,-116.8,3124,989,3391,3298,153.0,-9.8,113,1174,0.00,2.42,0.00,0.000,1030,0.000,0.078,3124,2405,3341,3386,3297,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1415,-0.59,-116.8,3124,2405,3391,3301,175.7,-9.1,138,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1664,-0.59,-116.8,3124,2405,3391,3297,199.2,-9.3,163,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3344,3391,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,-0.59,-116.8,3120,2409,3390,3297,223.3,-9.5,188,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3344,3391,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-0.59,-116.8,3124,2405,3390,3295,247.4,-9.9,213,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2405,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2434,-0.59,-116.8,3124,2406,3390,3294,274.0,-9.8,224,2442,0.00,2.42,0.00,0.000,516,0.000,0.085,3124,991,3341,3389,3294,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2483,-0.59,-116.8,3125,991,3390,3294,279.1,-10.4,229,2494,0.00,2.47,0.00,0.000,1030,0.000,0.080,3124,2400,3342,3391,3294,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2797,-0.59,-116.8,3124,2403,3390,3293,308.5,-9.3,240,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3341,3390,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3095,-0.59,-116.8,3124,2400,3391,3292,336.6,-9.6,250,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3341,3390,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3394,-0.59,-116.8,3130,2396,3390,3290,364.6,-9.3,260,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3339,3390,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3695,-0.59,-116.8,3124,2400,3387,3289,390.9,-8.8,270,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3339,3390,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3994,-0.59,-116.8,3124,2400,3386,3286,417.2,-8.6,280,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3338,3389,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4295,-0.59,-116.8,3124,2400,3389,3286,444.7,-9.3,290,4302,0.00,2.40,0.00,0.000,516,0.000,0.087,3124,1001,3335,3383,3287,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4354,-0.59,-116.8,3124,1001,3387,3287,450.5,-10.0,296,4362,0.00,2.40,0.00,0.000,1030,0.000,0.084,3125,2402,3337,3388,3287,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4687,-0.59,-116.8,3124,2402,3387,3286,480.8,-8.8,309,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3336,3387,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4984,-0.59,-116.8,3124,2401,3386,3286,505.9,-8.3,319,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5284,-0.59,-116.8,3124,2400,3386,3285,529.5,-7.6,329,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3337,3386,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5584,-0.59,-116.8,3124,2402,3385,3284,550.9,-7.1,339,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3334,3385,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5884,-0.59,-116.8,3125,2402,3385,3285,571.5,-6.8,349,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3337,3391,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6184,-0.59,-116.8,3124,2402,3385,3283,592.9,-7.3,359,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3333,3384,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6484,-0.59,-116.8,3124,2402,3384,3282,616.4,-8.0,369,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6784,-0.59,-116.8,3124,2402,3383,3281,642.0,-8.7,379,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3333,3384,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7084,-0.59,-116.8,3124,2402,3383,3281,667.9,-8.6,389,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7384,-0.59,-116.8,3124,2401,3383,3280,694.3,-8.9,399,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3331,3383,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7684,-0.59,-116.8,3124,2401,3383,3275,720.8,-8.8,409,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3333,3388,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7984,-0.59,-116.8,3124,2401,3382,3278,746.6,-8.3,419,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8284,-0.59,-116.8,3124,2402,3382,3278,769.8,-7.6,429,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8584,-0.59,-116.8,3124,2402,3382,3281,792.1,-7.4,439,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2407,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8884,-0.59,-116.8,3125,2401,3381,3280,813.9,-7.1,449,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9184,-0.59,-116.8,3124,2402,3381,3277,834.6,-6.8,459,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9484,-0.59,-116.8,3124,2402,3381,3276,855.5,-7.0,469,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9785,-0.59,-116.8,3124,2402,3381,3276,875.4,-6.4,479,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10084,-0.59,-116.8,3124,2402,3381,3275,894.4,-6.4,489,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3327,3380,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10384,-0.59,-116.8,3124,2406,3380,3274,912.8,-6.1,499,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10684,-0.59,-116.8,3124,2401,3380,3274,931.7,-6.5,509,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10984,-0.59,-116.8,3124,2398,3380,3275,951.3,-6.4,519,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3327,3381,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11284,-0.59,-116.8,3129,2401,3380,3273,970.8,-6.6,529,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3326,3380,3273,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11581,begin apogee
$GC,11590,-0.25,0.0,3124,2332,3379,3268,990.9,-6.8,539,11696,0.40,0.00,100.53,1.927,10246,0.203,0.000,3240,2332,2857,2935,2780,0,0,0,0,0,0,14.46,28.83,13.27
$STATE,11699,end apogee,CONTROL_FINISHED_OK
$STATE,11699,begin climb
$GC,11703,0.59,116.8,3240,2332,2934,2776,994.0,0.0,542,11825,0.88,0.00,108.85,1.893,10246,0.146,0.000,3511,2332,2377,2527,2228,0,0,0,0,0,0,13.89,28.83,13.11
$GC,12126,0.59,116.8,3512,2332,2526,2224,966.9,8.2,557,12136,0.00,2.55,0.00,0.000,260,0.000,0.110,3511,3738,2374,2525,2224,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12185,0.59,116.8,3512,3738,2523,2224,960.9,10.0,563,12195,0.00,2.50,0.00,0.000,1030,0.000,0.087,3519,2332,2377,2531,2223,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12516,0.59,116.8,3519,2332,2518,2221,929.8,9.5,576,12526,0.00,2.53,0.00,0.000,516,0.000,0.107,3519,918,2372,2523,2222,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12576,0.59,116.8,3518,916,2529,2222,924.0,9.8,582,12586,0.00,2.50,0.00,0.000,1030,0.000,0.090,3519,2336,2372,2523,2222,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12906,0.59,116.8,3519,2336,2522,2221,893.5,9.0,595,12916,0.00,2.53,0.00,0.000,260,0.000,0.112,3519,3746,2372,2522,2223,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12955,0.59,116.8,3519,3746,2519,2221,888.7,9.9,600,12966,0.00,2.50,0.00,0.000,1030,0.000,0.090,3519,2330,2371,2521,2221,0,0,0,0,0,0,28.83,14.46,28.83
$GC,13269,0.59,116.8,3519,2330,2521,2227,861.6,8.7,611,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2330,2371,2521,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13569,0.59,116.8,3520,2330,2521,2220,835.9,8.5,621,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2332,2370,2521,2220,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24427,end climb,SURFACE_DEPTH_REACHED
$STATE,24427,begin surface coast
$FINISH,1.0,1.023454
$STATE,24472,end surface coast,CONTROL_FINISHED_OK
$STATE,24472,begin surface
$SM_CCo,24498,18.83,0.103,0,0,1328,375.06
$SM_GC,2.56,9.23,0.15,18.83,0.079,0.152,0.103,397,2404,1328,-9.10,-0.76,375.06,0,0,0,0,0,0,14.42,14.43,14.40
$IRIDIUM_FIX,4713.38,-12547.82,180714,010135
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.70
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3894496
$PM_FREEKB,58897952
$24V_AH,13.1,31.112
$10V_AH,13.4,0.000
$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,23.200,103.875,349.050,18.825,0.000,0.000,0.000,267.200,0.000,0.000,63.752,3118.382,17922.598,598.069,2713.240,689.291,0.000,2258.036,0.000,1944.337,0.000,0.536,0.000
$DEVICE_MAMPS,400.860,192.780,1927.035,103.275,0.000,0.000,0.000,173.655,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24495.000,11887.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.858,4.072,0.000,0.000
$MEM,290800
$DATA_FILE_SIZE,43281,1272
$CAP_FILE_SIZE,239105,0
$CFSIZE,260034560,245153792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26018.83,0x2378ba,7,5
$CURRENT,0.057, 75.6,1
$GPS,180714,155424,4730.938,-12554.182,85,1.9,85,18.7