version: 66.12
glider: 187
mission: 4
dive: 92
start: 7 8 114 20 26 52
data:
$ID,187
$MISSION,4
$DIVE,92
$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,420
$T_MISSION,470
$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,135
$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,-1593312.4
$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,3320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25.5
$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,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,27
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,080714,201759,4721.243,-12617.622,99,0.9,99,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-72.1
$GPS2,080714,202624,4721.209,-12617.667,14,1.2,19,18.6
$SPEED_LIMITS,0.136,0.232
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,53.0,101238,-14.0,-7.857,-18.69,2568
$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,27,-0.64,-131.4,391,2440,1456,1206,0.0,0.0,0,89,0.00,0.00,-58.25,0.000,16386,0.000,0.000,391,2439,2873,2929,2818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.64,-131.4,391,2439,2930,2817,3.8,-3.8,6,130,12.60,2.55,-9.05,0.000,18948,0.409,0.110,3106,1020,3396,3436,3357,0,0,0,0,0,0,14.19,14.35,14.57
$GC,280,-0.64,-131.4,3107,1020,3439,3359,47.5,-17.1,25,289,0.00,2.42,0.00,0.000,1030,0.000,0.088,3107,2418,3398,3438,3359,0,0,0,0,0,0,28.83,14.42,28.83
$GC,530,-0.64,-131.4,3107,2420,3440,3360,86.5,-12.9,50,539,0.00,2.50,0.00,0.000,260,0.000,0.104,3103,3847,3400,3440,3361,0,0,0,0,0,0,28.83,14.45,28.83
$GC,689,-0.64,-131.4,3110,3844,3440,3361,109.2,-13.7,66,699,0.00,2.42,0.00,0.000,1030,0.000,0.073,3106,2415,3401,3440,3363,0,0,0,0,0,0,28.83,14.48,28.83
$GC,940,-0.64,-131.4,3107,2413,3440,3362,139.7,-12.2,91,948,0.00,2.38,0.00,0.000,516,0.000,0.090,3106,1026,3401,3440,3362,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1000,-0.64,-131.4,3107,1021,3440,3362,147.3,-12.7,97,1009,0.00,2.42,0.00,0.000,1030,0.000,0.087,3106,2428,3404,3446,3362,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1250,-0.64,-131.4,3107,2427,3445,3362,177.4,-12.1,122,1258,0.00,2.47,0.00,0.000,260,0.000,0.105,3107,3846,3400,3440,3360,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1300,-0.64,-131.4,3106,3846,3440,3362,183.4,-12.0,127,1309,0.00,2.45,0.00,0.000,1030,0.000,0.078,3107,2428,3401,3440,3363,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1550,-0.64,-131.4,3106,2428,3441,3361,212.3,-11.5,152,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2428,3400,3440,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,-0.64,-131.4,3107,2428,3438,3361,241.1,-11.7,177,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2428,3401,3440,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,-0.64,-131.4,3107,2428,3440,3361,270.7,-11.2,191,2070,0.00,2.42,0.00,0.000,516,0.000,0.092,3107,1009,3400,3440,3360,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2120,-0.64,-131.4,3107,1009,3440,3360,277.4,-11.4,197,2128,0.00,2.42,0.00,0.000,1030,0.000,0.088,3107,2423,3398,3439,3358,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2452,-0.64,-131.4,3107,2422,3438,3359,311.8,-10.2,210,2460,0.00,2.45,0.00,0.000,260,0.000,0.106,3106,3836,3399,3440,3359,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2529,-0.64,-131.4,3110,3836,3439,3359,320.0,-10.1,218,2538,0.00,2.45,0.00,0.000,1030,0.000,0.082,3106,2423,3398,3439,3357,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2840,-0.64,-131.4,3107,2425,3438,3359,348.8,-9.3,229,2847,0.00,2.45,0.00,0.000,516,0.000,0.096,3106,1003,3396,3438,3354,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2900,-0.64,-131.4,3107,1004,3438,3358,354.5,-9.7,235,2908,0.00,2.45,0.00,0.000,1030,0.000,0.089,3107,2430,3398,3438,3358,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3233,-0.64,-131.4,3107,2430,3438,3356,386.4,-9.9,248,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2430,3398,3439,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3530,-0.64,-131.4,3107,2430,3436,3356,415.2,-9.6,258,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2426,3396,3436,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,-0.64,-131.4,3107,2430,3436,3356,443.4,-9.4,268,3839,0.00,2.45,0.00,0.000,516,0.000,0.098,3106,1008,3398,3436,3360,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3881,-0.64,-131.4,3107,1008,3435,3356,448.5,-10.6,273,3890,0.00,2.45,0.00,0.000,1030,0.000,0.093,3107,2424,3394,3433,3356,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4193,-0.64,-131.4,3106,2423,3435,3355,478.9,-9.9,284,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2428,3394,3435,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4490,-0.64,-131.4,3106,2423,3434,3359,509.2,-10.3,294,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2423,3393,3433,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4790,-0.64,-131.4,3106,2424,3437,3352,539.4,-10.0,304,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2423,3395,3433,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5090,-0.64,-131.4,3106,2423,3433,3352,568.4,-9.6,314,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2423,3392,3432,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5390,-0.64,-131.4,3107,2423,3432,3351,596.2,-9.1,324,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2423,3391,3431,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5690,-0.64,-131.4,3112,2423,3431,3350,621.8,-8.4,334,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2423,3388,3426,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,-0.64,-131.4,3106,2428,3430,3350,647.6,-8.6,344,5998,0.00,2.45,0.00,0.000,516,0.000,0.099,3110,1010,3390,3431,3350,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6080,-0.64,-131.4,3107,1014,3430,3350,655.5,-8.8,353,6088,0.00,2.45,0.00,0.000,1030,0.000,0.095,3107,2425,3389,3430,3349,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6413,-0.64,-131.4,3107,2424,3430,3349,682.2,-7.9,366,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2424,3389,3430,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6711,-0.64,-131.4,3107,2424,3430,3347,705.5,-7.7,376,6719,0.00,2.45,0.00,0.000,516,0.000,0.100,3107,1009,3389,3430,3348,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6770,-0.64,-131.4,3107,1010,3429,3346,710.5,-8.3,382,6778,0.00,2.47,0.00,0.000,1030,0.000,0.096,3107,2436,3388,3429,3347,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7103,-0.64,-131.4,3107,2436,3429,3347,736.7,-8.1,395,7111,0.00,2.47,0.00,0.000,516,0.000,0.104,3107,1018,3387,3429,3346,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7161,-0.64,-131.4,3106,1018,3431,3345,742.2,-9.2,401,7169,0.00,2.45,0.00,0.000,1030,0.000,0.101,3107,2427,3386,3429,3344,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7494,-0.64,-131.4,3107,2422,3429,3345,770.7,-8.7,414,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2422,3386,3429,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7791,-0.64,-131.4,3106,2422,3429,3344,796.0,-8.1,424,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2419,3386,3428,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8092,-0.64,-131.4,3107,2422,3428,3343,819.6,-7.7,434,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2422,3385,3428,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,-0.64,-131.4,3102,2421,3428,3344,842.3,-7.5,444,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2422,3385,3428,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8692,-0.64,-131.4,3106,2417,3427,3342,864.3,-7.2,454,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2422,3385,3428,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8992,-0.64,-131.4,3103,2422,3428,3342,885.3,-6.8,464,9000,0.00,2.45,0.00,0.000,516,0.000,0.103,3106,1016,3384,3426,3342,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9051,-0.64,-131.4,3106,1016,3425,3341,889.7,-7.5,470,9059,0.00,2.45,0.00,0.000,1030,0.000,0.099,3103,2422,3384,3427,3342,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9384,-0.64,-131.4,3107,2426,3426,3341,913.1,-7.2,483,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2421,3384,3427,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9682,-0.64,-131.4,3107,2425,3428,3341,934.9,-7.3,493,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2421,3386,3426,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9982,-0.64,-131.4,3107,2426,3426,3342,957.1,-7.4,503,9989,0.00,2.45,0.00,0.000,516,0.000,0.104,3108,1022,3386,3426,3346,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10060,-0.64,-131.4,3107,1017,3426,3341,963.6,-8.0,511,10070,0.00,2.50,0.00,0.000,1030,0.000,0.100,3108,2420,3380,3420,3341,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10374,-0.64,-131.4,3107,2421,3425,3340,987.2,-7.5,522,10381,0.00,2.50,0.00,0.000,260,0.000,0.118,3108,3843,3382,3425,3340,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,10407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10407,begin apogee
$GC,10418,-0.27,0.0,3106,2330,3425,3341,990.2,-7.6,526,10535,0.43,0.00,111.68,1.926,10246,0.218,0.000,3228,2330,2860,2934,2786,0,0,0,0,0,0,14.52,28.83,13.17
$STATE,10538,end apogee,CONTROL_FINISHED_OK
$STATE,10538,begin climb
$GC,10542,0.64,131.4,3228,2330,2934,2782,994.0,0.0,530,10677,0.98,2.80,122.40,1.884,10500,0.161,0.119,3519,3748,2319,2474,2164,0,0,0,0,0,0,13.83,13.66,13.05
$GC,10699,0.64,131.4,3519,3746,2467,2164,985.7,8.3,542,10710,0.00,2.65,0.00,0.000,1030,0.000,0.101,3521,2336,2318,2471,2166,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11013,0.64,131.4,3519,2336,2471,2160,955.3,9.8,553,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2336,2316,2472,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11312,0.64,131.4,3519,2336,2470,2157,925.4,10.2,563,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2336,2313,2470,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11613,0.64,131.4,3519,2336,2469,2157,894.7,10.1,573,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2336,2313,2469,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11912,0.64,131.4,3519,2336,2468,2157,864.6,10.1,583,11923,0.00,2.55,0.00,0.000,516,0.000,0.119,3522,915,2312,2468,2157,0,0,0,0,0,0,28.83,14.47,28.83
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$STATE,21996,end climb,SURFACE_DEPTH_REACHED
$STATE,21996,begin surface coast
$FINISH,1.1,1.002226
$STATE,22034,end surface coast,CONTROL_FINISHED_OK
$STATE,22035,begin surface
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$HUMID,48.58
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$XPDR_PINGS,0
$SC_FREEKB,3908576
$PM_FREEKB,59979200
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$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.811,4.086,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,43212,1182
$CAP_FILE_SIZE,232519,0
$CFSIZE,260034560,249319424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,21821.54,0x2378ba,7,5
$CURRENT,0.084,339.1,1
$GPS,090714,023700,4723.061,-12614.458,92,2.0,92,18.6