version: 66.12
glider: 187
mission: 4
dive: 131
start: 7 16 114 21 45 30
data:
$ID,187
$MISSION,4
$DIVE,131
$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,-1593370.5
$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,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,18
$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
$GPS1,160714,213406,4740.318,-12536.707,97,1.4,97,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.4
$GPS2,160714,214501,4740.233,-12536.773,12,1.3,12,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,214.2,128850,-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,-116.8,392,2426,1464,1194,0.0,0.0,0,91,0.00,0.00,-58.30,0.000,16386,0.000,0.000,397,2428,2868,2921,2816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,389,2428,2924,2817,3.7,-4.1,6,131,12.75,2.55,-8.12,0.000,18692,0.405,0.119,3125,3833,3338,3384,3293,0,0,0,0,0,0,14.13,14.31,14.55
$GC,361,-0.59,-116.8,3125,3832,3387,3293,56.3,-16.3,33,372,0.00,2.42,0.00,0.000,1030,0.000,0.070,3122,2416,3341,3387,3296,0,0,0,0,0,0,28.83,14.42,28.83
$GC,612,-0.59,-116.8,3125,2412,3389,3297,92.0,-13.6,58,622,0.00,2.50,0.00,0.000,260,0.000,0.098,3125,3838,3343,3389,3297,0,0,0,0,0,0,28.83,14.45,28.83
$GC,852,-0.59,-116.8,3126,3838,3389,3298,121.9,-11.7,82,863,0.00,2.40,0.00,0.000,1030,0.000,0.069,3126,2426,3343,3389,3298,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1103,-0.59,-116.8,3126,2426,3389,3297,148.2,-10.2,107,1113,0.00,2.47,0.00,0.000,260,0.000,0.099,3126,3835,3343,3389,3298,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1193,-0.59,-116.8,3131,3835,3389,3301,157.1,-9.7,116,1204,0.00,2.40,0.00,0.000,1030,0.000,0.070,3126,2410,3343,3389,3297,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1445,-0.59,-116.8,3125,2411,3389,3299,180.0,-9.2,141,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2411,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1694,-0.59,-116.8,3126,2411,3389,3297,204.5,-10.2,166,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2411,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1944,-0.59,-116.8,3125,2411,3393,3296,229.7,-9.7,191,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2410,3342,3389,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2204,-0.59,-116.8,3126,2414,3389,3294,253.3,-8.7,215,2214,0.00,2.38,0.00,0.000,516,0.000,0.086,3126,1021,3341,3389,3294,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2294,-0.59,-116.8,3126,1021,3389,3294,262.1,-9.9,224,2304,0.00,2.40,0.00,0.000,1030,0.000,0.083,3126,2427,3341,3389,3294,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2624,-0.59,-116.8,3126,2425,3389,3293,292.5,-9.2,237,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2424,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2924,-0.59,-116.8,3126,2425,3389,3292,319.5,-8.8,247,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2425,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3225,-0.59,-116.8,3126,2425,3389,3291,344.3,-8.2,257,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2425,3339,3389,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3524,-0.59,-116.8,3126,2423,3388,3290,369.9,-8.7,267,3534,0.00,2.40,0.00,0.000,516,0.000,0.086,3126,1023,3339,3388,3290,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3614,-0.59,-116.8,3126,1023,3387,3290,378.1,-9.3,276,3625,0.00,2.40,0.00,0.000,1030,0.000,0.084,3126,2423,3338,3388,3289,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3945,-0.59,-116.8,3125,2424,3387,3288,407.2,-8.9,289,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2423,3337,3387,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4245,-0.59,-116.8,3125,2423,3387,3287,433.5,-8.8,299,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2419,3336,3386,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4545,-0.59,-116.8,3124,2423,3386,3287,459.2,-8.5,309,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2423,3336,3386,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4845,-0.59,-116.8,3126,2423,3385,3286,483.0,-7.8,319,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2423,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5145,-0.59,-116.8,3126,2423,3384,3284,505.9,-7.8,329,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2423,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5445,-0.59,-116.8,3131,2423,3384,3285,529.0,-7.5,339,5455,0.00,2.40,0.00,0.000,516,0.000,0.090,3126,1026,3336,3384,3289,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5505,-0.59,-116.8,3126,1026,3384,3285,533.9,-8.3,345,5515,0.00,2.42,0.00,0.000,1030,0.000,0.086,3129,2435,3335,3384,3286,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5834,-0.59,-116.8,3126,2438,3383,3284,559.3,-7.9,358,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2434,3333,3383,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6134,-0.59,-116.8,3126,2434,3383,3283,585.4,-9.0,368,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2434,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6435,-0.59,-116.8,3126,2434,3382,3282,611.1,-8.3,378,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2431,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6735,-0.59,-116.8,3126,2434,3382,3281,634.9,-7.6,388,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2434,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7035,-0.59,-116.8,3131,2434,3382,3281,655.5,-6.5,398,7045,0.00,2.45,0.00,0.000,516,0.000,0.094,3126,1024,3332,3382,3282,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7104,-0.59,-116.8,3126,1024,3381,3281,660.4,-7.3,405,7114,0.00,2.42,0.00,0.000,1030,0.000,0.090,3126,2423,3331,3382,3281,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7425,-0.59,-116.8,3126,2422,3381,3280,682.1,-6.8,417,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2422,3330,3381,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7725,-0.59,-116.8,3126,2426,3381,3279,703.7,-7.4,427,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2420,3330,3381,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8025,-0.59,-116.8,3126,2422,3381,3278,726.9,-7.9,437,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2422,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8325,-0.59,-116.8,3126,2422,3381,3278,750.3,-7.8,447,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2422,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8625,-0.59,-116.8,3126,2426,3381,3277,774.9,-8.3,457,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2422,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8925,-0.59,-116.8,3125,2422,3387,3283,798.4,-7.6,467,8935,0.00,2.40,0.00,0.000,516,0.000,0.091,3126,1027,3329,3381,3277,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8994,-0.59,-116.8,3126,1027,3380,3276,804.1,-8.0,474,9004,0.00,2.42,0.00,0.000,1030,0.000,0.090,3126,2428,3328,3380,3277,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9314,-0.59,-116.8,3126,2423,3380,3276,825.5,-6.3,486,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2423,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9615,-0.59,-116.8,3126,2423,3383,3276,843.6,-5.9,496,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2423,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9915,-0.59,-116.8,3126,2423,3379,3275,861.0,-5.9,506,9925,0.00,2.50,0.00,0.000,260,0.000,0.110,3126,3836,3327,3380,3275,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10005,-0.59,-116.8,3126,3835,3379,3275,866.5,-6.0,515,10015,0.00,2.40,0.00,0.000,1030,0.000,0.079,3126,2428,3327,3379,3275,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10335,-0.59,-116.8,3126,2428,3379,3275,886.9,-6.2,528,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2428,3326,3378,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10637,-0.59,-116.8,3124,2428,3374,3274,906.2,-6.4,538,10647,0.00,2.45,0.00,0.000,516,0.000,0.093,3126,1019,3326,3379,3274,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10716,-0.59,-116.8,3126,1019,3378,3274,912.3,-7.7,546,10728,0.00,2.45,0.00,0.000,1030,0.000,0.091,3126,2421,3326,3378,3274,0,0,0,0,0,0,28.83,14.56,28.83
$GC,11031,-0.59,-116.8,3131,2425,3378,3273,933.9,-6.9,557,11040,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2422,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11330,-0.59,-116.8,3126,2422,3378,3273,953.7,-6.5,567,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2422,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11631,-0.59,-116.8,3126,2422,3378,3272,972.5,-6.2,577,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2420,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11927,begin apogee
$GC,11936,-0.25,0.0,3126,2323,3378,3272,991.8,-6.5,587,12047,0.40,0.00,99.70,1.930,10246,0.203,0.000,3241,2318,2857,2934,2781,0,0,0,0,0,0,14.48,28.83,13.26
$STATE,12049,end apogee,CONTROL_FINISHED_OK
$STATE,12049,begin climb
$GC,12053,0.59,116.8,3241,2318,2934,2779,995.0,0.0,591,12170,0.90,0.00,108.93,1.888,10246,0.148,0.000,3515,2318,2378,2518,2238,0,0,0,0,0,0,13.91,28.83,13.11
$GC,12468,0.59,116.8,3515,2318,2520,2230,963.1,9.4,605,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2318,2375,2520,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12770,0.59,116.8,3515,2318,2520,2228,935.4,9.2,615,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2318,2371,2519,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13071,0.59,116.8,3515,2318,2518,2228,908.8,8.9,625,13081,0.00,2.58,0.00,0.000,260,0.000,0.112,3515,3743,2372,2518,2227,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13130,0.59,116.8,3515,3743,2516,2228,902.4,10.5,631,13140,0.00,2.47,0.00,0.000,1030,0.000,0.090,3519,2344,2371,2516,2227,0,0,0,0,0,0,28.83,14.43,28.83
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$STATE,24932,end climb,SURFACE_DEPTH_REACHED
$STATE,24932,begin surface coast
$FINISH,0.8,1.011445
$STATE,24971,end surface coast,CONTROL_FINISHED_OK
$STATE,24971,begin surface
$SM_CCo,24999,10.55,0.103,0,0,1329,375.06
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$TT8_MAMPS,0.024717,0.024717
$HUMID,47.91
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$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3896096
$PM_FREEKB,59103456
$24V_AH,13.1,29.736
$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.810,5.745,0.000,0.000
$MEM,290812
$DATA_FILE_SIZE,46721,1329
$CAP_FILE_SIZE,259805,0
$CFSIZE,260034560,245673984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25453.58,0x2378ba,7,5
$CURRENT,0.020,285.0,1
$GPS,170714,044406,4738.743,-12540.248,55,1.8,55,18.7