version: 66.12
glider: 187
mission: 4
dive: 139
start: 7 19 114 6 14 21
data:
$ID,187
$MISSION,4
$DIVE,139
$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,-1593380.6
$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,32
$R_STBD_OVSHOOT,21
$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
$GPS1,190714,060505,4729.426,-12559.280,41,1.0,46,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-72.4
$GPS2,190714,061355,4729.441,-12559.355,14,1.6,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,201.4,94022,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.59,-116.8,392,2407,1465,1164,0.0,0.0,0,90,0.00,0.00,-58.03,0.000,16386,0.000,0.000,392,2407,2839,2896,2782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,392,2407,2898,2781,3.5,-3.1,6,130,12.93,2.55,-8.82,0.000,18692,0.411,0.120,3126,3815,3335,3380,3290,0,0,0,0,0,0,14.11,14.31,14.54
$GC,340,-0.59,-116.8,3127,3815,3383,3293,53.1,-15.3,31,351,0.00,2.40,0.00,0.000,1030,0.000,0.070,3126,2407,3339,3388,3290,0,0,0,0,0,0,28.83,14.42,28.83
$GC,590,-0.59,-116.8,3127,2404,3390,3294,85.5,-12.7,56,601,0.00,2.42,0.00,0.000,516,0.000,0.081,3127,984,3342,3390,3294,0,0,0,0,0,0,28.83,14.45,28.83
$GC,714,-0.59,-116.8,3127,984,3390,3294,101.8,-12.9,68,726,0.00,2.42,0.00,0.000,1030,0.000,0.078,3127,2400,3342,3390,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,966,-0.59,-116.8,3127,2400,3391,3294,129.3,-10.1,93,975,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1215,-0.59,-116.8,3127,2398,3390,3294,155.4,-10.4,118,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1465,-0.59,-116.8,3127,2400,3390,3294,180.2,-10.1,143,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1715,-0.59,-116.8,3127,2400,3390,3294,205.4,-10.2,168,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1967,-0.59,-116.8,3127,2399,3390,3293,229.8,-9.5,193,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2216,-0.59,-116.8,3127,2400,3384,3293,253.4,-9.3,216,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3340,3390,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,-0.59,-116.8,3127,2400,3386,3292,281.8,-9.3,226,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3339,3387,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2816,-0.59,-116.8,3128,2399,3390,3291,309.9,-9.3,236,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3340,3390,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3116,-0.59,-116.8,3127,2400,3390,3289,337.3,-9.2,246,3126,0.00,2.45,0.00,0.000,260,0.000,0.100,3127,3816,3339,3390,3288,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3195,-0.59,-116.8,3127,3815,3384,3289,345.0,-9.7,254,3206,0.00,2.40,0.00,0.000,1030,0.000,0.072,3127,2392,3342,3396,3289,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3509,-0.59,-116.8,3127,2391,3389,3282,372.6,-8.9,265,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2391,3338,3390,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3807,-0.59,-116.8,3127,2391,3389,3288,398.6,-8.7,275,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2391,3337,3389,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4106,-0.59,-116.8,3127,2391,3389,3286,424.2,-8.5,285,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3337,3389,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4406,-0.59,-116.8,3127,2391,3389,3285,449.6,-8.4,295,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2391,3337,3389,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4706,-0.59,-116.8,3127,2391,3388,3284,475.0,-8.5,305,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3336,3388,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5006,-0.59,-116.8,3127,2394,3387,3283,501.0,-8.9,315,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5306,-0.59,-116.8,3127,2391,3387,3282,527.3,-8.7,325,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3334,3387,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5606,-0.59,-116.8,3127,2391,3386,3288,553.3,-8.6,335,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2391,3334,3386,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5906,-0.59,-116.8,3127,2391,3385,3278,578.6,-8.1,345,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3333,3385,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6206,-0.59,-116.8,3127,2391,3385,3281,601.4,-7.3,355,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2390,3333,3385,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6506,-0.59,-116.8,3130,2391,3384,3279,623.1,-7.1,365,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3331,3384,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6806,-0.59,-116.8,3127,2391,3386,3279,643.6,-6.7,375,6817,0.00,2.38,0.00,0.000,516,0.000,0.094,3127,1004,3329,3380,3278,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6897,-0.59,-116.8,3127,1004,3384,3279,649.8,-7.1,384,6907,0.00,2.40,0.00,0.000,1030,0.000,0.085,3127,2399,3330,3383,3278,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7230,-0.59,-116.8,3126,2399,3378,3278,670.7,-6.5,397,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3335,3389,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7527,-0.59,-116.8,3127,2399,3383,3277,690.3,-6.6,407,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7828,-0.59,-116.8,3127,2399,3383,3277,710.6,-6.8,417,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3330,3383,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,-0.59,-116.8,3127,2399,3382,3276,730.4,-6.8,427,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3329,3383,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8428,-0.59,-116.8,3127,2399,3382,3276,750.4,-6.4,437,8438,0.00,2.45,0.00,0.000,516,0.000,0.090,3127,982,3328,3382,3275,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8518,-0.59,-116.8,3129,982,3382,3275,756.5,-6.9,446,8528,0.00,2.45,0.00,0.000,1030,0.000,0.086,3127,2406,3328,3382,3275,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8847,-0.59,-116.8,3127,2401,3381,3275,778.5,-6.9,459,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3328,3382,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9148,-0.59,-116.8,3127,2400,3382,3274,799.7,-7.0,469,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3327,3381,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9448,-0.59,-116.8,3127,2400,3382,3273,821.1,-7.2,479,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3327,3381,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9748,-0.59,-116.8,3127,2400,3381,3273,843.3,-7.2,489,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3326,3381,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10051,-0.59,-116.8,3127,2398,3381,3272,864.0,-6.7,499,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3326,3381,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10351,-0.59,-116.8,3127,2401,3381,3273,884.6,-6.8,509,10361,0.00,2.47,0.00,0.000,260,0.000,0.107,3127,3813,3326,3381,3272,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10420,-0.59,-116.8,3127,3813,3380,3272,890.1,-7.7,516,10430,0.00,2.42,0.00,0.000,1030,0.000,0.079,3127,2392,3326,3381,3272,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10743,-0.59,-116.8,3127,2392,3381,3272,912.5,-6.8,528,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2392,3325,3380,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11044,-0.59,-116.8,3127,2392,3381,3270,932.9,-6.7,538,11053,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2388,3325,3380,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11343,-0.59,-116.8,3127,2392,3379,3269,951.9,-6.4,548,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2389,3325,3380,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11644,-0.59,-116.8,3126,2392,3375,3270,970.1,-5.9,558,11654,0.00,2.42,0.00,0.000,516,0.000,0.098,3127,997,3325,3381,3270,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11704,-0.59,-116.8,3126,997,3380,3269,974.3,-7.0,564,11715,0.00,2.42,0.00,0.000,1030,0.000,0.090,3127,2396,3324,3380,3269,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,11974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11974,begin apogee
$GC,11983,-0.25,0.0,3126,2324,3380,3269,991.8,-6.5,575,12095,0.38,0.00,100.12,1.915,10246,0.202,0.000,3235,2325,2857,2934,2780,0,0,0,0,0,0,14.49,28.83,13.28
$STATE,12097,end apogee,CONTROL_FINISHED_OK
$STATE,12097,begin climb
$GC,12101,0.59,116.8,3236,2324,2934,2776,995.7,0.0,579,12224,0.90,2.72,108.43,1.886,10756,0.146,0.105,3519,924,2379,2527,2231,0,0,0,0,0,0,13.93,13.69,13.12
$GC,12257,0.60,116.8,3519,924,2526,2231,989.2,6.8,591,12267,0.00,2.58,0.00,0.000,1030,0.000,0.088,3519,2333,2377,2523,2231,0,0,0,0,0,0,28.83,13.90,28.83
$GC,12577,0.60,116.8,3520,2333,2524,2226,963.0,8.5,603,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2336,2374,2524,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12880,0.60,116.8,3519,2333,2523,2224,935.5,9.3,613,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2333,2373,2523,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13180,0.60,116.8,3519,2333,2522,2228,906.3,9.8,623,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2333,2372,2523,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13481,0.60,116.8,3519,2333,2522,2222,876.3,10.1,633,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2333,2371,2520,2223,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24850,end climb,SURFACE_DEPTH_REACHED
$STATE,24850,begin surface coast
$FINISH,1.2,1.023741
$STATE,24892,end surface coast,CONTROL_FINISHED_OK
$STATE,24892,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,47.91
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3893536
$PM_FREEKB,58830688
$24V_AH,13.1,31.902
$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
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24903.000,440.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.832,5.723,0.000,0.000
$MEM,290812
$DATA_FILE_SIZE,46652,1345
$CAP_FILE_SIZE,260460,0
$CFSIZE,260034560,244797440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25832.63,0x2378ba,7,5
$CURRENT,0.028, 58.3,1
$GPS,190714,131153,4727.511,-12601.445,48,1.0,48,18.7