version: 66.12
glider: 187
mission: 4
dive: 142
start: 7 20 114 3 40 45
data:
$ID,187
$MISSION,4
$DIVE,142
$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,-1593384.5
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,200714,033206,4725.787,-12606.873,52,0.9,53,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-70.8
$GPS2,200714,034019,4725.811,-12606.916,13,0.9,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,202.5,82344,-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,-116.8,388,2404,1453,1214,0.0,0.0,0,92,0.00,0.00,-60.08,0.000,16386,0.000,0.000,388,2402,2951,3001,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.59,-116.8,389,2400,3001,2903,4.1,-4.6,6,131,12.70,2.55,-6.47,0.000,18692,0.402,0.117,3124,3806,3337,3381,3294,0,0,0,0,0,0,14.14,14.33,14.56
$GC,311,-0.59,-116.8,3121,3806,3385,3296,50.9,-16.0,28,320,0.00,2.40,0.00,0.000,1030,0.000,0.069,3125,2396,3340,3385,3296,0,0,0,0,0,0,28.83,14.40,28.83
$GC,561,-0.59,-116.8,3124,2395,3388,3297,82.6,-12.7,53,570,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3342,3388,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,811,-0.59,-116.8,3125,2395,3390,3297,111.5,-11.7,78,819,0.00,2.47,0.00,0.000,260,0.000,0.099,3125,3805,3343,3389,3297,0,0,0,0,0,0,28.83,14.44,28.83
$GC,871,-0.59,-116.8,3125,3805,3390,3297,118.8,-12.2,84,881,0.00,2.38,0.00,0.000,1030,0.000,0.070,3125,2405,3343,3389,3297,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1121,-0.59,-116.8,3121,2404,3388,3297,146.3,-10.3,109,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1371,-0.59,-116.8,3124,2409,3389,3297,171.5,-9.9,134,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3343,3389,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1621,-0.59,-116.8,3125,2404,3388,3297,196.3,-10.4,159,1629,0.00,2.42,0.00,0.000,516,0.000,0.083,3124,985,3342,3388,3297,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1671,-0.59,-116.8,3126,985,3389,3297,201.6,-10.7,164,1680,0.00,2.42,0.00,0.000,1030,0.000,0.077,3125,2397,3344,3391,3297,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1921,-0.59,-116.8,3125,2398,3388,3296,225.9,-9.4,189,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3342,3388,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2171,-0.59,-116.8,3125,2402,3388,3295,248.4,-9.1,214,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3341,3388,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2431,-0.59,-116.8,3125,2398,3388,3293,271.7,-9.1,224,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2731,-0.59,-116.8,3130,2398,3390,3293,299.1,-9.2,234,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3031,-0.59,-116.8,3125,2397,3388,3292,326.7,-9.1,244,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3340,3388,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3331,-0.59,-116.8,3125,2397,3387,3291,353.2,-8.7,254,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3342,3393,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3631,-0.59,-116.8,3122,2397,3385,3296,378.5,-8.4,264,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3338,3386,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3931,-0.59,-116.8,3125,2398,3382,3289,403.4,-8.4,274,3939,0.00,2.40,0.00,0.000,516,0.000,0.084,3125,992,3337,3385,3290,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4030,-0.59,-116.8,3125,992,3384,3288,412.4,-8.8,284,4039,0.00,2.45,0.00,0.000,1030,0.000,0.081,3125,2396,3337,3384,3291,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4354,-0.59,-116.8,3125,2399,3384,3287,439.1,-8.4,296,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3335,3384,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4651,-0.59,-116.8,3130,2396,3386,3287,463.8,-8.4,306,4658,0.00,2.47,0.00,0.000,260,0.000,0.102,3125,3819,3334,3383,3286,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4720,-0.59,-116.8,3125,3818,3382,3287,470.2,-8.9,313,4729,0.00,2.45,0.00,0.000,1030,0.000,0.073,3125,2405,3335,3388,3283,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5044,-0.59,-116.8,3125,2404,3383,3286,497.6,-8.6,325,5052,0.00,2.42,0.00,0.000,516,0.000,0.087,3125,984,3334,3382,3286,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5101,-0.59,-116.8,3125,983,3378,3286,503.1,-9.3,331,5109,0.00,2.42,0.00,0.000,1030,0.000,0.080,3125,2399,3334,3382,3286,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5435,-0.59,-116.8,3125,2400,3383,3286,531.5,-8.6,344,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5732,-0.59,-116.8,3125,2399,3382,3284,558.1,-8.8,354,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6032,-0.59,-116.8,3125,2399,3382,3283,584.1,-8.6,364,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6332,-0.59,-116.8,3125,2399,3382,3282,609.8,-8.5,374,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6632,-0.59,-116.8,3125,2404,3381,3282,636.1,-8.6,384,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3331,3381,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6932,-0.59,-116.8,3125,2401,3381,3281,662.3,-8.6,394,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3333,3388,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7231,-0.59,-116.8,3131,2399,3380,3280,686.0,-7.6,404,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7532,-0.59,-116.8,3125,2399,3380,3280,708.5,-7.2,414,7540,0.00,2.45,0.00,0.000,516,0.000,0.089,3125,979,3330,3380,3280,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7611,-0.59,-116.8,3126,981,3383,3281,714.6,-7.8,422,7620,0.00,2.45,0.00,0.000,1030,0.000,0.086,3125,2400,3330,3380,3280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7922,-0.59,-116.8,3125,2402,3381,3279,735.2,-6.4,433,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3329,3380,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8221,-0.59,-116.8,3126,2399,3379,3278,753.9,-6.1,443,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8522,-0.59,-116.8,3125,2399,3379,3278,772.3,-6.1,453,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8821,-0.59,-116.8,3125,2399,3378,3277,791.2,-6.3,463,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2402,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9121,-0.59,-116.8,3125,2399,3378,3280,811.4,-6.9,473,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9422,-0.59,-116.8,3125,2400,3378,3277,832.1,-6.8,483,9429,0.00,2.47,0.00,0.000,260,0.000,0.105,3125,3809,3325,3378,3273,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9500,-0.59,-116.8,3125,3809,3378,3277,837.8,-7.0,491,9510,0.00,2.45,0.00,0.000,1030,0.000,0.077,3125,2397,3326,3377,3276,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9815,-0.59,-116.8,3125,2398,3377,3280,858.9,-6.8,502,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3326,3377,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10111,-0.59,-116.8,3125,2398,3378,3275,879.2,-6.7,512,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3324,3373,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10412,-0.59,-116.8,3125,2398,3377,3274,898.1,-6.0,522,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3326,3377,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10711,-0.59,-116.8,3125,2397,3377,3275,915.9,-6.0,532,10715,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3325,3377,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11012,-0.59,-116.8,3124,2398,3376,3274,934.5,-6.1,542,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3325,3376,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11311,-0.59,-116.8,3125,2397,3376,3273,951.4,-5.5,552,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3324,3375,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11613,-0.59,-116.8,3125,2397,3376,3271,968.5,-5.7,562,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3324,3376,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11912,-0.59,-116.8,3125,2398,3371,3272,986.2,-6.0,572,11920,0.00,2.45,0.00,0.000,516,0.000,0.096,3125,994,3325,3377,3273,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,11968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11969,begin apogee
$GC,11979,-0.25,0.0,3125,2332,3376,3273,990.2,-7.0,578,12084,0.40,0.00,99.57,1.922,10246,0.205,0.000,3240,2332,2859,2934,2784,0,0,0,0,0,0,14.42,28.83,13.26
$STATE,12087,end apogee,CONTROL_FINISHED_OK
$STATE,12087,begin climb
$GC,12091,0.59,116.8,3240,2332,2933,2779,992.5,0.0,581,12212,0.88,0.00,108.65,1.882,10246,0.148,0.000,3511,2333,2377,2518,2236,0,0,0,0,0,0,13.88,28.83,13.14
$GC,12512,0.59,116.8,3511,2333,2520,2231,958.7,10.0,596,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2332,2375,2520,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12814,0.59,116.8,3512,2333,2518,2229,928.5,10.1,606,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2333,2373,2519,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13114,0.59,116.8,3511,2333,2518,2228,897.7,10.1,616,13125,0.00,2.50,0.00,0.000,260,0.000,0.108,3511,3734,2372,2517,2228,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,24313,end climb,SURFACE_DEPTH_REACHED
$STATE,24313,begin surface coast
$FINISH,0.9,1.020155
$STATE,24346,end surface coast,CONTROL_FINISHED_OK
$STATE,24346,begin surface
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$HUMID,48.85
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$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3892576
$PM_FREEKB,58693600
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$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,290824
$DATA_FILE_SIZE,46657,1285
$CAP_FILE_SIZE,239998,0
$CFSIZE,260034560,244486144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25544.44,0x2378ba,7,5
$CURRENT,0.027,317.4,1
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