version: 66.12
glider: 187
mission: 4
dive: 151
start: 7 22 114 21 54 32
data:
$ID,187
$MISSION,4
$DIVE,151
$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,4
$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,-1593600.8
$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,28
$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,48
$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
$GPS1,220714,214449,4712.422,-12636.692,50,4.2,70,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.3
$GPS2,220714,215403,4712.425,-12636.555,14,5.8,34,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,195.1,37502,-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,-116.8,388,2382,1447,1215,0.0,0.0,0,90,0.00,0.00,-57.60,0.000,16386,0.000,0.000,389,2382,2874,2929,2819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,389,2382,2928,2820,4.1,-4.2,6,130,12.57,2.50,-7.70,0.000,18948,0.397,0.106,3124,984,3338,3383,3293,0,0,0,0,0,0,14.12,14.33,14.56
$GC,173,-0.59,-116.8,3129,985,3385,3294,29.7,-25.0,14,183,0.00,2.45,0.00,0.000,1030,0.000,0.078,3125,2397,3339,3385,3294,0,0,0,0,0,0,28.83,14.36,28.83
$GC,423,-0.59,-116.8,3125,2397,3389,3294,65.2,-13.5,39,434,0.00,2.40,0.00,0.000,516,0.000,0.077,3126,994,3341,3389,3294,0,0,0,0,0,0,28.83,14.43,28.83
$GC,463,-0.59,-116.8,3125,993,3389,3295,71.0,-14.2,43,474,0.00,2.42,0.00,0.000,1030,0.000,0.077,3125,2400,3341,3389,3294,0,0,0,0,0,0,28.83,14.41,28.83
$GC,713,-0.59,-116.8,3125,2399,3390,3295,102.0,-11.4,68,725,0.00,2.45,0.00,0.000,260,0.000,0.096,3125,3806,3340,3390,3291,0,0,0,0,0,0,28.83,14.45,28.83
$GC,805,-0.59,-116.8,3125,3806,3390,3295,112.5,-11.5,77,816,0.00,2.38,0.00,0.000,1030,0.000,0.069,3125,2400,3342,3390,3295,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1056,-0.59,-116.8,3125,2399,3390,3295,140.5,-10.9,102,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3343,3390,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1305,-0.59,-116.8,3125,2399,3390,3295,167.6,-10.6,127,1316,0.00,2.40,0.00,0.000,516,0.000,0.081,3125,989,3342,3390,3295,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1367,-0.59,-116.8,3125,989,3390,3295,174.2,-10.8,133,1377,0.00,2.42,0.00,0.000,1030,0.000,0.078,3125,2405,3342,3390,3295,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1617,-0.59,-116.8,3126,2402,3390,3295,197.2,-9.4,158,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2406,3346,3397,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1867,-0.59,-116.8,3125,2406,3390,3295,221.1,-9.7,183,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3342,3390,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2117,-0.59,-116.8,3125,2402,3390,3294,246.1,-9.6,208,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3339,3390,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2368,-0.59,-116.8,3125,2402,3390,3293,270.5,-9.4,219,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3341,3390,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2669,-0.59,-116.8,3125,2402,3390,3295,295.9,-8.3,229,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3340,3389,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2968,-0.59,-116.8,3125,2399,3389,3290,321.4,-8.6,239,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2402,3337,3389,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3269,-0.59,-116.8,3125,2402,3389,3289,346.7,-8.6,249,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3339,3389,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3568,-0.59,-116.8,3125,2402,3388,3288,371.2,-8.1,259,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3868,-0.59,-116.8,3125,2402,3387,3287,396.5,-8.5,269,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3339,3391,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4168,-0.59,-116.8,3126,2402,3389,3290,421.5,-8.3,279,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2407,3336,3387,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4468,-0.59,-116.8,3125,2405,3386,3286,446.3,-8.3,289,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3336,3386,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4768,-0.59,-116.8,3125,2403,3385,3285,470.7,-8.3,299,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3339,3392,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5069,-0.59,-116.8,3125,2402,3385,3285,495.8,-8.4,309,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3333,3381,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5368,-0.59,-116.8,3125,2402,3384,3284,521.0,-8.3,319,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3332,3381,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5669,-0.59,-116.8,3125,2402,3384,3283,546.3,-8.6,329,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5969,-0.59,-116.8,3125,2402,3383,3282,571.4,-8.3,339,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6269,-0.59,-116.8,3125,2402,3383,3281,595.2,-7.9,349,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6568,-0.59,-116.8,3125,2402,3383,3281,617.7,-7.4,359,6578,0.00,2.45,0.00,0.000,516,0.000,0.092,3125,991,3331,3382,3281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6638,-0.59,-116.8,3125,991,3382,3279,623.1,-7.8,366,6648,0.00,2.45,0.00,0.000,1030,0.000,0.086,3121,2400,3331,3382,3281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6962,-0.59,-116.8,3125,2399,3382,3279,645.0,-6.7,378,6972,0.00,2.47,0.00,0.000,260,0.000,0.105,3125,3809,3330,3382,3278,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7010,-0.59,-116.8,3125,3809,3381,3279,648.8,-7.4,383,7022,0.00,2.42,0.00,0.000,1030,0.000,0.076,3125,2390,3333,3381,3285,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7324,-0.59,-116.8,3125,2389,3381,3279,670.9,-7.2,394,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2392,3330,3382,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7621,-0.59,-116.8,3125,2389,3381,3278,692.2,-7.0,404,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2386,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7922,-0.59,-116.8,3125,2389,3381,3277,713.3,-7.1,414,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2389,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8221,-0.59,-116.8,3125,2389,3381,3277,735.2,-7.3,424,8232,0.00,2.42,0.00,0.000,516,0.000,0.097,3125,990,3329,3381,3277,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8271,-0.59,-116.8,3125,992,3380,3277,739.1,-8.1,429,8282,0.00,2.45,0.00,0.000,1030,0.000,0.088,3125,2401,3332,3387,3277,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8585,-0.59,-116.8,3125,2401,3380,3276,761.8,-7.4,440,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3328,3380,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8882,-0.59,-116.8,3125,2401,3380,3275,784.9,-7.9,450,8892,0.00,2.47,0.00,0.000,260,0.000,0.106,3125,3815,3327,3380,3275,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8951,-0.59,-116.8,3125,3815,3380,3272,790.8,-8.2,457,8961,0.00,2.42,0.00,0.000,1030,0.000,0.080,3125,2406,3327,3380,3275,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9272,-0.59,-116.8,3125,2404,3380,3275,816.3,-7.8,469,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9572,-0.59,-116.8,3125,2406,3379,3274,838.7,-7.4,479,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2404,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9873,-0.59,-116.8,3125,2405,3379,3273,859.7,-6.9,489,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3326,3379,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10174,-0.59,-116.8,3125,2405,3379,3272,880.3,-7.0,499,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3326,3379,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10476,-0.59,-116.8,3125,2404,3379,3272,901.2,-6.9,509,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3325,3379,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10775,-0.59,-116.8,3125,2405,3378,3271,922.9,-7.3,519,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3324,3378,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11075,-0.59,-116.8,3125,2404,3378,3271,945.1,-7.3,529,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3324,3378,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11375,-0.59,-116.8,3125,2404,3378,3270,966.0,-6.8,539,11385,0.00,2.45,0.00,0.000,516,0.000,0.093,3125,989,3324,3378,3270,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11436,-0.59,-116.8,3131,989,3378,3266,970.3,-7.1,545,11446,0.00,2.45,0.00,0.000,1030,0.000,0.086,3125,2400,3324,3378,3270,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,11762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11762,begin apogee
$GC,11771,-0.25,0.0,3125,2328,3377,3269,990.4,-6.1,558,11878,0.40,0.00,99.35,1.929,10246,0.201,0.000,3241,2326,2859,2935,2783,0,0,0,0,0,0,14.44,28.83,13.28
$STATE,11880,end apogee,CONTROL_FINISHED_OK
$STATE,11880,begin climb
$GC,11884,0.59,116.8,3241,2322,2934,2779,992.7,0.0,561,12005,0.85,0.00,108.93,1.882,10758,0.145,0.000,3504,2323,2377,2524,2231,0,0,0,0,0,0,13.90,28.83,13.11
$GC,12306,0.59,116.8,3507,2323,2522,2225,961.3,8.7,578,12315,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2322,2373,2522,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12609,0.59,116.8,3507,2323,2521,2222,935.0,8.6,588,12619,0.00,2.50,0.00,0.000,516,0.000,0.103,3508,932,2372,2521,2223,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12678,0.59,116.8,3509,932,2528,2229,928.9,8.2,595,12688,0.00,2.47,0.00,0.000,1030,0.000,0.089,3508,2342,2372,2521,2223,0,0,0,0,0,0,28.83,14.36,28.83
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$FREEZE,33.68,14.461,-1.746,0,1,0
$STATE,24423,end climb,NO_VERTICAL_VELOCITY
$STATE,24423,begin surface
$SM_CCo,24428,285.60,0.683,1,0,470,585.78
$SM_GC,1.76,9.60,2.65,0.00,0.104,0.076,0.000,405,2400,479,-9.09,-0.68,583.81,0,0,0,0,0,0,14.18,14.22,28.83
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$TT8_MAMPS,0.024717,0.024717
$HUMID,46.37
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$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3889696
$PM_FREEKB,58423488
$24V_AH,13.1,35.279
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.757,5.792,0.000,0.000
$MEM,290788
$DATA_FILE_SIZE,43390,1241
$CAP_FILE_SIZE,255351,0
$CFSIZE,260034560,243470336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,25384.36,0x2378ba,7,5
$CURRENT,0.030,230.6,1
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