version: 66.12
glider: 187
mission: 4
dive: 204
start: 8 5 114 20 11 0
data:
$ID,187
$MISSION,4
$DIVE,204
$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,-1593675.8
$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,17
$R_STBD_OVSHOOT,25
$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
$GPS1,050814,200136,4734.431,-12546.954,35,1.2,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-74.8
$GPS2,050814,201031,4734.333,-12546.986,16,1.2,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,235.0,112016,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,387,2399,1461,1161,0.0,0.0,0,81,0.00,0.00,-48.40,0.000,16386,0.000,0.000,387,2400,2558,2643,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,387,2400,2645,2473,3.1,-2.0,5,124,12.43,2.58,-16.65,0.000,18692,0.383,0.116,3127,3815,3336,3384,3289,0,0,0,0,0,0,14.06,14.33,14.54
$GC,354,-0.59,-116.8,3124,3815,3386,3294,47.8,-14.6,32,363,0.00,2.45,0.00,0.000,1030,0.000,0.066,3127,2384,3340,3386,3294,0,0,0,0,0,0,28.83,14.38,28.83
$GC,604,-0.59,-116.8,3127,2381,3388,3292,78.5,-13.7,57,613,0.00,2.50,0.00,0.000,260,0.000,0.092,3127,3806,3341,3388,3294,0,0,0,0,0,0,28.83,14.38,28.83
$GC,804,-0.59,-116.8,3126,3805,3388,3295,101.4,-11.1,77,813,0.00,2.40,0.00,0.000,1030,0.000,0.067,3127,2388,3341,3388,3295,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1054,-0.59,-116.8,3127,2384,3388,3294,129.9,-11.3,102,1063,0.00,2.38,0.00,0.000,516,0.000,0.080,3127,989,3341,3388,3294,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1144,-0.59,-116.8,3127,992,3388,3295,140.3,-11.3,111,1153,0.00,2.42,0.00,0.000,1030,0.000,0.076,3127,2398,3341,3388,3295,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1395,-0.59,-116.8,3124,2398,3388,3294,165.0,-9.0,136,1404,0.00,2.45,0.00,0.000,260,0.000,0.094,3127,3811,3341,3388,3294,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1464,-0.59,-116.8,3128,3810,3388,3294,171.0,-8.7,143,1474,0.00,2.42,0.00,0.000,1030,0.000,0.068,3124,2405,3341,3388,3294,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1714,-0.59,-116.8,3127,2405,3388,3294,194.0,-10.6,168,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2405,3340,3387,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1964,-0.59,-116.8,3127,2405,3388,3294,222.3,-10.7,193,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2214,-0.59,-116.8,3127,2405,3387,3293,247.2,-10.0,218,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2405,3340,3388,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2484,-0.59,-116.8,3127,2405,3387,3292,273.5,-9.6,229,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3339,3388,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2784,-0.59,-116.8,3127,2405,3387,3290,301.7,-9.0,239,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3338,3387,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3084,-0.59,-116.8,3127,2405,3387,3288,327.8,-8.3,249,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3338,3388,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3384,-0.59,-116.8,3127,2405,3387,3293,352.0,-8.4,259,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3337,3388,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3684,-0.59,-116.8,3127,2405,3387,3286,379.7,-9.4,269,3692,0.00,2.40,0.00,0.000,516,0.000,0.083,3127,1000,3336,3387,3286,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3753,-0.59,-116.8,3127,1000,3388,3286,386.7,-10.4,276,3762,0.00,2.42,0.00,0.000,1030,0.000,0.080,3127,2405,3336,3387,3286,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4078,-0.59,-116.8,3127,2405,3387,3286,415.6,-8.4,288,4085,0.00,2.45,0.00,0.000,260,0.000,0.099,3123,3810,3336,3387,3285,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4154,-0.59,-116.8,3127,3810,3382,3286,422.3,-8.3,296,4164,0.00,2.45,0.00,0.000,1030,0.000,0.073,3127,2401,3336,3387,3285,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4468,-0.59,-116.8,3123,2403,3386,3285,445.7,-7.2,307,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3335,3386,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4765,-0.59,-116.8,3127,2403,3385,3283,469.2,-7.9,317,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3334,3385,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5065,-0.59,-116.8,3127,2403,3385,3283,495.2,-8.7,327,5074,0.00,2.42,0.00,0.000,516,0.000,0.083,3126,991,3333,3384,3283,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5174,-0.59,-116.8,3123,987,3384,3283,505.4,-9.8,338,5184,0.00,2.42,0.00,0.000,1030,0.000,0.079,3127,2396,3332,3383,3282,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5488,-0.59,-116.8,3127,2396,3384,3282,531.5,-8.2,349,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3332,3384,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5785,-0.59,-116.8,3126,2396,3384,3281,553.5,-6.9,359,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2396,3330,3384,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6085,-0.59,-116.8,3127,2396,3383,3281,575.4,-7.5,369,6092,0.00,2.47,0.00,0.000,260,0.000,0.099,3124,3810,3331,3383,3280,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6164,-0.59,-116.8,3127,3810,3381,3280,581.7,-7.9,377,6173,0.00,2.45,0.00,0.000,1030,0.000,0.071,3127,2397,3330,3379,3281,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6475,-0.59,-116.8,3127,2396,3374,3275,605.4,-7.6,388,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3331,3383,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6775,-0.59,-116.8,3127,2395,3382,3278,628.3,-7.7,398,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2396,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7075,-0.59,-116.8,3127,2395,3382,3278,649.8,-6.9,408,7082,0.00,2.42,0.00,0.000,516,0.000,0.087,3126,992,3330,3382,3278,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7144,-0.59,-116.8,3127,992,3382,3278,654.5,-6.8,415,7153,0.00,2.47,0.00,0.000,1030,0.000,0.082,3127,2393,3330,3382,3278,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7468,-0.59,-116.8,3127,2393,3381,3277,676.2,-7.0,427,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3329,3382,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7765,-0.59,-116.8,3127,2393,3382,3276,697.8,-7.1,437,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2392,3326,3377,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8065,-0.59,-116.8,3127,2393,3381,3276,719.7,-7.4,447,8073,0.00,2.50,0.00,0.000,260,0.000,0.102,3130,3821,3326,3377,3275,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8134,-0.59,-116.8,3127,3826,3381,3276,725.2,-7.9,454,8142,0.00,2.47,0.00,0.000,1030,0.000,0.072,3127,2394,3328,3381,3276,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8458,-0.59,-116.8,3127,2393,3381,3275,750.1,-7.8,466,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3327,3381,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8755,-0.59,-116.8,3127,2393,3381,3275,773.7,-7.5,476,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2393,3327,3381,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9055,-0.59,-116.8,3127,2393,3381,3274,793.6,-6.2,486,9062,0.00,2.42,0.00,0.000,516,0.000,0.090,3127,1000,3327,3381,3274,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9124,-0.59,-116.8,3132,1000,3381,3274,798.4,-7.0,493,9133,0.00,2.47,0.00,0.000,1030,0.000,0.083,3127,2398,3326,3380,3273,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9448,-0.59,-116.8,3126,2397,3380,3273,818.7,-6.5,505,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3327,3382,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9745,-0.59,-116.8,3127,2397,3380,3272,839.2,-6.9,515,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3326,3380,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10045,-0.59,-116.8,3125,2401,3380,3270,860.1,-7.0,525,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3326,3380,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10345,-0.59,-116.8,3127,2394,3379,3272,881.6,-7.1,535,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2397,3325,3380,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10645,-0.59,-116.8,3127,2397,3379,3271,901.5,-6.4,545,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3325,3380,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10945,-0.59,-116.8,3130,2397,3380,3270,920.1,-6.3,555,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3325,3379,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11245,-0.59,-116.8,3127,2397,3379,3270,940.3,-6.8,565,11253,0.00,2.50,0.00,0.000,260,0.000,0.103,3123,3817,3327,3384,3270,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11344,-0.59,-116.8,3131,3818,3378,3270,947.6,-7.4,575,11353,0.00,2.47,0.00,0.000,1030,0.000,0.073,3127,2403,3323,3377,3269,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11668,-0.59,-116.8,3127,2402,3378,3269,969.8,-7.0,587,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3323,3378,3269,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11962,begin apogee
$GC,11971,-0.25,0.0,3127,2318,3378,3269,990.7,-6.6,597,12077,0.40,0.00,101.22,1.922,10246,0.193,0.000,3242,2318,2857,2934,2781,0,0,0,0,0,0,14.29,28.83,13.22
$STATE,12081,end apogee,CONTROL_FINISHED_OK
$STATE,12081,begin climb
$GC,12084,0.59,116.8,3243,2318,2933,2777,993.5,0.0,600,12206,0.85,0.00,109.07,1.886,10246,0.135,0.000,3511,2318,2380,2527,2234,0,0,0,0,0,0,13.89,28.83,13.06
$GC,12505,0.59,116.8,3511,2318,2522,2229,961.4,9.5,615,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2318,2375,2521,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12808,0.59,116.8,3511,2318,2521,2227,934.6,8.8,625,12818,0.00,2.55,0.00,0.000,260,0.000,0.103,3511,3743,2373,2519,2227,0,0,0,0,0,0,28.83,14.27,28.83
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$STATE,24371,end climb,SURFACE_DEPTH_REACHED
$STATE,24371,begin surface coast
$FINISH,0.9,1.022904
$STATE,24425,end surface coast,CONTROL_FINISHED_OK
$STATE,24425,begin surface
$SM_CCo,24451,8.90,0.103,0,0,1328,375.06
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$TT8_MAMPS,0.023968,0.023968
$HUMID,49.68
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3872736
$PM_FREEKB,56826560
$24V_AH,13.1,48.389
$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,0.000,0.000,0.000,0.000,0.000,0.000,5.755,4.066,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,46629,1287
$CAP_FILE_SIZE,244194,0
$CFSIZE,260034560,237932544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25672.43,0x2378ba,7,5
$CURRENT,0.088,255.4,1
$GPS,060814,030024,4733.233,-12552.515,52,1.9,52,18.7