version: 66.12
glider: 187
mission: 4
dive: 207
start: 8 6 114 17 29 44
data:
$ID,187
$MISSION,4
$DIVE,207
$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,-1593679.5
$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,30
$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
$GPS1,060814,171923,4728.591,-12559.976,77,1.2,77,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-72.2
$GPS2,060814,172918,4728.455,-12600.072,15,1.2,15,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,229.5,92230,-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,-116.8,387,2378,1460,1202,0.0,0.0,0,90,0.00,0.00,-57.90,0.000,16386,0.000,0.000,387,2378,2887,2942,2833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,387,2378,2942,2837,4.0,-4.3,6,130,12.48,2.60,-7.50,0.000,18692,0.386,0.113,3123,3815,3337,3379,3295,0,0,0,0,0,0,14.02,14.27,14.56
$GC,360,-0.59,-116.8,3123,3815,3385,3298,55.6,-11.8,33,371,0.00,2.40,0.00,0.000,1030,0.000,0.064,3124,2403,3344,3385,3304,0,0,0,0,0,0,28.83,14.39,28.83
$GC,611,-0.59,-116.8,3122,2402,3388,3298,84.4,-11.3,58,621,0.00,2.45,0.00,0.000,260,0.000,0.090,3123,3809,3341,3385,3298,0,0,0,0,0,0,28.83,14.38,28.83
$GC,781,-0.59,-116.8,3123,3809,3387,3298,105.2,-12.2,75,792,0.00,2.40,0.00,0.000,1030,0.000,0.065,3123,2387,3342,3387,3298,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1032,-0.59,-116.8,3124,2382,3387,3298,133.5,-9.5,100,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1282,-0.59,-116.8,3123,2382,3388,3298,157.9,-9.5,125,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2382,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1532,-0.59,-116.8,3123,2382,3386,3298,180.3,-9.4,150,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2383,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1782,-0.59,-116.8,3123,2379,3394,3303,205.6,-10.0,175,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2032,-0.59,-116.8,3122,2382,3387,3297,230.8,-10.3,200,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2382,3342,3387,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2292,-0.59,-116.8,3124,2383,3387,3295,257.1,-10.1,222,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2383,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2593,-0.59,-116.8,3123,2383,3387,3294,286.1,-9.3,232,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2383,3340,3387,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2892,-0.59,-116.8,3125,2383,3387,3293,313.3,-9.0,242,2902,0.00,2.47,0.00,0.000,260,0.000,0.095,3123,3807,3341,3390,3293,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2982,-0.59,-116.8,3123,3807,3386,3292,322.1,-9.8,251,2993,0.00,2.38,0.00,0.000,1030,0.000,0.069,3124,2401,3339,3386,3293,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3313,-0.59,-116.8,3124,2405,3386,3291,353.9,-9.7,264,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3338,3386,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3613,-0.59,-116.8,3124,2400,3386,3291,380.6,-8.5,274,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3341,3386,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3913,-0.59,-116.8,3123,2401,3385,3288,404.1,-7.6,284,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3337,3386,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4213,-0.59,-116.8,3129,2401,3385,3287,428.5,-8.8,294,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3338,3390,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4513,-0.59,-116.8,3123,2401,3385,3286,454.9,-8.7,304,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3335,3384,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4813,-0.59,-116.8,3124,2401,3384,3286,480.6,-8.5,314,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5113,-0.59,-116.8,3124,2401,3383,3285,506.4,-8.5,324,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2402,3334,3383,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5413,-0.59,-116.8,3124,2401,3382,3285,533.2,-8.8,334,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3334,3384,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5713,-0.59,-116.8,3124,2402,3382,3284,558.1,-8.2,344,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2397,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6013,-0.59,-116.8,3123,2404,3382,3283,582.9,-8.5,354,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6313,-0.59,-116.8,3123,2400,3381,3282,609.2,-9.1,364,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6614,-0.59,-116.8,3123,2401,3381,3282,635.8,-9.0,374,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3333,3385,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6913,-0.59,-116.8,3124,2401,3381,3281,661.6,-8.2,384,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7213,-0.59,-116.8,3123,2400,3381,3280,684.4,-7.3,394,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3330,3381,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7513,-0.59,-116.8,3123,2400,3380,3279,705.5,-7.0,404,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3329,3380,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7813,-0.59,-116.8,3124,2401,3380,3278,726.1,-7.2,414,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8113,-0.59,-116.8,3124,2401,3379,3278,747.0,-7.0,424,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3328,3379,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8413,-0.59,-116.8,3123,2400,3379,3278,767.6,-6.6,434,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8713,-0.59,-116.8,3123,2404,3385,3277,788.5,-7.1,444,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2400,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9013,-0.59,-116.8,3123,2401,3378,3277,811.3,-7.8,454,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9313,-0.59,-116.8,3124,2401,3378,3276,834.8,-7.8,464,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3325,3374,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9613,-0.59,-116.8,3123,2401,3383,3275,856.2,-6.9,474,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3326,3378,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,-0.59,-116.8,3124,2401,3378,3275,875.2,-6.2,484,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3326,3378,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10216,-0.59,-116.8,3123,2397,3377,3273,893.4,-6.1,494,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3325,3377,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10516,-0.59,-116.8,3120,2401,3377,3274,912.0,-6.3,504,10526,0.00,2.50,0.00,0.000,260,0.000,0.101,3123,3819,3325,3377,3273,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10586,-0.59,-116.8,3124,3820,3377,3273,917.1,-6.8,511,10596,0.00,2.42,0.00,0.000,1030,0.000,0.074,3124,2402,3324,3376,3273,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10906,-0.59,-116.8,3124,2399,3377,3272,939.3,-7.2,523,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3325,3377,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11210,-0.59,-116.8,3124,2402,3376,3273,961.3,-7.5,533,11220,0.00,2.47,0.00,0.000,260,0.000,0.099,3123,3805,3324,3376,3272,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11269,-0.59,-116.8,3123,3804,3376,3272,966.3,-8.1,539,11280,0.00,2.40,0.00,0.000,1030,0.000,0.074,3124,2399,3324,3376,3272,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,11569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11569,begin apogee
$GC,11578,-0.25,0.0,3123,2315,3376,3272,990.1,-8.2,551,11690,0.40,0.00,101.07,1.922,10246,0.194,0.000,3240,2315,2857,2935,2779,0,0,0,0,0,0,14.34,28.83,13.23
$STATE,11693,end apogee,CONTROL_FINISHED_OK
$STATE,11693,begin climb
$GC,11696,0.59,116.8,3240,2315,2933,2777,995.4,0.0,555,11813,0.88,0.00,109.00,1.892,10246,0.135,0.000,3510,2315,2381,2523,2240,0,0,0,0,0,0,13.92,28.83,13.07
$GC,12110,0.59,116.8,3510,2315,2520,2231,971.9,7.2,569,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2315,2376,2521,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12413,0.59,116.8,3512,2315,2519,2229,948.1,8.5,579,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2318,2374,2519,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12713,0.59,116.8,3506,2315,2518,2228,921.7,8.8,589,12723,0.00,2.55,0.00,0.000,260,0.000,0.102,3511,3736,2373,2516,2231,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12762,0.59,116.8,3510,3737,2517,2228,916.4,10.3,594,12773,0.00,2.45,0.00,0.000,1030,0.000,0.081,3519,2341,2372,2517,2228,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13076,0.59,116.8,3519,2339,2517,2229,887.2,9.2,605,13086,0.00,2.50,0.00,0.000,260,0.000,0.102,3519,3736,2370,2513,2227,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13145,0.59,116.8,3519,3736,2516,2227,879.6,10.7,612,13156,0.00,2.45,0.00,0.000,1030,0.000,0.083,3519,2332,2370,2513,2227,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13466,0.59,116.8,3521,2330,2516,2226,850.3,9.1,624,13477,0.00,2.50,0.00,0.000,516,0.000,0.102,3521,917,2373,2515,2231,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,24605,end climb,SURFACE_DEPTH_REACHED
$STATE,24605,begin surface coast
$FINISH,1.3,1.023604
$STATE,24646,end surface coast,CONTROL_FINISHED_OK
$STATE,24646,begin surface
$SM_CCo,24672,15.07,0.101,0,0,1328,375.06
$SM_GC,2.73,9.32,0.12,15.07,0.075,0.160,0.101,394,2409,1328,-9.11,-0.65,375.06,0,0,0,0,0,0,14.32,14.31,14.31
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$TT8_MAMPS,0.024717,0.024717
$HUMID,49.64
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3871776
$PM_FREEKB,56759456
$24V_AH,13.1,49.180
$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.200,108.675,372.300,15.075,0.000,0.000,0.000,325.825,0.000,0.000,16.002,3157.071,17763.400,618.028,2945.377,779.103,0.000,2561.967,0.000,1993.401,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24658.000,443.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.835,5.665,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,46612,1297
$CAP_FILE_SIZE,255160,0
$CFSIZE,260034560,237592576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26149.19,0x2378ba,7,5
$CURRENT,0.085,170.7,1
$GPS,070814,002353,4726.455,-12603.534,109,1.1,109,18.7