version: 66.12
glider: 187
mission: 4
dive: 208
start: 8 7 114 0 33 36
data:
$ID,187
$MISSION,4
$DIVE,208
$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,-1593680.8
$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,27
$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
$GPS1,070814,002353,4726.455,-12603.534,109,1.1,109,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-72.4
$GPS2,070814,003307,4726.511,-12603.518,16,1.4,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,237.9,86604,-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,-116.8,396,2406,1454,1208,0.0,0.0,0,80,0.00,0.00,-48.33,0.000,16386,0.000,0.000,394,2411,2590,2674,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,394,2411,2675,2507,3.2,-2.6,5,121,12.35,2.55,-15.35,0.000,18692,0.380,0.118,3127,3812,3336,3385,3288,0,0,0,0,0,0,14.06,14.28,14.53
$GC,352,-0.59,-116.8,3124,3811,3386,3293,51.3,-16.0,32,361,0.00,2.40,0.00,0.000,1030,0.000,0.065,3127,2402,3339,3386,3293,0,0,0,0,0,0,28.83,14.35,28.83
$GC,601,-0.59,-116.8,3127,2403,3389,3294,78.9,-10.4,57,610,0.00,2.42,0.00,0.000,516,0.000,0.077,3127,979,3342,3390,3294,0,0,0,0,0,0,28.83,14.39,28.83
$GC,721,-0.59,-116.8,3128,979,3383,3294,93.1,-11.7,69,731,0.00,2.42,0.00,0.000,1030,0.000,0.074,3124,2395,3341,3388,3294,0,0,0,0,0,0,28.83,14.42,28.83
$GC,971,-0.59,-116.8,3127,2399,3389,3294,120.1,-10.9,94,978,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2395,3343,3393,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1223,-0.59,-116.8,3128,2395,3389,3294,147.2,-10.5,119,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1472,-0.59,-116.8,3128,2395,3389,3294,171.2,-10.0,144,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2395,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1722,-0.59,-116.8,3128,2395,3389,3294,197.4,-10.4,169,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2395,3342,3389,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1971,-0.59,-116.8,3128,2395,3388,3290,223.0,-10.2,194,1980,0.00,2.45,0.00,0.000,260,0.000,0.094,3128,3814,3341,3388,3294,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2106,-0.59,-116.8,3127,3813,3389,3293,236.8,-10.5,207,2115,0.00,2.40,0.00,0.000,1030,0.000,0.066,3127,2382,3343,3395,3292,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2364,-0.59,-116.8,3128,2382,3388,3291,261.9,-9.3,225,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2382,3339,3388,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-0.59,-116.8,3128,2387,3388,3290,289.7,-9.3,235,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2382,3338,3388,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,-0.59,-116.8,3128,2382,3388,3289,316.6,-8.6,245,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2383,3337,3386,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3264,-0.59,-116.8,3128,2382,3387,3287,344.2,-9.6,255,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2382,3337,3388,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3565,-0.59,-116.8,3128,2379,3383,3286,373.6,-10.0,265,3572,0.00,2.50,0.00,0.000,260,0.000,0.096,3128,3815,3336,3387,3286,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3625,-0.59,-116.8,3128,3812,3388,3286,379.6,-9.9,271,3633,0.00,2.38,0.00,0.000,1030,0.000,0.068,3127,2405,3337,3386,3289,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3958,-0.59,-116.8,3127,2404,3386,3286,409.3,-8.5,284,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3333,3386,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4255,-0.59,-116.8,3127,2404,3386,3286,432.1,-7.1,294,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3335,3386,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4555,-0.59,-116.8,3128,2403,3385,3289,454.2,-7.9,304,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3334,3385,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4855,-0.59,-116.8,3127,2404,3385,3277,480.7,-9.4,314,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3333,3384,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5155,-0.59,-116.8,3128,2403,3383,3282,509.1,-9.6,324,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3332,3383,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5455,-0.59,-116.8,3128,2404,3383,3281,536.4,-8.9,334,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5755,-0.59,-116.8,3128,2403,3382,3281,561.1,-7.9,344,5763,0.00,2.47,0.00,0.000,260,0.000,0.098,3128,3823,3331,3382,3280,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5815,-0.59,-116.8,3125,3818,3389,3280,565.9,-8.0,350,5823,0.00,2.42,0.00,0.000,1030,0.000,0.069,3128,2388,3331,3382,3280,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6149,-0.59,-116.8,3124,2384,3381,3279,591.5,-7.5,363,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2384,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6445,-0.59,-116.8,3128,2384,3381,3278,612.6,-7.2,373,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2384,3332,3386,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6745,-0.59,-116.8,3127,2384,3381,3277,636.0,-7.9,383,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2384,3327,3377,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7045,-0.59,-116.8,3128,2384,3381,3277,658.2,-7.0,393,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2384,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7345,-0.59,-116.8,3133,2384,3381,3276,678.9,-6.9,403,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2384,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7645,-0.59,-116.8,3127,2384,3386,3275,698.0,-6.2,413,7652,0.00,2.53,0.00,0.000,260,0.000,0.100,3128,3818,3327,3380,3275,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7734,-0.59,-116.8,3128,3819,3380,3275,703.6,-6.1,422,7742,0.00,2.42,0.00,0.000,1030,0.000,0.075,3128,2402,3328,3382,3275,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8068,-0.59,-116.8,3128,2400,3380,3274,725.3,-6.9,435,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3324,3379,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8365,-0.59,-116.8,3128,2400,3379,3273,746.1,-6.9,445,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3326,3379,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8665,-0.59,-116.8,3128,2400,3379,3272,768.1,-7.6,455,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3325,3379,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8965,-0.59,-116.8,3128,2400,3379,3272,790.5,-7.6,465,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2401,3323,3379,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9265,-0.59,-116.8,3127,2400,3378,3271,811.9,-7.1,475,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3326,3377,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9565,-0.59,-116.8,3128,2400,3378,3270,833.0,-6.9,485,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3324,3378,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9865,-0.59,-116.8,3128,2401,3378,3270,854.4,-7.2,495,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3323,3381,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10165,-0.59,-116.8,3130,2401,3378,3269,876.7,-7.6,505,10173,0.00,2.50,0.00,0.000,260,0.000,0.101,3128,3818,3323,3378,3269,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10244,-0.59,-116.8,3128,3819,3377,3269,883.1,-8.1,513,10254,0.00,2.45,0.00,0.000,1030,0.000,0.073,3128,2388,3323,3377,3269,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10559,-0.59,-116.8,3128,2382,3377,3269,906.2,-7.5,524,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2382,3323,3377,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10855,-0.59,-116.8,3127,2382,3377,3270,927.8,-7.2,534,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2382,3323,3377,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11156,-0.59,-116.8,3128,2382,3377,3268,949.2,-7.2,544,11160,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2382,3322,3377,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11455,-0.59,-116.8,3131,2382,3376,3268,972.2,-7.5,554,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2382,3323,3376,3270,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11721,begin apogee
$GC,11731,-0.25,0.0,3128,2320,3376,3268,991.8,-7.2,563,11837,0.38,0.00,101.07,1.915,10246,0.199,0.000,3235,2320,2857,2933,2781,0,0,0,0,0,0,14.31,28.83,13.24
$STATE,11840,end apogee,CONTROL_FINISHED_OK
$STATE,11840,begin climb
$GC,11844,0.59,116.8,3235,2321,2933,2777,995.2,0.0,566,11965,0.88,0.00,109.70,1.882,10246,0.142,0.000,3507,2320,2377,2520,2235,0,0,0,0,0,0,13.90,28.83,13.05
$GC,12264,0.59,116.8,3507,2320,2518,2229,966.7,8.6,581,12274,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2320,2375,2519,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12568,0.59,116.8,3507,2320,2517,2232,940.5,8.8,591,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2320,2372,2517,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12867,0.59,116.8,3507,2320,2516,2226,914.2,8.8,601,12877,0.00,2.47,0.00,0.000,516,0.000,0.099,3508,934,2371,2516,2226,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12948,0.59,116.8,3506,934,2516,2226,906.8,9.0,609,12958,0.00,2.45,0.00,0.000,1030,0.000,0.083,3508,2333,2371,2517,2226,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13263,0.59,116.8,3508,2332,2515,2225,880.0,8.1,620,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2333,2370,2515,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13561,0.59,116.8,3508,2333,2514,2230,856.7,7.7,630,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2332,2369,2514,2225,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25005,end climb,SURFACE_DEPTH_REACHED
$STATE,25005,begin surface coast
$FINISH,1.1,1.023447
$STATE,25039,end surface coast,CONTROL_FINISHED_OK
$STATE,25039,begin surface
$SM_CCo,25064,1.77,0.103,0,0,1328,375.06
$SM_GC,3.51,9.27,0.12,1.77,0.072,0.187,0.103,395,2401,1328,-9.11,-0.85,375.06,0,0,0,0,0,0,14.34,14.38,14.36
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$TT8_MAMPS,0.024717,0.024717
$HUMID,48.77
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3871456
$PM_FREEKB,56691456
$24V_AH,13.1,49.442
$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
$DEVICE_SECS,23.250,118.375,355.800,1.775,0.000,0.000,0.000,314.125,0.000,0.000,17.332,3192.854,18253.959,607.386,2771.105,779.089,0.000,2375.414,0.000,1997.346,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25062.000,12033.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.785,4.072,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,46649,1311
$CAP_FILE_SIZE,249808,0
$CFSIZE,260034560,237494272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25430.63,0x2378ba,7,5
$CURRENT,0.072,221.0,1
$GPS,070814,073330,4725.203,-12608.479,76,1.9,76,18.7