version: 66.12
glider: 187
mission: 4
dive: 214
start: 8 8 114 19 40 6
data:
$ID,187
$MISSION,4
$DIVE,214
$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,-1593688.2
$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,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,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
$GPS1,080814,193059,4717.844,-12626.470,60,1.3,65,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-74.7
$GPS2,080814,193937,4717.829,-12626.457,14,0.9,14,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,197.6,53714,-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,23,begin dive
$GC,27,-0.59,-116.8,398,2400,1453,1209,0.0,0.0,0,79,0.00,0.00,-48.65,0.000,16386,0.000,0.000,398,2401,2596,2680,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,401,2400,2681,2515,3.1,-2.4,5,120,12.57,2.58,-15.07,0.000,18692,0.391,0.115,3126,3819,3336,3382,3290,0,0,0,0,0,0,14.04,14.28,14.52
$GC,351,-0.59,-116.8,3126,3819,3383,3294,53.1,-13.8,32,359,0.00,2.42,0.00,0.000,1030,0.000,0.065,3126,2391,3339,3383,3296,0,0,0,0,0,0,28.83,14.35,28.83
$GC,600,-0.59,-116.8,3126,2387,3387,3295,85.8,-12.5,57,609,0.00,2.50,0.00,0.000,260,0.000,0.091,3126,3818,3340,3386,3295,0,0,0,0,0,0,28.83,14.38,28.83
$GC,743,-0.59,-116.8,3126,3817,3386,3295,103.0,-11.3,71,753,0.00,2.40,0.00,0.000,1030,0.000,0.065,3126,2393,3341,3387,3296,0,0,0,0,0,0,28.83,14.42,28.83
$GC,993,-0.59,-116.8,3126,2388,3387,3295,131.1,-11.3,96,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2388,3341,3387,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1242,-0.59,-116.8,3126,2388,3387,3296,157.4,-10.3,121,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2388,3341,3387,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1492,-0.59,-116.8,3126,2388,3387,3295,182.5,-9.7,146,1501,0.00,2.50,0.00,0.000,260,0.000,0.093,3126,3819,3339,3384,3295,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1532,-0.59,-116.8,3126,3824,3386,3295,186.2,-9.2,150,1541,0.00,2.40,0.00,0.000,1030,0.000,0.067,3126,2403,3342,3387,3298,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1783,-0.59,-116.8,3126,2403,3386,3294,209.8,-9.8,175,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2033,-0.59,-116.8,3126,2404,3387,3293,234.3,-9.6,200,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,-0.59,-116.8,3126,2406,3387,3293,259.2,-9.9,220,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2592,-0.59,-116.8,3126,2404,3387,3291,289.4,-10.1,230,2600,0.00,2.45,0.00,0.000,516,0.000,0.080,3126,981,3339,3387,3291,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2653,-0.59,-116.8,3127,981,3387,3290,295.6,-10.2,236,2660,0.00,2.42,0.00,0.000,1030,0.000,0.074,3126,2396,3336,3383,3290,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2986,-0.59,-116.8,3126,2397,3386,3288,326.4,-9.2,249,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3337,3386,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3283,-0.59,-116.8,3126,2402,3386,3287,352.9,-8.8,259,3291,0.00,2.47,0.00,0.000,260,0.000,0.095,3126,3820,3336,3386,3287,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3412,-0.59,-116.8,3126,3820,3385,3287,364.6,-8.8,272,3420,0.00,2.42,0.00,0.000,1030,0.000,0.068,3127,2389,3336,3385,3287,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3736,-0.59,-116.8,3126,2387,3385,3286,390.7,-8.1,284,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2383,3335,3384,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4033,-0.59,-116.8,3126,2384,3384,3291,414.1,-7.9,294,4041,0.00,2.40,0.00,0.000,516,0.000,0.083,3126,988,3334,3384,3285,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4112,-0.59,-116.8,3126,988,3384,3285,420.8,-8.3,302,4122,0.00,2.47,0.00,0.000,1030,0.000,0.079,3126,2398,3334,3384,3285,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4423,-0.59,-116.8,3126,2398,3383,3283,445.8,-8.1,313,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4723,-0.59,-116.8,3123,2398,3383,3283,471.6,-8.9,323,4731,0.00,2.47,0.00,0.000,260,0.000,0.096,3129,3816,3330,3383,3278,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4792,-0.59,-116.8,3126,3816,3377,3280,477.9,-9.0,330,4800,0.00,2.45,0.00,0.000,1030,0.000,0.069,3127,2397,3331,3382,3280,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5116,-0.59,-116.8,3124,2401,3382,3282,505.6,-8.7,342,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2397,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5413,-0.59,-116.8,3126,2397,3382,3281,530.9,-8.2,352,5420,0.00,2.50,0.00,0.000,260,0.000,0.099,3126,3813,3331,3382,3281,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5493,-0.59,-116.8,3126,3813,3381,3282,537.4,-8.1,360,5502,0.00,2.42,0.00,0.000,1030,0.000,0.073,3126,2391,3331,3382,3281,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5805,-0.59,-116.8,3126,2389,3381,3280,560.9,-7.4,371,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2388,3330,3381,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6103,-0.59,-116.8,3123,2388,3381,3278,583.5,-7.5,381,6110,0.00,2.42,0.00,0.000,516,0.000,0.093,3126,1000,3330,3382,3278,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6162,-0.59,-116.8,3126,1000,3380,3278,588.3,-8.4,387,6171,0.00,2.42,0.00,0.000,1030,0.000,0.082,3126,2400,3329,3381,3277,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6496,-0.59,-116.8,3126,2400,3380,3277,612.8,-7.4,400,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3329,3380,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6793,-0.59,-116.8,3127,2405,3387,3277,635.5,-7.5,410,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7093,-0.59,-116.8,3122,2400,3380,3276,658.1,-7.4,420,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7393,-0.59,-116.8,3126,2399,3380,3276,679.0,-6.9,430,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3327,3380,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7693,-0.59,-116.8,3126,2399,3379,3274,699.7,-7.0,440,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3326,3379,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7993,-0.59,-116.8,3126,2400,3379,3275,721.4,-7.4,450,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3326,3379,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8293,-0.59,-116.8,3126,2399,3377,3273,744.3,-7.9,460,8300,0.00,2.47,0.00,0.000,260,0.000,0.101,3126,3809,3326,3379,3273,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8392,-0.59,-116.8,3126,3810,3378,3273,752.5,-8.3,470,8400,0.00,2.45,0.00,0.000,1030,0.000,0.073,3126,2404,3325,3378,3273,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8716,-0.59,-116.8,3126,2404,3384,3272,778.1,-8.0,482,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3325,3378,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9013,-0.59,-116.8,3126,2404,3378,3272,801.7,-7.8,492,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3324,3377,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9313,-0.59,-116.8,3126,2404,3377,3271,824.7,-7.6,502,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3324,3377,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9613,-0.59,-116.8,3128,2403,3377,3270,846.7,-7.1,512,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3324,3377,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,-0.59,-116.8,3127,2405,3377,3276,868.1,-7.0,522,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3323,3377,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10213,-0.59,-116.8,3126,2403,3377,3267,889.7,-7.1,532,10217,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3322,3376,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10513,-0.59,-116.8,3126,2404,3376,3271,910.8,-6.9,542,10520,0.00,2.50,0.00,0.000,260,0.000,0.101,3126,3811,3322,3376,3269,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10612,-0.59,-116.8,3125,3807,3375,3269,917.8,-7.4,552,10620,0.00,2.42,0.00,0.000,1030,0.000,0.073,3126,2394,3322,3376,3269,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10936,-0.59,-116.8,3126,2392,3375,3269,939.4,-6.7,564,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2393,3322,3375,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11233,-0.59,-116.8,3126,2392,3374,3268,957.5,-5.9,574,11241,0.00,2.45,0.00,0.000,516,0.000,0.090,3126,997,3321,3375,3268,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11282,-0.59,-116.8,3126,998,3375,3268,960.6,-6.4,579,11292,0.00,2.47,0.00,0.000,1030,0.000,0.085,3126,2394,3322,3375,3269,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11596,-0.59,-116.8,3126,2393,3375,3268,978.2,-5.5,590,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2393,3321,3375,3268,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11799,begin apogee
$GC,11808,-0.25,0.0,3122,2319,3375,3268,990.2,-5.8,597,11914,0.40,0.00,100.40,1.916,10246,0.193,0.000,3243,2319,2859,2935,2784,0,0,0,0,0,0,14.28,28.83,13.22
$STATE,11917,end apogee,CONTROL_FINISHED_OK
$STATE,11917,begin climb
$GC,11921,0.59,116.8,3241,2319,2933,2778,992.3,0.0,600,12043,0.85,0.00,109.60,1.887,10246,0.136,0.000,3509,2319,2377,2519,2235,0,0,0,0,0,0,13.89,28.83,13.03
$GC,12343,0.59,116.8,3509,2318,2518,2231,961.3,8.6,615,12352,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2319,2374,2518,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12646,0.59,116.8,3509,2318,2519,2228,937.2,8.0,625,12656,0.00,2.50,0.00,0.000,516,0.000,0.100,3509,929,2372,2517,2228,0,0,0,0,0,0,28.83,14.26,28.83
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$STATE,24884,end climb,SURFACE_DEPTH_REACHED
$STATE,24884,begin surface coast
$FINISH,0.9,1.022910
$STATE,24912,end surface coast,CONTROL_FINISHED_OK
$STATE,24913,begin surface
$SM_CCo,24998,0.00,0.000,0,0,1245,395.67
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$IRIDIUM_FIX,4703.87,-12626.16,080814,121233
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.81
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3869536
$PM_FREEKB,56489312
$24V_AH,13.0,51.079
$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,23.450,113.375,414.750,0.000,0.000,0.000,0.000,276.800,0.000,0.000,15.131,3141.628,18223.125,645.236,2722.159,761.966,0.000,2375.951,0.000,1963.842,0.000,0.536,0.000
$DEVICE_MAMPS,390.915,174.420,1915.560,0.000,0.000,0.000,0.000,169.065,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24938.000,12130.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.786,4.059,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,46570,1300
$CAP_FILE_SIZE,244293,0
$CFSIZE,260034560,236838912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25959.45,0x2378ba,7,5
$CURRENT,0.034,313.5,1
$GPS,090814,023805,4716.008,-12629.500,33,1.0,33,18.6