version: 66.12
glider: 187
mission: 4
dive: 276
start: 8 25 114 0 54 41
data:
$ID,187
$MISSION,4
$DIVE,276
$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,-1593768.8
$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,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
$GPS1,250814,004530,4730.208,-12555.613,55,0.9,55,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-72.2
$GPS2,250814,005413,4730.185,-12555.578,12,1.3,12,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,228.1,98722,-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,-116.8,394,2400,1453,1208,0.0,0.0,0,81,0.00,0.00,-48.42,0.000,16386,0.000,0.000,395,2406,2567,2650,2485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,399,2404,2656,2484,3.0,-1.8,5,123,12.57,2.58,-16.10,0.000,18692,0.384,0.114,3128,3805,3340,3388,3292,0,0,0,0,0,0,13.96,14.22,14.49
$GC,354,-0.59,-116.8,3127,3805,3383,3297,43.8,-13.5,32,363,0.00,2.42,0.00,0.000,1030,0.000,0.064,3128,2401,3340,3382,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,603,-0.59,-116.8,3128,2396,3386,3298,74.9,-11.9,57,612,0.00,2.50,0.00,0.000,260,0.000,0.091,3128,3804,3343,3389,3298,0,0,0,0,0,0,28.83,14.26,28.83
$GC,723,-0.59,-116.8,3127,3804,3385,3298,91.1,-13.6,69,732,0.00,2.42,0.00,0.000,1030,0.000,0.064,3128,2386,3341,3385,3298,0,0,0,0,0,0,28.83,14.33,28.83
$GC,973,-0.59,-116.8,3128,2384,3385,3298,121.7,-11.6,94,982,0.00,2.40,0.00,0.000,516,0.000,0.076,3128,998,3341,3385,3298,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1064,-0.59,-116.8,3128,998,3385,3298,132.0,-11.1,103,1074,0.00,2.42,0.00,0.000,1030,0.000,0.073,3124,2399,3341,3385,3298,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1314,-0.59,-116.8,3128,2396,3385,3298,157.3,-10.0,128,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2396,3341,3384,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1563,-0.59,-116.8,3128,2396,3385,3299,179.7,-8.8,153,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2396,3341,3385,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1813,-0.59,-116.8,3128,2393,3385,3298,204.4,-9.5,178,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3341,3385,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,-0.59,-116.8,3128,2395,3385,3297,225.7,-8.4,203,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2396,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2314,-0.59,-116.8,3128,2396,3385,3296,245.7,-8.1,228,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2396,3340,3385,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2583,-0.59,-116.8,3128,2396,3385,3295,268.7,-8.4,241,2591,0.00,2.42,0.00,0.000,516,0.000,0.076,3128,994,3339,3385,3294,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2633,-0.59,-116.8,3128,994,3385,3297,273.1,-8.5,246,2642,0.00,2.45,0.00,0.000,1030,0.000,0.074,3128,2403,3338,3381,3295,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2943,-0.59,-116.8,3128,2403,3385,3289,300.2,-9.2,257,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3339,3385,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3243,-0.59,-116.8,3133,2403,3383,3293,329.1,-9.8,267,3251,0.00,2.47,0.00,0.000,260,0.000,0.095,3128,3812,3339,3385,3293,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3294,-0.59,-116.8,3127,3812,3385,3292,334.1,-10.0,272,3303,0.00,2.40,0.00,0.000,1030,0.000,0.066,3128,2407,3338,3385,3292,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3606,-0.59,-116.8,3128,2404,3385,3291,362.5,-8.9,283,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3337,3384,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3904,-0.59,-116.8,3129,2404,3385,3291,389.9,-9.3,293,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4203,-0.59,-116.8,3128,2405,3385,3288,416.3,-8.8,303,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3336,3385,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4504,-0.59,-116.8,3125,2401,3384,3287,441.4,-8.1,313,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3335,3384,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4803,-0.59,-116.8,3128,2404,3383,3287,465.2,-8.1,323,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5103,-0.59,-116.8,3125,2404,3383,3287,489.2,-7.8,333,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2405,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5404,-0.59,-116.8,3127,2404,3383,3286,510.4,-6.9,343,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3336,3382,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5703,-0.59,-116.8,3125,2404,3382,3281,532.0,-7.2,353,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6004,-0.59,-116.8,3128,2404,3382,3285,554.1,-7.2,363,6012,0.00,2.45,0.00,0.000,516,0.000,0.081,3129,992,3333,3382,3285,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6053,-0.59,-116.8,3128,992,3382,3285,557.8,-7.7,368,6062,0.00,2.47,0.00,0.000,1030,0.000,0.078,3128,2404,3333,3382,3285,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6367,-0.59,-116.8,3128,2404,3382,3284,579.1,-6.8,379,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3332,3381,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6663,-0.59,-116.8,3128,2404,3381,3283,600.7,-7.0,389,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6964,-0.59,-116.8,3128,2404,3377,3282,622.4,-7.6,399,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2404,3331,3378,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7263,-0.59,-116.8,3128,2404,3381,3282,645.8,-7.9,409,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2404,3331,3381,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7563,-0.59,-116.8,3128,2404,3380,3281,669.5,-7.9,419,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3330,3380,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7864,-0.59,-116.8,3130,2404,3380,3282,692.4,-7.7,429,7872,0.00,2.50,0.00,0.000,260,0.000,0.099,3127,3806,3329,3379,3280,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7933,-0.59,-116.8,3129,3809,3379,3281,698.0,-8.3,436,7941,0.00,2.42,0.00,0.000,1030,0.000,0.071,3128,2403,3330,3380,3281,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8257,-0.59,-116.8,3128,2402,3379,3281,721.1,-7.0,448,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8553,-0.59,-116.8,3128,2402,3379,3280,741.8,-6.8,458,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8854,-0.59,-116.8,3129,2402,3378,3279,763.3,-7.1,468,8862,0.00,2.47,0.00,0.000,516,0.000,0.083,3128,989,3330,3379,3281,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8913,-0.59,-116.8,3128,989,3379,3279,767.9,-7.7,474,8921,0.00,2.47,0.00,0.000,1030,0.000,0.080,3127,2399,3329,3379,3279,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9246,-0.59,-116.8,3127,2397,3379,3278,791.8,-7.3,487,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3330,3386,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9544,-0.59,-116.8,3128,2398,3378,3277,812.4,-6.5,497,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3328,3378,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9844,-0.59,-116.8,3130,2397,3378,3277,832.3,-6.5,507,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3326,3373,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10144,-0.59,-116.8,3127,2397,3378,3277,851.2,-6.3,517,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3327,3378,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10444,-0.59,-116.8,3127,2397,3378,3277,870.4,-6.5,527,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3325,3373,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10744,-0.59,-116.8,3126,2397,3378,3277,889.8,-6.5,537,10752,0.00,2.50,0.00,0.000,260,0.000,0.098,3128,3806,3327,3377,3278,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10803,-0.59,-116.8,3130,3805,3376,3277,893.8,-7.0,543,10812,0.00,2.45,0.00,0.000,1030,0.000,0.070,3125,2392,3327,3378,3277,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11137,-0.59,-116.8,3128,2391,3376,3276,914.7,-6.2,556,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2388,3326,3376,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11433,-0.59,-116.8,3128,2388,3377,3276,933.2,-6.2,566,11441,0.00,2.47,0.00,0.000,516,0.000,0.087,3128,1000,3326,3377,3276,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11502,-0.59,-116.8,3127,995,3376,3276,937.9,-6.7,573,11511,0.00,2.53,0.00,0.000,1030,0.000,0.083,3128,2394,3326,3376,3276,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11827,-0.59,-116.8,3128,2396,3376,3275,957.9,-6.4,585,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2396,3327,3376,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12123,-0.59,-116.8,3128,2396,3375,3275,976.9,-6.5,595,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2396,3324,3374,3275,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12330,begin apogee
$GC,12339,-0.25,0.0,3128,2326,3376,3274,990.7,-6.6,602,12447,0.38,0.00,103.20,1.919,10246,0.187,0.000,3236,2326,2857,2932,2782,0,0,0,0,0,0,14.18,28.83,13.13
$STATE,12450,end apogee,CONTROL_FINISHED_OK
$STATE,12451,begin climb
$GC,12454,0.59,116.8,3236,2326,2930,2778,993.7,0.0,605,12574,0.88,0.00,110.55,1.882,10246,0.131,0.000,3511,2326,2379,2515,2244,0,0,0,0,0,0,13.85,28.83,12.90
$GC,12874,0.59,116.8,3514,2326,2514,2237,966.4,8.4,620,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2326,2376,2514,2238,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25588,end climb,SURFACE_DEPTH_REACHED
$STATE,25592,begin surface coast
$FINISH,1.3,1.023002
$STATE,25649,end surface coast,CONTROL_FINISHED_OK
$STATE,25650,begin surface
$SM_CCo,25675,22.58,0.103,0,0,1328,375.06
$SM_GC,2.50,9.27,0.15,22.58,0.069,0.140,0.103,395,2404,1328,-9.10,-0.68,375.06,0,0,0,0,0,0,14.22,14.21,14.20
$IRIDIUM_FIX,4713.38,-12545.96,240814,171751
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.37
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3849696
$PM_FREEKB,54693024
$24V_AH,12.9,66.497
$10V_AH,13.2,0.000
$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
$DEVICE_SECS,23.225,119.225,365.050,22.575,0.000,0.000,0.000,280.475,0.000,0.000,13.531,3300.805,18665.199,642.460,2809.820,783.819,0.000,2406.782,0.000,2062.433,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25672.000,12642.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.856,4.069,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,46621,1359
$CAP_FILE_SIZE,253864,0
$CFSIZE,260034560,230424576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25375.73,0x2378ba,7,5
$CURRENT,0.022,188.7,1
$GPS,250814,080455,4728.821,-12559.375,63,2.0,64,18.7