version: 66.12
glider: 187
mission: 4
dive: 286
start: 8 28 114 0 27 54
data:
$ID,187
$MISSION,4
$DIVE,286
$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,-1593784.1
$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,23
$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
$GPS1,280814,001823,4716.772,-12627.025,39,1.1,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.5
$GPS2,280814,002725,4716.737,-12627.057,16,1.2,16,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,196.1,51886,-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,-116.8,394,2399,1330,1030,0.0,0.0,0,91,0.00,0.00,-59.42,0.000,16386,0.000,0.000,393,2398,2771,2834,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,393,2398,2839,2709,3.9,-4.0,6,131,12.55,2.58,-10.07,0.000,18692,0.381,0.112,3124,3811,3337,3381,3294,0,0,0,0,0,0,13.90,14.22,14.49
$GC,361,-0.59,-116.8,3123,3813,3385,3304,62.6,-14.7,33,370,0.00,2.42,0.00,0.000,1030,0.000,0.062,3126,2390,3341,3384,3298,0,0,0,0,0,0,28.83,14.25,28.83
$GC,611,-0.59,-116.8,3124,2386,3386,3298,93.9,-11.4,58,619,0.00,2.53,0.00,0.000,260,0.000,0.087,3125,3819,3343,3387,3299,0,0,0,0,0,0,28.83,14.28,28.83
$GC,851,-0.59,-116.8,3124,3819,3387,3299,121.7,-13.0,82,860,0.00,2.42,0.00,0.000,1030,0.000,0.062,3124,2388,3342,3387,3298,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1101,-0.59,-116.8,3123,2388,3388,3299,151.7,-11.3,107,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2388,3343,3387,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1351,-0.59,-116.8,3124,2388,3388,3299,176.9,-9.5,132,1361,0.00,2.42,0.00,0.000,516,0.000,0.076,3124,990,3342,3386,3299,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1402,-0.59,-116.8,3124,990,3387,3299,182.2,-10.6,137,1410,0.00,2.45,0.00,0.000,1030,0.000,0.073,3124,2404,3343,3388,3299,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1651,-0.59,-116.8,3124,2404,3388,3298,206.4,-9.6,162,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3346,3388,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1901,-0.59,-116.8,3124,2404,3387,3297,231.2,-10.1,187,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2151,-0.59,-116.8,3124,2404,3387,3295,256.1,-9.9,208,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3340,3388,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2451,-0.59,-116.8,3124,2404,3387,3293,285.5,-9.7,218,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,-0.59,-116.8,3124,2404,3387,3289,313.9,-9.2,228,2759,0.00,2.47,0.00,0.000,260,0.000,0.094,3124,3805,3340,3387,3293,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2811,-0.59,-116.8,3124,3805,3386,3292,319.6,-9.6,234,2818,0.00,2.38,0.00,0.000,1030,0.000,0.066,3124,2409,3339,3387,3292,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3144,-0.59,-116.8,3124,2406,3387,3290,349.9,-9.2,247,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3338,3387,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3441,-0.59,-116.8,3124,2410,3388,3289,376.9,-8.8,257,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3335,3382,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3741,-0.59,-116.8,3124,2404,3386,3287,401.8,-8.2,267,3748,0.00,2.47,0.00,0.000,260,0.000,0.093,3124,3807,3336,3386,3287,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3810,-0.59,-116.8,3124,3812,3385,3287,407.6,-8.5,274,3818,0.00,2.45,0.00,0.000,1030,0.000,0.067,3124,2404,3336,3385,3287,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4134,-0.59,-116.8,3125,2403,3385,3286,434.3,-8.4,286,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4431,-0.59,-116.8,3121,2403,3384,3282,461.0,-9.0,296,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3335,3385,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4731,-0.59,-116.8,3123,2403,3383,3285,488.3,-9.1,306,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3332,3383,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5031,-0.59,-116.8,3123,2403,3383,3284,514.8,-8.7,316,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5331,-0.59,-116.8,3121,2403,3382,3283,540.0,-8.3,326,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5631,-0.59,-116.8,3124,2403,3382,3282,564.5,-8.1,336,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2403,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5931,-0.59,-116.8,3124,2403,3382,3281,588.8,-8.1,346,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6231,-0.59,-116.8,3120,2403,3376,3282,612.4,-7.7,356,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6531,-0.59,-116.8,3124,2404,3381,3279,634.2,-6.9,366,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3330,3382,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6831,-0.59,-116.8,3124,2403,3380,3278,653.8,-6.4,376,6840,0.00,2.50,0.00,0.000,260,0.000,0.096,3124,3805,3329,3380,3278,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6891,-0.59,-116.8,3124,3805,3380,3278,657.9,-7.1,382,6899,0.00,2.42,0.00,0.000,1030,0.000,0.070,3127,2393,3328,3379,3277,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7223,-0.59,-116.8,3124,2391,3381,3277,680.2,-6.9,395,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7522,-0.59,-116.8,3123,2391,3380,3277,701.0,-6.9,405,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7821,-0.59,-116.8,3124,2390,3380,3277,723.2,-7.5,415,7829,0.00,2.55,0.00,0.000,260,0.000,0.098,3124,3818,3327,3379,3276,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7871,-0.59,-116.8,3124,3818,3378,3276,727.3,-8.7,420,7881,0.00,2.45,0.00,0.000,1030,0.000,0.072,3124,2405,3328,3379,3277,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8184,-0.59,-116.8,3124,2404,3378,3274,751.1,-7.8,431,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3326,3378,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8481,-0.59,-116.8,3124,2404,3373,3274,774.3,-7.7,441,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3326,3378,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8781,-0.59,-116.8,3124,2404,3378,3272,796.7,-7.4,451,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9081,-0.59,-116.8,3123,2404,3382,3273,817.9,-6.9,461,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9381,-0.59,-116.8,3124,2404,3381,3272,837.5,-6.3,471,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3322,3373,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9681,-0.59,-116.8,3124,2404,3377,3272,857.3,-6.8,481,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3325,3378,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9981,-0.59,-116.8,3124,2404,3377,3270,878.9,-7.3,491,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3323,3375,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10281,-0.59,-116.8,3124,2404,3377,3270,899.9,-6.9,501,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3326,3376,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10581,-0.59,-116.8,3124,2404,3377,3266,920.0,-6.6,511,10585,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3324,3378,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10881,-0.59,-116.8,3124,2404,3376,3270,939.6,-6.5,521,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3324,3376,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11181,-0.59,-116.8,3121,2402,3376,3269,958.9,-6.4,531,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3323,3377,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11482,-0.59,-116.8,3124,2404,3376,3269,978.3,-6.6,541,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3326,3384,3268,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11657,begin apogee
$GC,11666,-0.25,0.0,3124,2313,3375,3269,990.5,-6.9,547,11772,0.40,0.00,101.65,1.917,10246,0.183,0.000,3241,2309,2859,2934,2784,0,0,0,0,0,0,14.17,28.83,13.13
$STATE,11776,end apogee,CONTROL_FINISHED_OK
$STATE,11776,begin climb
$GC,11780,0.59,116.8,3240,2312,2932,2780,993.4,0.0,550,11902,0.85,0.00,110.00,1.889,10246,0.127,0.000,3511,2312,2378,2514,2243,0,0,0,0,0,0,13.86,28.83,12.93
$GC,12202,0.59,116.8,3511,2312,2520,2239,965.2,8.4,565,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2313,2376,2514,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12504,0.59,116.8,3511,2312,2513,2236,939.6,8.6,575,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2312,2374,2513,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12804,0.59,116.8,3511,2312,2513,2235,914.8,8.2,585,12815,0.00,2.47,0.00,0.000,516,0.000,0.090,3519,927,2373,2512,2235,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12873,0.59,116.8,3519,928,2512,2234,908.2,9.0,592,12884,0.00,2.47,0.00,0.000,1030,0.000,0.080,3519,2330,2373,2512,2235,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13198,0.59,116.8,3524,2330,2512,2234,879.7,8.9,604,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2329,2375,2515,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13497,0.59,116.8,3515,2334,2511,2234,853.2,8.8,614,13507,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2330,2372,2510,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24882,end climb,SURFACE_DEPTH_REACHED
$STATE,24882,begin surface coast
$FINISH,1.1,1.022940
$STATE,24911,end surface coast,CONTROL_FINISHED_OK
$STATE,24911,begin surface
$SM_CCo,24938,2.10,0.103,0,0,1328,375.06
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$TT8_MAMPS,0.024717,0.024717
$HUMID,50.31
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3846496
$PM_FREEKB,54357984
$24V_AH,12.9,69.238
$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
$DEVICE_SECS,23.500,114.300,399.775,2.100,0.000,0.000,0.000,295.725,0.000,0.000,17.053,3140.498,18198.746,642.535,2714.241,767.002,0.000,2367.118,0.000,1962.954,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.836,4.062,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,46642,1292
$CAP_FILE_SIZE,244677,0
$CFSIZE,260034560,229376000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$INTR,0,25907.61,0x2378ba,7,5
$CURRENT,0.011,313.7,1
$GPS,280814,072524,4714.729,-12629.552,58,1.8,58,18.6