version: 66.12
glider: 187
mission: 4
dive: 288
start: 8 28 114 14 38 46
data:
$ID,187
$MISSION,4
$DIVE,288
$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,-1593786.8
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,280814,142926,4713.521,-12633.997,58,2.1,78,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-74.2
$GPS2,280814,143820,4713.464,-12634.064,16,2.2,36,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,197.2,41169,-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,24,begin dive
$GC,28,-0.59,-116.8,394,2401,1453,1214,0.0,0.0,0,80,0.00,0.00,-48.55,0.000,16386,0.000,0.000,394,2401,2599,2682,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,394,2401,2683,2516,3.1,-2.4,5,121,12.40,2.55,-14.68,0.000,18692,0.376,0.109,3125,3804,3337,3382,3293,0,0,0,0,0,0,13.95,14.23,14.50
$GC,352,-0.59,-116.8,3124,3804,3383,3297,59.2,-14.6,32,361,0.00,2.42,0.00,0.000,1030,0.000,0.059,3124,2387,3340,3383,3298,0,0,0,0,0,0,28.83,14.32,28.83
$GC,601,-0.59,-116.8,3124,2382,3387,3298,92.4,-12.3,57,610,0.00,2.53,0.00,0.000,260,0.000,0.086,3124,3813,3342,3387,3298,0,0,0,0,0,0,28.83,14.25,28.83
$GC,782,-0.59,-116.8,3124,3813,3386,3299,114.1,-11.2,75,791,0.00,2.40,0.00,0.000,1030,0.000,0.060,3124,2402,3343,3387,3299,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1032,-0.59,-116.8,3125,2398,3387,3299,139.4,-10.0,100,1041,0.00,2.42,0.00,0.000,516,0.000,0.074,3124,990,3346,3394,3299,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1082,-0.59,-116.8,3124,990,3387,3299,144.7,-10.9,105,1091,0.00,2.45,0.00,0.000,1030,0.000,0.070,3125,2406,3343,3387,3299,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1332,-0.59,-116.8,3125,2406,3387,3299,169.9,-10.2,130,1341,0.00,2.47,0.00,0.000,260,0.000,0.090,3124,3820,3342,3386,3298,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1411,-0.59,-116.8,3124,3818,3386,3299,178.6,-10.8,138,1420,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2389,3340,3382,3299,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1661,-0.59,-116.8,3124,2384,3387,3293,202.2,-8.9,163,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1912,-0.59,-116.8,3129,2384,3386,3297,224.5,-9.1,188,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,-0.59,-116.8,3125,2383,3387,3295,248.7,-9.4,213,2170,0.00,2.53,0.00,0.000,260,0.000,0.090,3126,3819,3340,3387,3294,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2211,-0.59,-116.8,3124,3819,3386,3295,253.5,-9.8,218,2221,0.00,2.40,0.00,0.000,1030,0.000,0.063,3125,2406,3340,3386,3294,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2524,-0.59,-116.8,3125,2402,3387,3290,281.4,-8.9,229,2532,0.00,2.42,0.00,0.000,516,0.000,0.074,3125,989,3340,3387,3293,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2583,-0.59,-116.8,3125,988,3386,3293,287.1,-9.7,235,2591,0.00,2.45,0.00,0.000,1030,0.000,0.073,3125,2404,3339,3386,3293,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2915,-0.59,-116.8,3125,2405,3382,3290,318.8,-9.7,248,2923,0.00,2.47,0.00,0.000,260,0.000,0.093,3125,3809,3338,3386,3290,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2981,-0.59,-116.8,3125,3809,3386,3290,325.9,-10.1,255,2991,0.00,2.45,0.00,0.000,1030,0.000,0.068,3124,2404,3336,3383,3290,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3305,-0.59,-116.8,3124,2404,3386,3288,357.0,-9.5,267,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3337,3387,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3602,-0.59,-116.8,3124,2404,3381,3287,384.4,-8.9,277,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3336,3386,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3903,-0.59,-116.8,3124,2404,3384,3286,409.6,-8.1,287,3911,0.00,2.47,0.00,0.000,260,0.000,0.091,3125,3807,3335,3384,3286,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3952,-0.59,-116.8,3124,3806,3384,3285,413.5,-7.9,292,3961,0.00,2.42,0.00,0.000,1030,0.000,0.066,3124,2390,3333,3380,3286,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4266,-0.59,-116.8,3125,2385,3383,3286,435.7,-7.1,303,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3334,3384,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4562,-0.59,-116.8,3125,2385,3383,3284,457.5,-7.5,313,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3332,3383,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4863,-0.59,-116.8,3123,2385,3385,3283,481.5,-8.2,323,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5162,-0.59,-116.8,3122,2385,3382,3282,506.6,-8.6,333,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3332,3382,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5462,-0.59,-116.8,3125,2385,3382,3281,531.9,-8.4,343,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3331,3381,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5763,-0.59,-116.8,3124,2385,3383,3281,557.2,-8.6,353,5770,0.00,2.53,0.00,0.000,260,0.000,0.096,3124,3803,3334,3387,3281,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5822,-0.59,-116.8,3125,3805,3380,3281,562.6,-9.1,359,5831,0.00,2.42,0.00,0.000,1030,0.000,0.070,3125,2394,3330,3380,3281,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6157,-0.59,-116.8,3121,2390,3380,3279,591.4,-8.6,372,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3328,3380,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6452,-0.59,-116.8,3125,2390,3379,3275,616.1,-8.0,382,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2390,3329,3380,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6753,-0.59,-116.8,3125,2390,3379,3284,638.6,-7.4,392,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2390,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7052,-0.59,-116.8,3124,2390,3379,3277,660.7,-7.4,402,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7353,-0.59,-116.8,3125,2390,3378,3277,682.4,-7.0,412,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7652,-0.59,-116.8,3125,2390,3378,3276,701.6,-6.3,422,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3326,3378,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7953,-0.59,-116.8,3124,2390,3378,3275,719.6,-6.1,432,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3326,3377,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8253,-0.59,-116.8,3125,2390,3377,3274,739.5,-6.9,442,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2390,3324,3377,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8553,-0.59,-116.8,3124,2390,3377,3278,761.9,-7.6,452,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3325,3377,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8853,-0.59,-116.8,3124,2390,3377,3273,785.5,-7.8,462,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3324,3376,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9153,-0.59,-116.8,3121,2395,3376,3272,808.4,-7.6,472,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2390,3324,3376,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9453,-0.59,-116.8,3125,2390,3376,3268,829.9,-7.0,482,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3324,3376,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9753,-0.59,-116.8,3122,2390,3375,3266,850.0,-6.6,492,9760,0.00,2.55,0.00,0.000,260,0.000,0.101,3124,3809,3322,3375,3270,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9812,-0.59,-116.8,3124,3801,3375,3271,853.9,-6.6,498,9820,0.00,2.45,0.00,0.000,1030,0.000,0.074,3124,2398,3322,3375,3270,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10146,-0.59,-116.8,3125,2396,3375,3266,873.5,-5.9,511,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3322,3375,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10442,-0.59,-116.8,3122,2396,3375,3270,891.3,-5.9,521,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3322,3375,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10743,-0.59,-116.8,3124,2396,3375,3271,909.4,-6.2,531,10751,0.00,2.47,0.00,0.000,516,0.000,0.087,3121,990,3323,3374,3272,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10792,-0.59,-116.8,3125,990,3380,3269,912.7,-7.1,536,10801,0.00,2.50,0.00,0.000,1030,0.000,0.080,3125,2402,3321,3374,3269,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11106,-0.59,-116.8,3125,2401,3374,3269,933.0,-6.6,547,11114,0.00,2.53,0.00,0.000,260,0.000,0.099,3124,3810,3324,3381,3268,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11164,-0.59,-116.8,3124,3810,3373,3268,937.1,-6.8,553,11173,0.00,2.45,0.00,0.000,1030,0.000,0.076,3128,2404,3321,3374,3268,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11497,-0.59,-116.8,3125,2402,3373,3269,959.3,-6.6,566,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3318,3373,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11795,-0.59,-116.8,3124,2402,3372,3268,979.0,-6.6,576,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3323,3379,3268,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11971,begin apogee
$GC,11979,-0.25,0.0,3121,2311,3373,3268,990.9,-6.5,582,12086,0.40,0.00,101.53,1.918,10246,0.181,0.000,3243,2311,2857,2933,2782,0,0,0,0,0,0,14.17,28.83,13.13
$STATE,12089,end apogee,CONTROL_FINISHED_OK
$STATE,12090,begin climb
$GC,12094,0.59,116.8,3241,2311,2931,2779,993.4,0.0,585,12215,0.85,0.00,110.05,1.886,10246,0.125,0.000,3513,2311,2378,2513,2244,0,0,0,0,0,0,13.86,28.83,12.90
$GC,12515,0.59,116.8,3513,2311,2512,2238,962.2,9.1,600,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2311,2375,2512,2238,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24811,end climb,SURFACE_DEPTH_REACHED
$STATE,24811,begin surface coast
$FINISH,1.1,1.023255
$STATE,24863,end surface coast,CONTROL_FINISHED_OK
$STATE,24863,begin surface
$SM_CCo,24889,5.32,0.099,0,0,1328,375.06
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$TT8_MAMPS,0.023968,0.023968
$HUMID,50.47
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3845856
$PM_FREEKB,54291552
$24V_AH,12.9,69.790
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24888.000,12274.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.807,4.050,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,46617,1312
$CAP_FILE_SIZE,250211,0
$CFSIZE,260034560,229158912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25419.44,0x2378ba,7,5
$CURRENT,0.044,294.9,1
$GPS,280814,213524,4711.715,-12637.396,51,1.5,51,18.6