version: 66.12
glider: 187
mission: 4
dive: 289
start: 8 28 114 21 45 57
data:
$ID,187
$MISSION,4
$DIVE,289
$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,-1593788
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,280814,213524,4711.715,-12637.396,51,1.5,51,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-74.2
$GPS2,280814,214531,4711.819,-12637.414,17,1.5,17,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,203.5,35958,-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,22,begin dive
$GC,26,-0.59,-116.8,393,2413,1459,1206,0.0,0.0,0,80,0.00,0.00,-48.17,0.000,16386,0.000,0.000,393,2414,2588,2672,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,393,2414,2673,2504,3.2,-2.1,5,123,12.60,2.55,-14.62,0.000,19204,0.383,0.098,3125,991,3338,3382,3294,0,0,0,0,0,0,13.92,14.23,14.49
$GC,354,-0.59,-116.8,3126,990,3385,3296,55.3,-13.9,32,364,0.00,2.45,0.00,0.000,1030,0.000,0.073,3125,2390,3341,3385,3297,0,0,0,0,0,0,28.83,14.28,28.83
$GC,604,-0.59,-116.8,3126,2391,3387,3298,86.7,-12.7,57,614,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2391,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-0.59,-116.8,3126,2391,3384,3299,119.6,-11.8,82,866,0.00,2.53,0.00,0.000,260,0.000,0.090,3126,3821,3343,3388,3299,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1005,-0.59,-116.8,3126,3822,3388,3295,136.9,-11.0,97,1016,0.00,2.42,0.00,0.000,1030,0.000,0.061,3125,2397,3344,3390,3298,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1256,-0.59,-116.8,3131,2392,3387,3301,164.3,-11.3,122,1268,0.00,2.42,0.00,0.000,516,0.000,0.075,3126,985,3341,3389,3294,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1318,-0.59,-116.8,3126,984,3389,3299,171.2,-11.6,128,1328,0.00,2.45,0.00,0.000,1030,0.000,0.071,3126,2403,3343,3388,3299,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1568,-0.59,-116.8,3126,2403,3388,3298,196.5,-9.3,153,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3343,3388,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1818,-0.59,-116.8,3126,2403,3388,3297,218.2,-8.9,178,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3342,3388,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2069,-0.59,-116.8,3124,2403,3392,3295,241.5,-9.5,203,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3341,3388,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2319,-0.59,-116.8,3126,2403,3388,3294,264.8,-9.4,218,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2619,-0.59,-116.8,3126,2403,3388,3293,293.2,-9.5,228,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2918,-0.59,-116.8,3126,2402,3388,3291,320.7,-9.1,238,2928,0.00,2.45,0.00,0.000,516,0.000,0.080,3126,993,3339,3388,3290,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2969,-0.59,-116.8,3126,993,3387,3290,325.3,-9.3,243,2979,0.00,2.45,0.00,0.000,1030,0.000,0.077,3127,2399,3339,3388,3290,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3282,-0.59,-116.8,3126,2397,3389,3288,351.4,-8.0,254,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3337,3387,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3579,-0.59,-116.8,3122,2398,3386,3287,375.4,-8.0,264,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3336,3386,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3878,-0.59,-116.8,3125,2403,3386,3287,399.6,-8.1,274,3889,0.00,2.47,0.00,0.000,260,0.000,0.096,3126,3807,3336,3386,3286,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3939,-0.59,-116.8,3126,3808,3385,3286,404.7,-8.4,280,3950,0.00,2.38,0.00,0.000,1030,0.000,0.067,3125,2411,3333,3385,3282,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4270,-0.59,-116.8,3126,2405,3384,3286,431.9,-8.1,293,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3334,3385,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4571,-0.59,-116.8,3126,2404,3384,3285,456.1,-8.0,303,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3334,3384,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4870,-0.59,-116.8,3126,2405,3383,3283,480.0,-8.1,313,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3333,3383,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5171,-0.59,-116.8,3126,2405,3382,3289,505.0,-8.6,323,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5470,-0.59,-116.8,3126,2405,3382,3284,531.3,-8.7,333,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5771,-0.59,-116.8,3126,2405,3382,3281,556.0,-8.0,343,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2405,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,-0.59,-116.8,3126,2405,3383,3280,579.7,-7.9,353,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3330,3381,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6371,-0.59,-116.8,3126,2404,3381,3279,602.6,-7.5,363,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3330,3381,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,-0.59,-116.8,3125,2405,3379,3278,624.4,-7.3,373,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3329,3381,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6971,-0.59,-116.8,3126,2405,3381,3277,646.3,-7.5,383,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,-0.59,-116.8,3122,2405,3380,3277,669.7,-7.9,393,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7571,-0.59,-116.8,3126,2405,3379,3276,693.3,-7.7,403,7581,0.00,2.47,0.00,0.000,516,0.000,0.082,3126,984,3327,3379,3276,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7631,-0.59,-116.8,3126,983,3379,3276,698.3,-8.4,409,7641,0.00,2.47,0.00,0.000,1030,0.000,0.077,3126,2397,3327,3378,3276,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7961,-0.59,-116.8,3126,2399,3379,3275,723.1,-7.4,422,7971,0.00,2.50,0.00,0.000,260,0.000,0.096,3131,3813,3328,3382,3275,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8030,-0.59,-116.8,3126,3813,3378,3274,728.3,-7.7,429,8040,0.00,2.45,0.00,0.000,1030,0.000,0.069,3126,2388,3326,3378,3275,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8351,-0.59,-116.8,3126,2383,3378,3273,752.3,-7.6,441,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2383,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8651,-0.59,-116.8,3126,2383,3378,3273,774.4,-7.3,451,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2383,3323,3378,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8951,-0.59,-116.8,3124,2383,3378,3273,795.5,-7.0,461,8961,0.00,2.45,0.00,0.000,516,0.000,0.084,3126,993,3325,3378,3273,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9020,-0.59,-116.8,3126,992,3377,3272,800.8,-7.6,468,9032,0.00,2.50,0.00,0.000,1030,0.000,0.080,3126,2411,3324,3377,3272,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9345,-0.59,-116.8,3126,2411,3377,3272,822.6,-6.6,480,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2410,3324,3377,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9642,-0.59,-116.8,3126,2411,3373,3271,842.2,-6.5,490,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2411,3324,3377,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9943,-0.59,-116.8,3126,2411,3376,3270,862.0,-6.6,500,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2411,3323,3377,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10245,-0.59,-116.8,3122,2411,3376,3270,881.6,-6.5,510,10255,0.00,2.50,0.00,0.000,516,0.000,0.085,3125,992,3325,3381,3270,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10305,-0.59,-116.8,3126,992,3376,3270,885.8,-6.7,516,10315,0.00,2.47,0.00,0.000,1030,0.000,0.081,3126,2398,3323,3377,3270,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10635,-0.59,-116.8,3125,2398,3376,3269,906.2,-5.9,529,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3320,3376,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10939,-0.59,-116.8,3125,2398,3376,3269,923.8,-5.8,539,10949,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3322,3376,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11238,-0.59,-116.8,3126,2399,3375,3269,941.2,-6.0,549,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3321,3375,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11539,-0.59,-116.8,3126,2404,3375,3268,959.2,-6.2,559,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2398,3321,3375,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11838,-0.59,-116.8,3126,2399,3375,3268,978.0,-6.3,569,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3322,3376,3268,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12042,begin apogee
$GC,12051,-0.25,0.0,3126,2327,3375,3268,991.2,-6.3,576,12160,0.40,0.00,101.75,1.917,10246,0.182,0.000,3242,2327,2859,2934,2784,0,0,0,0,0,0,14.19,28.83,13.14
$STATE,12162,end apogee,CONTROL_FINISHED_OK
$STATE,12162,begin climb
$GC,12166,0.59,116.8,3242,2327,2932,2778,994.0,0.0,579,12286,0.85,0.00,110.35,1.883,10246,0.126,0.000,3513,2328,2378,2512,2244,0,0,0,0,0,0,13.86,28.83,12.93
$GC,12585,0.59,116.8,3513,2332,2511,2237,964.2,8.8,594,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2327,2374,2512,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12889,0.59,116.8,3513,2327,2510,2235,937.9,8.9,604,12898,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2326,2372,2510,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13188,0.59,116.8,3513,2327,2509,2234,911.3,8.8,614,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2327,2370,2510,2231,0,0,0,0,0,0,28.83,28.83,28.83
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$FREEZE,34.62,14.467,-1.761,0,1,0
$STATE,25112,end climb,NO_VERTICAL_VELOCITY
$STATE,25112,begin surface
$SM_CCo,25117,252.23,0.684,0,0,468,586.02
$SM_GC,1.87,10.05,0.15,0.00,0.108,0.151,0.000,396,2413,464,-9.11,-0.62,587.25,1,0,0,0,0,0,13.93,14.03,28.83
$IRIDIUM_FIX,4654.38,-12631.26,280814,141420
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.42
$INTERNAL_PRESSURE,8.90344
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3845536
$PM_FREEKB,54291520
$24V_AH,12.9,70.097
$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
$DEVICE_SECS,24.175,109.950,312.175,252.225,0.000,0.000,0.000,326.550,0.000,0.000,18.416,3281.817,18099.973,801.232,3053.664,835.332,0.000,2792.506,0.000,2103.906,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25139.000,429.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.759,5.803,0.000,0.000
$MEM,290828
$DATA_FILE_SIZE,46620,1379
$CAP_FILE_SIZE,262397,0
$CFSIZE,260034560,229036032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$INTR,0,25630.58,0x2378ba,7,5
$CURRENT,0.048,270.4,1
$GPS,290814,045206,4710.075,-12640.497,33,1.1,33,18.6