version: 66.12
glider: 187
mission: 4
dive: 290
start: 8 29 114 5 1 59
data:
$ID,187
$MISSION,4
$DIVE,290
$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,-1593789.2
$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,32
$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
$GPS1,290814,045206,4710.075,-12640.497,33,1.1,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-70.3
$GPS2,290814,050130,4710.043,-12640.556,15,1.8,32,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,206.4,30808,-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,-116.8,396,2414,526,421,0.0,0.0,0,110,0.00,0.00,-78.70,0.000,16386,0.000,0.000,396,2415,2568,2649,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.59,-116.8,396,2415,2649,2489,3.1,-2.1,8,152,12.65,2.55,-15.65,0.000,18948,0.386,0.097,3126,995,3337,3388,3287,0,0,0,0,0,0,13.95,14.23,14.47
$GC,381,-0.59,-116.8,3121,995,3391,3291,57.1,-13.8,35,391,0.00,2.45,0.00,0.000,1030,0.000,0.072,3125,2394,3343,3389,3297,0,0,0,0,0,0,28.83,14.24,28.83
$GC,632,-0.59,-116.8,3124,2394,3391,3292,93.2,-14.0,60,641,0.00,2.42,0.00,0.000,516,0.000,0.071,3124,990,3341,3391,3292,0,0,0,0,0,0,28.83,14.26,28.83
$GC,722,-0.59,-116.8,3125,990,3392,3293,104.7,-12.4,69,732,0.00,2.45,0.00,0.000,1030,0.000,0.070,3124,2407,3342,3391,3293,0,0,0,0,0,0,28.83,14.30,28.83
$GC,972,-0.59,-116.8,3125,2407,3391,3293,132.3,-12.0,94,980,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2407,3342,3391,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1222,-0.59,-116.8,3122,2407,3391,3293,159.6,-10.1,119,1230,0.00,2.45,0.00,0.000,260,0.000,0.090,3124,3804,3342,3392,3293,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1312,-0.59,-116.8,3125,3804,3391,3293,169.5,-10.9,128,1321,0.00,2.40,0.00,0.000,1030,0.000,0.064,3124,2395,3342,3394,3290,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1562,-0.59,-116.8,3124,2390,3390,3293,194.8,-9.4,153,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2390,3340,3391,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.59,-116.8,3124,2390,3386,3292,217.7,-8.8,178,1820,0.00,2.40,0.00,0.000,516,0.000,0.079,3125,998,3341,3391,3291,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1872,-0.59,-116.8,3125,1000,3391,3291,223.4,-9.6,184,1882,0.00,2.42,0.00,0.000,1030,0.000,0.075,3124,2397,3341,3391,3291,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2122,-0.59,-116.8,3125,2397,3391,3289,246.6,-9.0,209,2131,0.00,2.50,0.00,0.000,260,0.000,0.090,3125,3821,3339,3391,3288,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2162,-0.59,-116.8,3124,3822,3390,3288,250.3,-9.4,213,2170,0.00,2.42,0.00,0.000,1030,0.000,0.063,3125,2403,3341,3391,3291,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2485,-0.59,-116.8,3124,2401,3391,3287,278.7,-8.9,225,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3339,3391,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2782,-0.59,-116.8,3124,2401,3390,3285,306.1,-9.2,235,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3338,3390,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3082,-0.59,-116.8,3124,2401,3390,3280,333.1,-9.2,245,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3337,3390,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3382,-0.59,-116.8,3124,2401,3390,3282,360.7,-9.1,255,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3336,3390,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3682,-0.59,-116.8,3123,2401,3389,3281,386.8,-8.7,265,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3334,3388,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3982,-0.59,-116.8,3124,2401,3388,3277,412.8,-8.6,275,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3334,3388,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4282,-0.59,-116.8,3124,2401,3387,3278,438.1,-8.4,285,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3333,3388,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4582,-0.59,-116.8,3124,2401,3386,3277,463.0,-8.1,295,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3332,3386,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4882,-0.59,-116.8,3124,2401,3384,3277,487.5,-8.2,305,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3332,3384,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5182,-0.59,-116.8,3124,2401,3384,3275,512.5,-8.4,315,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3329,3384,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5482,-0.59,-116.8,3124,2401,3383,3271,538.5,-8.8,325,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3328,3383,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5782,-0.59,-116.8,3125,2405,3383,3273,564.9,-8.9,335,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3328,3383,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6082,-0.59,-116.8,3124,2401,3382,3272,589.1,-7.6,345,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3327,3383,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6382,-0.59,-116.8,3124,2400,3382,3271,609.9,-6.6,355,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3326,3382,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6682,-0.59,-116.8,3124,2401,3382,3270,629.5,-6.7,365,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3326,3382,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6984,-0.59,-116.8,3124,2400,3382,3269,650.1,-7.0,375,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3325,3382,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7282,-0.59,-116.8,3124,2401,3381,3275,673.4,-8.0,385,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3324,3381,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7582,-0.59,-116.8,3124,2401,3380,3268,697.3,-7.8,395,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3324,3381,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7882,-0.59,-116.8,3124,2400,3381,3268,720.4,-7.7,405,7890,0.00,2.47,0.00,0.000,516,0.000,0.082,3124,989,3322,3380,3264,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7901,-0.59,-116.8,3124,989,3379,3267,722.0,-7.6,407,7911,0.00,2.53,0.00,0.000,1030,0.000,0.076,3125,2398,3326,3380,3273,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8216,-0.59,-116.8,3124,2397,3380,3263,744.8,-7.2,418,8223,0.00,2.47,0.00,0.000,516,0.000,0.081,3124,984,3322,3380,3264,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8453,-0.59,-116.8,3125,985,3378,3266,764.1,-8.4,442,8462,0.00,2.53,0.00,0.000,1030,0.000,0.079,3124,2413,3322,3379,3266,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8786,-0.59,-116.8,3125,2413,3378,3265,787.6,-6.8,455,8793,0.00,2.50,0.00,0.000,260,0.000,0.097,3124,3807,3321,3377,3265,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8884,-0.59,-116.8,3124,3807,3380,3265,794.3,-6.4,465,8892,0.00,2.45,0.00,0.000,1030,0.000,0.071,3130,2389,3325,3385,3265,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9206,-0.59,-116.8,3125,2390,3378,3264,813.7,-5.8,477,9214,0.00,2.55,0.00,0.000,260,0.000,0.097,3124,3804,3327,3385,3270,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9343,-0.59,-116.8,3124,3804,3378,3264,822.2,-6.0,491,9353,0.00,2.47,0.00,0.000,1030,0.000,0.073,3124,2406,3321,3378,3265,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9657,-0.59,-116.8,3124,2410,3378,3264,840.5,-5.9,502,9665,0.00,2.47,0.00,0.000,516,0.000,0.083,3124,990,3321,3378,3264,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9674,-0.59,-116.8,3125,990,3378,3264,841.7,-5.7,504,9684,0.00,2.53,0.00,0.000,1030,0.000,0.077,3124,2397,3321,3378,3264,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9988,-0.59,-116.8,3125,2398,3374,3264,860.3,-6.1,515,9995,0.00,2.47,0.00,0.000,516,0.000,0.083,3124,992,3321,3378,3264,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10225,-0.59,-116.8,3124,992,3377,3264,876.6,-6.7,539,10233,0.00,2.50,0.00,0.000,1030,0.000,0.080,3124,2402,3323,3377,3269,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10559,-0.59,-116.8,3124,2402,3377,3264,898.4,-6.7,552,10566,0.00,2.50,0.00,0.000,516,0.000,0.087,3124,990,3320,3377,3264,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10796,-0.59,-116.8,3125,990,3377,3262,916.9,-7.7,576,10804,0.00,2.50,0.00,0.000,1030,0.000,0.081,3124,2402,3320,3377,3263,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11129,-0.59,-116.8,3124,2399,3376,3263,941.0,-7.4,589,11132,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3320,3377,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11427,-0.59,-116.8,3124,2401,3377,3263,962.7,-7.3,599,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3319,3376,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11726,-0.59,-116.8,3125,2402,3376,3262,984.1,-7.1,609,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3319,3376,3262,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11812,begin apogee
$GC,11821,-0.25,0.0,3125,2327,3384,3262,990.7,-7.3,612,11928,0.40,0.00,101.47,1.908,10246,0.181,0.000,3237,2327,2860,2942,2778,0,0,0,0,0,0,14.16,28.83,13.12
$STATE,11932,end apogee,CONTROL_FINISHED_OK
$STATE,11932,begin climb
$GC,11936,0.59,116.8,3241,2327,2933,2774,994.1,0.0,615,12057,0.85,0.00,109.60,1.883,10246,0.125,0.000,3512,2327,2378,2522,2234,0,0,0,0,0,0,13.86,28.83,12.90
$GC,12357,0.59,116.8,3516,2327,2521,2231,968.1,8.0,630,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2328,2376,2521,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12659,0.59,116.8,3512,2327,2521,2230,943.0,8.7,640,12669,0.00,2.55,0.00,0.000,260,0.000,0.097,3513,3744,2375,2521,2230,0,0,0,0,0,0,28.83,14.15,28.83
$GC,12720,0.59,116.8,3512,3744,2521,2234,936.8,10.4,646,12731,0.00,2.47,0.00,0.000,1030,0.000,0.075,3520,2338,2375,2520,2230,0,0,0,0,0,0,28.83,14.17,28.83
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$STATE,24971,end climb,SURFACE_DEPTH_REACHED
$STATE,24971,begin surface coast
$FINISH,0.8,1.012955
$STATE,25022,end surface coast,CONTROL_FINISHED_OK
$STATE,25022,begin surface
$SM_CCo,25048,10.38,0.098,0,0,1328,375.06
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$TT8_MAMPS,0.024717,0.024717
$HUMID,50.15
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3845216
$PM_FREEKB,54225696
$24V_AH,12.9,70.371
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.150,129.675,370.325,10.375,0.000,0.000,0.000,299.125,0.000,0.000,33.806,3272.380,18017.475,666.933,2849.571,797.268,0.000,2459.858,0.000,2082.357,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25046.000,12118.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.811,4.052,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,46685,1371
$CAP_FILE_SIZE,253078,0
$CFSIZE,260034560,228937728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26160.66,0x2378ba,7,5
$CURRENT,0.054,295.0,1
$GPS,290814,120225,4708.511,-12643.792,95,6.6,115,18.6