version: 66.12
glider: 187
mission: 4
dive: 340
start: 9 11 114 4 59 52
data:
$ID,187
$MISSION,4
$DIVE,340
$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,-1593852.1
$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,28
$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
$GPS1,110914,044753,4747.078,-12521.459,48,1.0,48,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-73.5
$GPS2,110914,045924,4746.942,-12521.472,12,1.0,18,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,214.6,151806,-14.0,-7.333,-18.81,2445
$D_GRID,775
$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,-116.8,394,2405,1454,1207,0.0,0.0,0,80,0.00,0.00,-48.85,0.000,16386,0.000,0.000,394,2401,2584,2672,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,394,2399,2673,2498,3.1,-2.0,5,123,12.55,2.58,-16.25,0.000,18692,0.380,0.112,3123,3800,3337,3382,3292,0,0,0,0,0,0,13.87,14.19,14.48
$GC,353,-0.59,-116.8,3123,3804,3378,3297,42.3,-12.7,32,362,0.00,2.47,0.00,0.000,1030,0.000,0.063,3123,2393,3340,3382,3299,0,0,0,0,0,0,28.83,14.22,28.83
$GC,603,-0.59,-116.8,3129,2386,3383,3298,72.0,-10.9,57,612,0.00,2.53,0.00,0.000,260,0.000,0.087,3124,3803,3339,3384,3294,0,0,0,0,0,0,28.83,14.21,28.83
$GC,803,-0.59,-116.8,3123,3803,3384,3297,94.8,-12.2,77,812,0.00,2.42,0.00,0.000,1030,0.000,0.062,3124,2389,3341,3384,3298,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1054,-0.59,-116.8,3124,2385,3384,3298,121.3,-10.6,102,1063,0.00,2.42,0.00,0.000,516,0.000,0.075,3124,993,3341,3384,3298,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1093,-0.59,-116.8,3124,994,3384,3298,125.6,-10.9,106,1103,0.00,2.50,0.00,0.000,1030,0.000,0.070,3125,2418,3341,3384,3299,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1343,-0.59,-116.8,3124,2416,3384,3298,150.0,-9.7,131,1352,0.00,2.47,0.00,0.000,516,0.000,0.073,3124,998,3341,3384,3298,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1403,-0.59,-116.8,3124,998,3390,3298,156.2,-10.6,137,1412,0.00,2.45,0.00,0.000,1030,0.000,0.072,3124,2397,3342,3384,3300,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1653,-0.59,-116.8,3124,2397,3384,3298,180.6,-9.5,162,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3338,3379,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1903,-0.59,-116.8,3124,2397,3384,3298,204.1,-9.3,187,1912,0.00,2.50,0.00,0.000,260,0.000,0.090,3124,3818,3341,3384,3298,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1963,-0.59,-116.8,3125,3818,3380,3298,209.9,-9.8,193,1972,0.00,2.42,0.00,0.000,1030,0.000,0.064,3123,2408,3341,3384,3298,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2213,-0.59,-116.8,3124,2403,3384,3297,232.8,-8.8,218,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2464,-0.59,-116.8,3124,2404,3384,3295,255.5,-8.7,239,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3340,3384,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2763,-0.59,-116.8,3124,2403,3384,3294,281.6,-8.6,249,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3337,3383,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3065,-0.59,-116.8,3124,2404,3384,3293,309.2,-9.4,259,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3339,3384,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3363,-0.59,-116.8,3124,2404,3384,3293,337.7,-9.5,269,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3666,-0.59,-116.8,3124,2406,3385,3293,364.6,-9.2,279,3674,0.00,2.47,0.00,0.000,516,0.000,0.077,3124,984,3336,3381,3291,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3724,-0.59,-116.8,3124,983,3384,3292,370.3,-9.3,285,3731,0.00,2.47,0.00,0.000,1030,0.000,0.072,3124,2405,3338,3384,3292,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4058,-0.59,-116.8,3124,2404,3384,3290,397.6,-8.3,298,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3337,3384,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4353,-0.59,-116.8,3124,2405,3382,3289,420.3,-7.4,308,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3336,3384,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4654,-0.59,-116.8,3124,2404,3383,3288,443.5,-8.0,318,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3336,3384,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4954,-0.59,-116.8,3124,2405,3384,3287,468.8,-8.6,328,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5254,-0.59,-116.8,3123,2405,3384,3288,493.2,-7.7,338,5262,0.00,2.50,0.00,0.000,260,0.000,0.095,3124,3803,3334,3383,3286,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5323,-0.59,-116.8,3124,3803,3383,3286,498.7,-7.6,345,5332,0.00,2.45,0.00,0.000,1030,0.000,0.067,3119,2385,3334,3382,3286,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5646,-0.59,-116.8,3124,2384,3382,3286,520.2,-6.7,357,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2384,3334,3383,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5945,-0.59,-116.8,3124,2387,3382,3285,539.1,-5.8,367,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2384,3336,3387,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6244,-0.59,-116.8,3124,2384,3382,3285,557.5,-6.6,377,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2389,3332,3380,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6544,-0.59,-116.8,3124,2387,3382,3286,581.0,-8.1,387,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2384,3333,3382,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6844,-0.59,-116.8,3124,2384,3381,3284,605.3,-8.3,397,6852,0.00,2.42,0.00,0.000,516,0.000,0.082,3124,1002,3332,3381,3283,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6893,-0.59,-116.8,3124,1002,3381,3284,609.6,-8.9,402,6903,0.00,2.50,0.00,0.000,1030,0.000,0.075,3123,2395,3333,3382,3284,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7207,-0.59,-116.8,3124,2395,3381,3283,633.8,-7.6,413,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3332,3381,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7504,-0.59,-116.8,3124,2395,3381,3282,656.0,-7.4,423,7511,0.00,2.47,0.00,0.000,516,0.000,0.080,3125,990,3331,3380,3283,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7554,-0.59,-116.8,3124,991,3381,3282,660.2,-8.8,428,7563,0.00,2.50,0.00,0.000,1030,0.000,0.076,3124,2410,3332,3382,3282,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7867,-0.59,-116.8,3129,2409,3375,3281,684.9,-7.8,439,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2412,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8163,-0.59,-116.8,3124,2409,3380,3281,705.3,-6.5,449,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2414,3333,3385,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8465,-0.59,-116.8,3129,2409,3380,3281,725.3,-7.4,459,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2409,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8763,-0.59,-116.8,3124,2406,3379,3280,750.3,-8.0,469,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2409,3328,3378,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9065,-0.59,-116.8,3124,2409,3379,3283,771.0,-6.9,479,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2412,3329,3379,3279,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9120,begin apogee
$GC,9129,-0.25,0.0,3124,2334,3379,3279,775.3,-7.0,481,9232,0.40,0.00,98.10,1.668,10246,0.182,0.000,3241,2334,2860,2934,2786,0,0,0,0,0,0,14.07,28.83,13.25
$STATE,9236,end apogee,CONTROL_FINISHED_OK
$STATE,9236,begin climb
$GC,9240,0.59,116.8,3240,2334,2930,2782,779.1,0.0,484,9351,0.85,0.00,103.50,1.637,10246,0.135,0.000,3508,2334,2382,2512,2253,0,0,0,0,0,0,13.90,28.83,13.05
$GC,9633,0.59,116.8,3508,2334,2510,2247,754.2,8.6,498,9643,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2334,2378,2510,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9934,0.59,116.8,3505,2334,2509,2246,729.9,7.9,508,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2334,2376,2508,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10236,0.59,116.8,3512,2334,2516,2243,706.8,7.9,518,10247,0.00,2.53,0.00,0.000,516,0.000,0.088,3508,927,2376,2509,2244,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10306,0.59,116.8,3508,927,2509,2243,701.0,7.6,525,10316,0.00,2.50,0.00,0.000,1030,0.000,0.078,3508,2339,2376,2509,2243,0,0,0,0,0,0,28.83,14.24,28.83
$GC,10626,0.59,116.8,3508,2340,2504,2242,678.2,7.1,537,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2339,2374,2507,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10931,0.59,116.8,3508,2339,2508,2241,654.2,8.4,547,10941,0.00,2.50,0.00,0.000,260,0.000,0.097,3508,3734,2374,2508,2241,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10980,0.59,116.8,3508,3734,2508,2241,649.2,9.4,552,10991,0.00,2.45,0.00,0.000,1030,0.000,0.074,3514,2340,2374,2508,2241,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11294,0.59,116.8,3509,2339,2507,2241,622.6,8.1,563,11305,0.00,2.53,0.00,0.000,516,0.000,0.091,3508,915,2376,2511,2241,0,0,0,0,0,0,28.83,14.20,28.83
$GC,11354,0.59,116.8,3508,914,2507,2241,617.9,7.1,569,11364,0.00,2.47,0.00,0.000,1030,0.000,0.076,3509,2329,2374,2507,2241,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11685,0.61,116.8,3509,2328,2507,2241,595.9,6.6,582,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2328,2373,2507,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11987,0.62,116.8,3509,2328,2507,2240,576.2,6.5,592,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2328,2373,2507,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12288,0.62,116.8,3509,2328,2507,2240,553.1,8.2,602,12298,0.00,2.53,0.00,0.000,516,0.000,0.090,3509,915,2373,2506,2240,0,0,0,0,0,0,28.83,14.21,28.83
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$STATE,20011,end climb,SURFACE_DEPTH_REACHED
$STATE,20012,begin surface coast
$FINISH,1.5,1.023952
$STATE,20038,end surface coast,CONTROL_FINISHED_OK
$STATE,20038,begin surface
$SM_CCo,20067,18.62,0.103,0,0,1328,375.06
$SM_GC,2.89,9.40,2.65,18.62,0.065,0.072,0.103,397,2397,1328,-9.10,-0.90,375.06,0,0,0,0,0,0,14.21,14.22,14.18
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$TT8_MAMPS,0.024717,0.024717
$HUMID,49.05
$INTERNAL_PRESSURE,8.92297
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3829216
$PM_FREEKB,52790944
$24V_AH,13.1,82.781
$10V_AH,13.4,0.000
$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
$DEVICE_SECS,23.450,150.100,340.000,18.625,0.000,0.000,0.000,395.975,0.000,0.000,18.973,2822.523,14074.456,621.386,2532.960,717.396,0.000,2285.966,0.000,1798.452,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20057.000,9370.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.075,4.085,0.000,0.000
$MEM,290828
$DATA_FILE_SIZE,39937,1166
$CAP_FILE_SIZE,225750,0
$CFSIZE,260034560,223735808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,15602.26,0x2378ba,7,5
$CURRENT,0.051,309.6,1
$GPS,110914,103624,4746.146,-12524.642,54,1.7,54,18.7