version: 66.12
glider: 187
mission: 4
dive: 589
start: 11 15 114 6 9 20
data:
$ID,187
$MISSION,4
$DIVE,589
$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,1
$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,-1595150.5
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,151114,055823,4746.304,-12517.205,39,1.8,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-71.2
$GPS2,151114,060849,4746.312,-12517.279,13,1.7,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,221.5,155530,-14.0,-7.333,-18.81,2445
$D_GRID,743
$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,-116.8,394,2400,1442,1219,0.0,0.0,0,80,0.00,0.00,-47.62,0.000,16386,0.000,0.000,394,2398,2548,2639,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,394,2399,2640,2459,3.1,-1.6,5,132,12.57,2.60,-18.88,0.000,18692,0.363,0.108,3124,3813,3337,3382,3293,0,0,0,0,0,0,13.73,14.07,14.50
$GC,362,-0.59,-116.8,3124,3812,3382,3301,41.5,-13.0,33,374,0.00,2.45,0.00,0.000,1030,0.000,0.062,3124,2407,3338,3382,3295,0,0,0,0,0,0,28.83,14.12,28.83
$GC,615,-0.59,-116.8,3124,2403,3382,3296,69.7,-10.3,58,626,0.00,2.55,0.00,0.000,260,0.000,0.085,3124,3813,3339,3383,3296,0,0,0,0,0,0,28.83,13.99,28.83
$GC,856,-0.59,-116.8,3124,3817,3382,3293,93.7,-9.5,82,867,0.00,2.47,0.00,0.000,1030,0.000,0.061,3123,2389,3339,3382,3297,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1107,-0.59,-116.8,3124,2385,3383,3297,116.2,-9.0,107,1118,0.00,2.58,0.00,0.000,260,0.000,0.086,3124,3815,3341,3382,3301,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1223,-0.59,-116.8,3124,3811,3383,3293,126.5,-9.3,118,1234,0.00,2.45,0.00,0.000,1030,0.000,0.061,3124,2407,3339,3382,3297,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1474,-0.59,-116.8,3124,2402,3383,3297,149.0,-8.9,143,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3337,3378,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-0.59,-116.8,3124,2402,3383,3297,171.3,-9.4,168,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,-0.59,-116.8,3124,2402,3383,3297,194.4,-9.1,193,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2225,-0.59,-116.8,3124,2401,3382,3297,216.7,-9.0,218,2236,0.00,2.55,0.00,0.000,260,0.000,0.084,3124,3813,3339,3382,3297,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2307,-0.59,-116.8,3124,3813,3383,3297,223.9,-8.6,226,2318,0.00,2.47,0.00,0.000,1030,0.000,0.061,3124,2388,3340,3383,3297,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2558,-0.59,-116.8,3124,2383,3379,3297,244.9,-8.2,251,2569,0.00,2.60,0.00,0.000,260,0.000,0.087,3124,3809,3337,3382,3292,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2640,-0.59,-116.8,3125,3810,3383,3299,251.7,-8.1,259,2651,0.00,2.45,0.00,0.000,1030,0.000,0.062,3124,2407,3339,3382,3297,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2954,-0.59,-116.8,3124,2402,3382,3296,275.4,-7.8,270,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3342,3389,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,-0.59,-116.8,3124,2401,3382,3302,298.9,-7.7,280,3259,0.00,2.50,0.00,0.000,516,0.000,0.072,3120,991,3339,3383,3295,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3299,-0.59,-116.8,3124,992,3383,3295,303.0,-8.0,285,3310,0.00,2.50,0.00,0.000,1030,0.000,0.071,3124,2396,3337,3379,3295,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3614,-0.59,-116.8,3124,2396,3383,3294,326.5,-7.6,296,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3910,-0.59,-116.8,3124,2396,3383,3294,350.4,-8.2,306,3920,0.00,2.55,0.00,0.000,260,0.000,0.087,3124,3818,3338,3383,3294,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3981,-0.59,-116.8,3124,3818,3382,3294,356.4,-8.6,313,3991,0.00,2.47,0.00,0.000,1030,0.000,0.063,3124,2396,3337,3382,3293,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4305,-0.59,-116.8,3125,2393,3382,3293,383.5,-8.5,325,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2393,3337,3382,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4603,-0.59,-116.8,3124,2393,3382,3293,406.3,-7.1,335,4613,0.00,2.58,0.00,0.000,260,0.000,0.089,3124,3815,3338,3385,3292,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4682,-0.59,-116.8,3124,3815,3382,3292,412.2,-7.2,343,4693,0.00,2.47,0.00,0.000,1030,0.000,0.065,3124,2405,3337,3382,3292,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4998,-0.59,-116.8,3124,2402,3383,3291,432.2,-6.4,354,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3336,3382,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5294,-0.59,-116.8,3124,2402,3382,3290,451.9,-6.8,364,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3336,3383,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-0.59,-116.8,3124,2402,3383,3289,474.2,-7.6,374,5604,0.00,2.58,0.00,0.000,260,0.000,0.087,3124,3818,3335,3382,3289,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5747,-0.59,-116.8,3124,3818,3382,3289,485.5,-7.5,389,5758,0.00,2.50,0.00,0.000,1030,0.000,0.064,3124,2389,3335,3383,3288,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6079,-0.59,-116.8,3124,2386,3382,3288,508.7,-6.7,402,6089,0.00,2.47,0.00,0.000,516,0.000,0.077,3125,1001,3334,3382,3287,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6140,-0.59,-116.8,3125,1001,3382,3287,512.8,-6.6,408,6150,0.00,2.50,0.00,0.000,1030,0.000,0.073,3124,2403,3335,3382,3288,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6470,-0.59,-116.8,3124,2402,3382,3286,532.1,-5.9,421,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6770,-0.59,-116.8,3124,2403,3382,3286,551.2,-6.4,431,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7071,-0.59,-116.8,3124,2403,3383,3285,569.8,-6.2,441,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2403,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7370,-0.59,-116.8,3124,2403,3382,3284,587.3,-5.8,451,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7671,-0.59,-116.8,3124,2402,3382,3284,604.6,-6.1,461,7682,0.00,2.55,0.00,0.000,516,0.000,0.077,3124,990,3333,3382,3284,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7771,-0.59,-116.8,3128,989,3382,3279,611.7,-7.0,471,7781,0.00,2.55,0.00,0.000,1030,0.000,0.075,3121,2404,3332,3382,3283,0,0,0,0,0,0,28.83,14.01,28.83
$GC,8096,-0.59,-116.8,3124,2404,3381,3283,632.6,-6.3,483,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2405,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,-0.59,-116.8,3130,2404,3381,3282,651.4,-6.1,493,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3335,3388,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8693,-0.59,-116.8,3124,2404,3380,3282,669.5,-6.0,503,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3331,3381,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8992,-0.59,-116.8,3124,2404,3379,3281,687.1,-5.7,513,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9297,-0.59,-116.8,3124,2404,3380,3277,703.2,-4.9,523,9307,0.00,2.58,0.00,0.000,260,0.000,0.096,3124,3809,3330,3380,3281,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9357,-0.59,-116.8,3124,3805,3380,3281,706.7,-5.6,529,9367,0.00,2.50,0.00,0.000,1030,0.000,0.068,3124,2402,3330,3379,3281,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9688,-0.59,-116.8,3124,2402,3379,3281,723.5,-5.1,542,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9989,-0.59,-116.8,3124,2402,3378,3280,740.9,-5.9,552,9999,0.00,2.60,0.00,0.000,260,0.000,0.092,3125,3814,3332,3379,3286,0,0,0,0,0,0,28.83,13.89,28.83
$STATE,10024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10024,begin apogee
$GC,10036,-0.25,0.0,3124,2322,3380,3279,743.5,-6.6,556,10149,0.40,0.00,103.68,1.609,10246,0.160,0.000,3242,2322,2855,2928,2783,0,0,0,0,0,0,13.85,28.83,12.91
$STATE,10152,end apogee,CONTROL_FINISHED_OK
$STATE,10152,begin climb
$GC,10157,0.59,116.8,3242,2322,2927,2780,747.6,0.0,560,10272,0.82,0.00,107.05,1.579,10758,0.110,0.000,3514,2321,2382,2512,2252,0,0,0,0,0,0,13.92,28.83,12.80
$GC,10570,0.59,116.8,3514,2321,2510,2253,726.6,7.0,578,10580,0.00,2.60,0.00,0.000,260,0.000,0.093,3514,3750,2381,2513,2249,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10680,0.59,116.8,3514,3751,2509,2248,717.2,8.9,589,10692,0.00,2.53,0.00,0.000,1030,0.000,0.071,3519,2330,2379,2510,2248,0,0,0,0,0,0,28.83,14.13,28.83
$GC,10993,0.59,116.8,3519,2330,2505,2248,691.6,8.0,600,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2330,2378,2509,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11295,0.59,116.8,3520,2328,2509,2247,668.2,7.5,610,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2327,2377,2509,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11593,0.59,116.8,3519,2326,2516,2246,645.6,7.3,620,11603,0.00,2.55,0.00,0.000,516,0.000,0.086,3520,912,2377,2509,2246,0,0,0,0,0,0,28.83,14.06,28.83
$GC,11655,0.62,116.8,3519,915,2509,2247,641.6,6.0,626,11665,0.00,2.55,0.00,0.000,1030,0.000,0.076,3520,2341,2377,2509,2245,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11986,0.64,116.8,3520,2336,2509,2245,621.4,6.1,639,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2335,2377,2509,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12290,0.66,116.8,3519,2335,2509,2245,602.0,6.3,649,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2335,2377,2509,2245,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20739,end climb,SURFACE_DEPTH_REACHED
$STATE,20743,begin surface coast
$FINISH,1.4,1.012468
$STATE,20760,end surface coast,CONTROL_FINISHED_OK
$STATE,20760,begin surface
$SM_CCo,20790,38.33,0.096,0,0,1328,375.06
$SM_GC,2.88,9.57,2.65,38.33,0.062,0.069,0.096,387,2395,1328,-9.12,-0.76,375.06,0,0,0,0,0,0,14.17,14.14,14.09
$IRIDIUM_FIX,4726.11,-12454.27,151114,000020
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.70
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3749536
$PM_FREEKB,45142208
$24V_AH,12.8,145.351
$10V_AH,12.4,0.000
$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,23.725,152.375,342.725,38.325,0.000,0.000,0.000,316.175,0.000,0.000,14.645,2924.031,14263.492,639.282,2710.253,904.719,0.000,2421.004,0.000,1921.708,0.000,0.536,0.000
$DEVICE_MAMPS,363.375,107.865,1608.795,96.390,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20792.000,342.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.019,5.588,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,43261,1229
$CAP_FILE_SIZE,239180,0
$CFSIZE,260034560,197763072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,19757.93,0x2378ba,7,5
$CURRENT,0.050, 66.4,1
$GPS,151114,115806,4745.707,-12519.121,43,1.0,43,18.7