version: 66.12
glider: 187
mission: 4
dive: 836
start: 1 22 115 20 47 53
data:
$ID,187
$MISSION,4
$DIVE,836
$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,350
$N_FILEKB,8
$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,-1595509.9
$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,29
$R_STBD_OVSHOOT,22
$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,49
$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
$GPS1,220115,203413,4749.482,-12523.799,37,6.7,57,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-70.0
$GPS2,220115,204720,4749.607,-12523.867,13,4.8,33,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,207.7,152262,-14.0,-7.333,-18.81,2445
$D_GRID,657
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.59,-116.8,391,2397,1537,1326,0.0,0.0,0,73,0.00,0.00,-37.22,0.000,16386,0.000,0.000,391,2398,2382,2474,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.59,-116.8,396,2397,2469,2285,3.0,-1.7,4,133,12.40,2.58,-28.75,0.000,18948,0.362,0.092,3128,987,3337,3382,3293,0,0,0,0,0,0,13.75,13.90,14.32
$GC,265,-0.59,-116.8,3128,987,3382,3294,21.5,-11.2,23,274,0.00,2.55,0.00,0.000,1030,0.000,0.071,3128,2397,3338,3383,3294,0,0,0,0,0,0,28.83,13.88,28.83
$GC,515,-0.59,-116.8,3128,2396,3383,3294,49.8,-11.1,48,524,0.00,2.60,0.00,0.000,260,0.000,0.086,3132,3814,3338,3382,3294,0,0,0,0,0,0,28.83,13.83,28.83
$GC,606,-0.59,-116.8,3128,3814,3380,3294,60.4,-11.1,57,615,0.00,2.50,0.00,0.000,1030,0.000,0.057,3128,2403,3338,3382,3294,0,0,0,0,0,0,28.83,13.93,28.83
$GC,856,-0.59,-116.8,3127,2406,3383,3294,86.0,-9.0,82,866,0.00,2.53,0.00,0.000,516,0.000,0.068,3128,990,3337,3380,3295,0,0,0,0,0,0,28.83,13.77,28.83
$GC,908,-0.59,-116.8,3127,990,3383,3295,90.7,-9.7,87,917,0.00,2.55,0.00,0.000,1030,0.000,0.068,3128,2404,3339,3383,3295,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1159,-0.59,-116.8,3128,2403,3380,3300,113.0,-8.8,112,1167,0.00,2.58,0.00,0.000,260,0.000,0.085,3127,3816,3341,3384,3298,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1296,-0.59,-116.8,3128,3814,3383,3302,124.5,-8.7,125,1304,0.00,2.53,0.00,0.000,1030,0.000,0.057,3128,2388,3339,3383,3295,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1547,-0.59,-116.8,3128,2383,3383,3292,146.2,-9.1,150,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2383,3339,3383,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1798,-0.59,-116.8,3128,2382,3384,3296,167.5,-8.2,175,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2382,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2048,-0.59,-116.8,3127,2381,3383,3296,187.6,-7.5,200,2056,0.00,2.65,0.00,0.000,260,0.000,0.083,3128,3807,3337,3379,3296,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2129,-0.59,-116.8,3127,3808,3382,3296,193.8,-7.9,208,2138,0.00,2.50,0.00,0.000,1030,0.000,0.058,3128,2402,3339,3383,3296,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2381,-0.59,-116.8,3127,2401,3383,3296,211.6,-7.2,233,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3339,3383,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2630,-0.59,-116.8,3129,2401,3383,3295,231.6,-7.9,258,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3342,3389,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2885,-0.59,-116.8,3127,2400,3383,3296,250.1,-6.9,283,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3343,3390,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3182,-0.59,-116.8,3128,2400,3383,3296,269.3,-6.1,293,3189,0.00,2.62,0.00,0.000,260,0.000,0.083,3128,3812,3339,3383,3296,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3229,-0.59,-116.8,3129,3812,3383,3296,272.5,-6.7,298,3239,0.00,2.53,0.00,0.000,1030,0.000,0.058,3124,2400,3339,3383,3296,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3541,-0.59,-116.8,3128,2399,3383,3296,293.6,-6.9,309,3548,0.00,2.62,0.00,0.000,260,0.000,0.084,3128,3812,3339,3383,3295,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3603,-0.59,-116.8,3124,3812,3383,3292,297.9,-7.2,315,3610,0.00,2.53,0.00,0.000,1030,0.000,0.058,3127,2393,3339,3384,3295,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3936,-0.59,-116.8,3127,2388,3379,3294,320.8,-7.1,328,3943,0.00,2.67,0.00,0.000,260,0.000,0.086,3128,3820,3340,3383,3297,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3985,-0.59,-116.8,3125,3820,3383,3294,324.6,-7.5,333,3994,0.00,2.53,0.00,0.000,1030,0.000,0.057,3127,2406,3338,3383,3294,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4298,-0.59,-116.8,3128,2400,3383,3293,347.1,-7.2,344,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4594,-0.59,-116.8,3128,2403,3383,3293,369.4,-7.2,354,4602,0.00,2.65,0.00,0.000,260,0.000,0.086,3128,3821,3338,3383,3293,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4665,-0.59,-116.8,3128,3820,3381,3293,374.1,-6.7,361,4672,0.00,2.55,0.00,0.000,1030,0.000,0.059,3128,2392,3337,3382,3292,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4991,-0.59,-116.8,3130,2387,3383,3291,392.7,-6.0,373,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3337,3383,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5286,-0.59,-116.8,3127,2387,3390,3291,412.3,-6.7,383,5294,0.00,2.67,0.00,0.000,260,0.000,0.086,3128,3818,3342,3389,3296,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5377,-0.59,-116.8,3128,3810,3383,3290,418.9,-7.0,392,5384,0.00,2.55,0.00,0.000,1030,0.000,0.060,3127,2388,3336,3383,3290,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5714,-0.59,-116.8,3128,2383,3383,3291,439.6,-6.4,405,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2383,3336,3383,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,-0.59,-116.8,3128,2383,3383,3288,460.0,-6.8,415,6014,0.00,2.67,0.00,0.000,260,0.000,0.087,3127,3811,3335,3383,3288,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6055,-0.59,-116.8,3128,3811,3383,3288,463.5,-7.2,420,6064,0.00,2.53,0.00,0.000,1030,0.000,0.062,3128,2402,3335,3383,3287,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6373,-0.59,-116.8,3128,2401,3383,3283,485.3,-7.4,431,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6666,-0.59,-116.8,3127,2404,3383,3286,504.8,-6.2,441,6674,0.00,2.65,0.00,0.000,260,0.000,0.086,3128,3813,3334,3383,3286,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6717,-0.59,-116.8,3126,3809,3382,3286,508.0,-6.7,446,6726,0.00,2.55,0.00,0.000,1030,0.000,0.062,3128,2388,3333,3381,3286,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7031,-0.59,-116.8,3128,2392,3380,3286,526.5,-5.9,457,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2388,3336,3382,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7327,-0.59,-116.8,3128,2393,3382,3285,543.9,-5.9,467,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2388,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7626,-0.59,-116.8,3128,2387,3382,3285,562.9,-6.6,477,7634,0.00,2.67,0.00,0.000,260,0.000,0.089,3129,3812,3332,3382,3283,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7675,-0.59,-116.8,3127,3811,3386,3284,566.3,-7.1,482,7685,0.00,2.55,0.00,0.000,1030,0.000,0.063,3128,2401,3333,3382,3285,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7992,-0.59,-116.8,3128,2401,3381,3284,586.3,-6.6,493,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3333,3382,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8287,-0.59,-116.8,3127,2401,3381,3283,605.9,-6.8,503,8294,0.00,2.65,0.00,0.000,260,0.000,0.087,3130,3812,3332,3381,3283,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8368,-0.59,-116.8,3128,3811,3381,3285,611.3,-6.8,511,8376,0.00,2.55,0.00,0.000,1030,0.000,0.063,3128,2400,3329,3375,3283,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8676,-0.59,-116.8,3128,2400,3380,3282,631.5,-6.7,522,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8978,-0.59,-116.8,3130,2400,3380,3282,650.8,-6.3,532,8986,0.00,2.58,0.00,0.000,516,0.000,0.073,3128,991,3331,3380,3282,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9016,-0.59,-116.8,3128,991,3380,3282,653.4,-6.5,536,9023,0.00,2.60,0.00,0.000,1030,0.000,0.073,3128,2406,3330,3379,3281,0,0,0,0,0,0,28.83,13.81,28.83
$STATE,9092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9092,begin apogee
$GC,9104,-0.25,0.0,3128,2317,3380,3281,658.0,-5.8,540,9209,0.40,0.00,99.82,1.506,10246,0.166,0.000,3241,2317,2858,2928,2788,0,0,0,0,0,0,13.47,28.83,13.15
$STATE,9212,end apogee,CONTROL_FINISHED_OK
$STATE,9213,begin climb
$GC,9219,0.59,116.8,3242,2317,2926,2784,661.0,0.0,543,9341,0.82,2.58,103.45,1.483,10756,0.122,0.080,3505,936,2378,2502,2255,0,0,0,0,0,0,13.71,13.75,12.98
$GC,9383,0.63,166.8,3507,936,2504,2255,656.5,5.2,562,9440,0.00,2.55,44.42,1.461,9222,0.000,0.070,3506,2341,2173,2311,2036,0,0,0,0,0,0,28.83,13.83,13.05
$GC,9763,0.65,166.8,3507,2341,2314,2035,632.1,6.4,580,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2341,2174,2314,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10068,0.68,166.8,3507,2341,2314,2036,613.6,5.8,590,10078,0.12,0.00,0.00,0.000,2054,0.155,0.000,3552,2343,2175,2314,2036,0,0,0,0,0,0,14.09,28.83,28.83
$GC,10367,0.68,166.8,3553,2341,2314,2035,590.4,8.3,600,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2341,2174,2314,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10668,0.68,166.8,3552,2341,2314,2036,563.6,9.1,610,10679,0.00,2.55,0.00,0.000,516,0.000,0.079,3562,936,2174,2314,2035,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10739,0.68,166.8,3562,937,2314,2036,556.5,9.6,617,10749,0.00,2.50,0.00,0.000,1030,0.000,0.072,3562,2328,2174,2314,2035,0,0,0,0,0,0,28.83,14.02,28.83
$GC,11060,0.68,166.8,3562,2328,2313,2035,527.3,9.0,629,11070,0.00,2.60,0.00,0.000,260,0.000,0.088,3562,3745,2174,2314,2035,0,0,0,0,0,0,28.83,13.94,28.83
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$STATE,17973,end climb,SURFACE_DEPTH_REACHED
$STATE,17973,begin surface coast
$FINISH,1.5,1.024697
$STATE,18015,end surface coast,CONTROL_FINISHED_OK
$STATE,18015,begin surface
$SM_CCo,18045,30.33,0.091,0,0,1431,350.04
$SM_GC,2.84,9.45,0.12,30.33,0.067,0.146,0.091,391,2411,1431,-9.11,-0.74,350.04,0,0,0,0,0,0,14.01,14.09,14.03
$IRIDIUM_FIX,4732.49,-12528.16,220115,202015
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.33
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3670464
$PM_FREEKB,36464704
$24V_AH,13.0,210.295
$10V_AH,12.1,0.000
$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,23.325,159.775,332.775,30.325,0.000,0.000,0.000,393.700,0.000,0.000,33.970,2681.581,12058.431,621.005,2449.768,1035.854,0.000,2242.914,0.000,1738.616,0.000,0.536,0.000
$DEVICE_MAMPS,361.845,146.115,1505.520,91.035,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18051.000,9318.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.298,4.084,0.000,0.000
$MEM,290776
$DATA_FILE_SIZE,39959,1123
$CAP_FILE_SIZE,214315,0
$CFSIZE,260034560,170274816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17808.76,0x2378ba,7,5
$CURRENT,0.028,331.4,1
$GPS,230115,015136,4748.668,-12526.148,89,1.4,89,18.7