version: 66.12
glider: 187
mission: 4
dive: 216
start: 8 9 114 10 1 30
data:
$ID,187
$MISSION,4
$DIVE,216
$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,-1593690.8
$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,24
$R_STBD_OVSHOOT,34
$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
$GPS1,090814,095200,4714.698,-12633.499,94,1.8,94,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.4
$GPS2,090814,100101,4714.653,-12633.477,15,1.5,15,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,193.6,43113,-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,-116.8,393,2414,1453,1209,0.0,0.0,0,80,0.00,0.00,-48.95,0.000,16386,0.000,0.000,395,2415,2613,2695,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,393,2415,2696,2532,3.2,-2.4,5,121,12.50,2.47,-14.23,0.000,18692,0.387,0.111,3124,3805,3333,3380,3286,0,0,0,0,0,0,14.04,14.28,14.52
$GC,351,-0.59,-116.8,3124,3805,3377,3297,53.3,-13.2,32,360,0.00,2.40,0.00,0.000,1030,0.000,0.066,3124,2391,3337,3381,3294,0,0,0,0,0,0,28.83,14.36,28.83
$GC,601,-0.59,-116.8,3124,2386,3384,3292,85.5,-12.5,57,611,0.00,2.47,0.00,0.000,260,0.000,0.091,3124,3801,3337,3383,3292,0,0,0,0,0,0,28.83,14.35,28.83
$GC,841,-0.59,-116.8,3124,3801,3384,3293,115.9,-12.2,81,851,0.00,2.40,0.00,0.000,1030,0.000,0.063,3124,2405,3338,3384,3293,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1092,-0.59,-116.8,3124,2404,3380,3293,145.2,-11.4,106,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2408,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-0.59,-116.8,3124,2404,3384,3293,171.6,-10.3,131,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-0.59,-116.8,3125,2404,3383,3292,195.4,-9.5,156,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3338,3384,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1841,-0.59,-116.8,3124,2404,3384,3291,220.1,-9.6,181,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2091,-0.59,-116.8,3124,2404,3384,3290,243.2,-9.4,206,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3339,3389,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2354,-0.59,-116.8,3124,2403,3384,3288,268.3,-9.8,220,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3337,3386,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2652,-0.59,-116.8,3124,2403,3389,3287,296.5,-9.1,230,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3335,3383,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-0.59,-116.8,3124,2404,3383,3282,322.9,-8.7,240,2958,0.00,2.45,0.00,0.000,260,0.000,0.093,3124,3804,3334,3384,3285,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3012,-0.59,-116.8,3124,3803,3382,3286,328.2,-8.9,246,3019,0.00,2.38,0.00,0.000,1030,0.000,0.068,3124,2392,3336,3381,3291,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3344,-0.59,-116.8,3123,2386,3382,3285,357.8,-9.0,259,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2388,3334,3383,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-0.59,-116.8,3124,2388,3386,3283,384.3,-8.9,269,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2388,3332,3382,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3941,-0.59,-116.8,3124,2387,3384,3281,409.4,-8.0,279,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2388,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4241,-0.59,-116.8,3124,2385,3383,3281,433.6,-8.1,289,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2388,3331,3382,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4541,-0.59,-116.8,3125,2388,3381,3279,458.1,-8.4,299,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3325,3371,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4841,-0.59,-116.8,3125,2388,3381,3278,484.8,-8.9,309,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3327,3380,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5141,-0.59,-116.8,3124,2388,3381,3277,511.1,-8.6,319,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2388,3328,3380,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5441,-0.59,-116.8,3129,2388,3380,3276,536.3,-8.2,329,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2388,3328,3379,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5741,-0.59,-116.8,3124,2388,3376,3276,560.7,-8.0,339,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3327,3379,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6041,-0.59,-116.8,3124,2388,3379,3274,583.6,-7.5,349,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3326,3378,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6341,-0.59,-116.8,3123,2387,3378,3274,605.0,-7.0,359,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2389,3326,3378,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6641,-0.59,-116.8,3124,2387,3377,3273,625.8,-7.1,369,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3325,3378,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6941,-0.59,-116.8,3124,2387,3377,3272,648.1,-7.6,379,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2387,3324,3377,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7241,-0.59,-116.8,3124,2387,3377,3271,672.5,-8.2,389,7250,0.00,2.50,0.00,0.000,260,0.000,0.103,3124,3801,3324,3377,3271,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7310,-0.59,-116.8,3124,3801,3375,3271,678.4,-8.6,396,7319,0.00,2.42,0.00,0.000,1030,0.000,0.073,3124,2410,3321,3371,3272,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7634,-0.59,-116.8,3124,2406,3376,3269,704.3,-8.0,408,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3322,3375,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7932,-0.59,-116.8,3124,2406,3375,3269,727.1,-7.5,418,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2406,3320,3371,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8231,-0.59,-116.8,3124,2411,3375,3269,748.5,-7.0,428,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3322,3375,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8532,-0.59,-116.8,3125,2406,3375,3268,768.9,-6.7,438,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3321,3375,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8831,-0.59,-116.8,3124,2406,3374,3268,789.8,-7.1,448,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2406,3321,3375,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9132,-0.59,-116.8,3124,2409,3374,3268,811.3,-7.3,458,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3321,3375,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9431,-0.59,-116.8,3124,2406,3374,3268,833.4,-7.4,468,9435,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3318,3374,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9732,-0.59,-116.8,3124,2406,3373,3267,856.4,-7.7,478,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3320,3373,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10031,-0.59,-116.8,3124,2406,3373,3267,880.0,-7.9,488,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2406,3320,3373,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10332,-0.59,-116.8,3130,2406,3373,3266,902.2,-7.2,498,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3319,3372,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10631,-0.59,-116.8,3124,2406,3380,3265,922.2,-6.5,508,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3318,3372,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10932,-0.59,-116.8,3124,2406,3372,3265,940.7,-6.1,518,10939,0.00,2.47,0.00,0.000,516,0.000,0.090,3120,995,3318,3372,3265,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10980,-0.59,-116.8,3124,993,3372,3262,944.0,-7.0,523,10990,0.00,2.47,0.00,0.000,1030,0.000,0.083,3124,2386,3318,3372,3265,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11295,-0.59,-116.8,3129,2385,3371,3264,963.1,-6.2,534,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3318,3372,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11591,-0.59,-116.8,3124,2385,3371,3264,983.1,-6.7,544,11599,0.00,2.53,0.00,0.000,260,0.000,0.103,3123,3812,3318,3371,3265,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11670,-0.59,-116.8,3124,3812,3371,3264,988.8,-7.3,552,11680,0.00,2.50,0.00,0.000,1030,0.000,0.079,3124,2397,3317,3371,3264,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,11708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11708,begin apogee
$GC,11718,-0.25,0.0,3124,2316,3371,3264,991.5,-6.9,554,11823,0.40,0.00,100.12,1.928,10246,0.191,0.000,3240,2317,2858,2934,2783,0,0,0,0,0,0,14.28,28.83,13.20
$STATE,11827,end apogee,CONTROL_FINISHED_OK
$STATE,11827,begin climb
$GC,11830,0.59,116.8,3240,2317,2931,2777,994.5,0.0,557,11952,0.85,0.00,109.12,1.893,10246,0.137,0.000,3508,2318,2374,2513,2236,0,0,0,0,0,0,13.89,28.83,13.02
$GC,12251,0.59,116.8,3508,2317,2518,2230,963.9,9.1,572,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2323,2374,2518,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12554,0.59,116.8,3508,2317,2516,2229,936.2,9.2,582,12564,0.00,2.58,0.00,0.000,260,0.000,0.102,3508,3747,2371,2516,2227,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12604,0.59,116.8,3508,3746,2514,2227,930.6,10.6,587,12615,0.00,2.47,0.00,0.000,1030,0.000,0.085,3509,2344,2370,2514,2227,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12917,0.59,116.8,3508,2344,2512,2226,901.2,9.4,598,12927,0.00,2.55,0.00,0.000,516,0.000,0.105,3514,916,2370,2514,2226,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12996,0.59,116.8,3514,916,2513,2226,893.5,9.2,606,13008,0.00,2.47,0.00,0.000,1030,0.000,0.083,3508,2332,2369,2513,2226,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13310,0.59,116.8,3509,2332,2513,2225,866.2,8.6,617,13319,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2332,2368,2512,2225,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24537,end climb,SURFACE_DEPTH_REACHED
$STATE,24537,begin surface coast
$FINISH,1.0,1.010890
$STATE,24568,end surface coast,CONTROL_FINISHED_OK
$STATE,24568,begin surface
$SM_CCo,24596,13.10,0.104,0,0,1329,375.06
$SM_GC,3.67,9.32,2.35,13.10,0.071,0.071,0.104,398,2405,1329,-9.09,0.93,375.06,0,0,0,0,0,0,14.35,14.38,14.33
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$TT8_MAMPS,0.023968,0.023968
$HUMID,49.88
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3868896
$PM_FREEKB,56423808
$24V_AH,13.0,51.610
$10V_AH,13.3,0.000
$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
$DEVICE_SECS,23.300,88.825,362.225,13.100,0.000,0.000,0.000,297.150,0.000,0.000,16.488,3044.643,18132.744,589.445,2639.226,726.198,0.000,2268.865,0.000,1886.298,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24594.000,12031.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.785,4.049,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,43329,1238
$CAP_FILE_SIZE,236282,0
$CFSIZE,260034560,236634112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,26012.44,0x2378ba,7,5
$CURRENT,0.023,261.7,1
$GPS,090814,165336,4712.404,-12636.124,65,1.2,65,18.6