version: 66.12
glider: 187
mission: 4
dive: 90
start: 7 8 114 8 24 43
data:
$ID,187
$MISSION,4
$DIVE,90
$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,420
$T_MISSION,470
$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,135
$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,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,-1593309.9
$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,3310
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$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,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,18
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,080714,081556,4717.865,-12624.635,27,2.2,47,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-70.7
$GPS2,080714,082415,4717.821,-12624.709,13,2.4,33,18.6
$SPEED_LIMITS,0.136,0.232
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,58.7,112002,-14.0,-7.857,-18.69,2568
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.68,-131.4,396,2422,1444,1114,0.0,0.0,0,90,0.00,0.00,-58.70,0.000,16386,0.000,0.000,396,2422,2826,2882,2771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.68,-131.4,396,2423,2888,2766,3.7,-3.5,6,130,12.60,2.50,-10.15,0.000,18948,0.415,0.109,3083,1013,3396,3436,3357,0,0,0,0,0,0,14.21,14.38,14.58
$GC,230,-0.68,-131.4,3083,1013,3437,3359,40.4,-22.9,20,239,0.00,2.47,0.00,0.000,1030,0.000,0.085,3083,2428,3397,3436,3359,0,0,0,0,0,0,28.83,14.41,28.83
$GC,480,-0.68,-131.4,3083,2428,3439,3361,84.2,-15.1,45,487,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2428,3399,3439,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,730,-0.68,-131.4,3083,2425,3440,3359,122.4,-15.5,70,738,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2428,3403,3445,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-0.68,-131.4,3083,2428,3433,3362,157.9,-13.6,95,988,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2428,3401,3440,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1230,-0.68,-131.4,3083,2428,3440,3362,190.7,-13.1,120,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2427,3401,3440,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1480,-0.68,-131.4,3088,2428,3441,3362,220.7,-12.0,145,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2426,3400,3438,3363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1750,-0.68,-131.4,3083,2428,3440,3362,254.1,-12.4,170,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2428,3404,3447,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.68,-131.4,3083,2428,3440,3362,291.9,-12.5,180,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2428,3400,3440,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-0.68,-131.4,3083,2428,3440,3360,327.4,-11.8,190,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2428,3399,3440,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-0.68,-131.4,3083,2428,3439,3359,362.6,-11.7,200,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2433,3398,3439,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2950,-0.68,-131.4,3080,2428,3440,3358,396.3,-11.2,210,2958,0.00,2.45,0.00,0.000,516,0.000,0.096,3083,1008,3398,3439,3357,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2999,-0.68,-131.4,3083,1009,3439,3357,402.2,-11.7,215,3009,0.00,2.50,0.00,0.000,1030,0.000,0.091,3083,2428,3399,3441,3357,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3313,-0.68,-131.4,3083,2427,3439,3356,437.0,-10.9,226,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2428,3397,3438,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3610,-0.68,-131.4,3083,2427,3439,3354,471.0,-11.2,236,3618,0.00,2.45,0.00,0.000,516,0.000,0.098,3084,1006,3396,3439,3354,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3709,-0.68,-131.4,3083,1006,3438,3354,482.5,-11.5,246,3718,0.00,2.45,0.00,0.000,1030,0.000,0.094,3083,2425,3396,3438,3354,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4030,-0.68,-131.4,3083,2424,3438,3352,516.3,-10.3,258,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2424,3396,3441,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4331,-0.68,-131.4,3083,2424,3437,3352,547.6,-10.5,268,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2424,3394,3437,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4630,-0.68,-131.4,3083,2424,3431,3351,577.8,-9.9,278,4638,0.00,2.45,0.00,0.000,516,0.000,0.100,3083,1016,3393,3436,3350,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4679,-0.68,-131.4,3083,1012,3436,3351,582.9,-10.2,283,4690,0.00,2.50,0.00,0.000,1030,0.000,0.096,3089,2426,3393,3436,3351,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4990,-0.68,-131.4,3083,2425,3436,3350,610.7,-8.6,294,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2425,3393,3436,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5290,-0.68,-131.4,3083,2422,3441,3349,635.7,-8.5,304,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2425,3390,3435,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5590,-0.68,-131.4,3083,2425,3436,3348,660.8,-8.4,314,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2425,3392,3437,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5890,-0.68,-131.4,3083,2425,3439,3346,685.5,-8.4,324,5898,0.00,2.47,0.00,0.000,516,0.000,0.105,3083,1007,3390,3435,3345,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5980,-0.68,-131.4,3083,1007,3434,3346,693.7,-9.5,333,5988,0.00,2.47,0.00,0.000,1030,0.000,0.098,3083,2423,3390,3434,3346,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6313,-0.68,-131.4,3083,2423,3433,3344,723.4,-9.3,346,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2420,3389,3434,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6610,-0.68,-131.4,3083,2423,3433,3341,752.1,-9.7,356,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2423,3388,3433,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6910,-0.68,-131.4,3083,2423,3432,3343,781.6,-9.8,366,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2426,3387,3432,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7210,-0.68,-131.4,3083,2428,3432,3342,811.1,-9.8,376,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2423,3387,3432,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7510,-0.68,-131.4,3083,2423,3434,3341,840.1,-9.4,386,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2423,3389,3431,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7810,-0.68,-131.4,3083,2422,3430,3341,867.5,-9.0,396,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2423,3385,3430,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8110,-0.68,-131.4,3083,2423,3431,3341,894.8,-9.1,406,8118,0.00,2.47,0.00,0.000,516,0.000,0.104,3083,1004,3386,3432,3341,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8159,-0.68,-131.4,3088,1005,3430,3341,899.3,-9.3,411,8170,0.00,2.53,0.00,0.000,1030,0.000,0.098,3083,2424,3385,3430,3341,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8472,-0.68,-131.4,3083,2423,3429,3342,927.2,-9.1,422,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2423,3385,3430,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8771,-0.68,-131.4,3083,2423,3429,3340,953.3,-8.6,432,8778,0.00,2.50,0.00,0.000,260,0.000,0.119,3083,3844,3385,3430,3340,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8830,-0.68,-131.4,3083,3845,3429,3339,958.7,-9.2,438,8837,0.00,2.45,0.00,0.000,1030,0.000,0.090,3083,2421,3384,3429,3339,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9163,-0.68,-131.4,3083,2420,3429,3339,986.0,-8.2,451,9171,0.00,2.47,0.00,0.000,516,0.000,0.112,3083,1010,3384,3429,3339,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,9207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9207,begin apogee
$GC,9217,-0.29,0.0,3083,2334,3429,3339,990.4,-8.8,456,9334,0.45,0.00,112.12,1.927,10246,0.229,0.000,3211,2334,2859,2939,2780,0,0,0,0,0,0,14.52,28.83,13.17
$STATE,9338,end apogee,CONTROL_FINISHED_OK
$STATE,9338,begin climb
$GC,9341,0.68,131.4,3211,2334,2937,2777,994.8,0.0,460,9478,1.05,2.78,121.30,1.886,10500,0.169,0.120,3520,3739,2321,2481,2161,0,0,0,0,0,0,13.83,13.65,13.04
$GC,9508,0.68,131.4,3519,3740,2477,2160,985.1,9.2,475,9518,0.00,2.65,0.00,0.000,1030,0.000,0.108,3522,2331,2317,2477,2158,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9838,0.68,131.4,3521,2335,2476,2156,952.5,9.8,488,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2333,2316,2477,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10140,0.68,131.4,3522,2333,2474,2155,923.4,9.8,498,10150,0.00,2.55,0.00,0.000,260,0.000,0.121,3518,3741,2315,2475,2156,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10189,0.68,131.4,3521,3740,2473,2156,917.8,10.7,503,10201,0.00,2.53,0.00,0.000,1030,0.000,0.103,3522,2324,2314,2474,2155,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10503,0.68,131.4,3522,2324,2473,2155,887.5,9.5,514,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2324,2314,2473,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10804,0.68,131.4,3522,2324,2472,2153,858.2,9.8,524,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2324,2313,2468,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11103,0.68,131.4,3522,2324,2472,2153,828.1,10.0,534,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2324,2312,2472,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11404,0.68,131.4,3522,2321,2471,2153,798.9,9.8,544,11414,0.00,2.55,0.00,0.000,260,0.000,0.119,3527,3741,2312,2471,2153,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11463,0.68,131.4,3522,3741,2476,2153,792.2,10.9,550,11473,0.00,2.50,0.00,0.000,1030,0.000,0.099,3522,2329,2311,2470,2153,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11793,0.68,131.4,3522,2329,2469,2153,759.4,9.9,563,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2328,2311,2469,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12096,0.68,131.4,3522,2329,2470,2153,731.2,9.0,573,12106,0.00,2.53,0.00,0.000,260,0.000,0.118,3522,3740,2312,2470,2155,0,0,0,0,0,0,28.83,14.57,28.83
$GC,12135,0.68,131.4,3522,3741,2469,2153,727.0,10.0,577,12145,0.00,2.47,0.00,0.000,1030,0.000,0.099,3522,2329,2308,2465,2151,0,0,0,0,0,0,28.83,14.57,28.83
$GC,12456,0.68,131.4,3522,2330,2469,2153,696.2,9.5,589,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2332,2311,2469,2153,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20799,end climb,SURFACE_DEPTH_REACHED
$STATE,20799,begin surface coast
$FINISH,1.0,1.023442
$STATE,20843,end surface coast,CONTROL_FINISHED_OK
$STATE,20843,begin surface
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$SM_GC,2.84,9.12,2.35,13.93,0.080,0.089,0.105,388,2430,1328,-9.06,0.76,375.06,0,0,0,0,0,0,14.49,14.48,14.47
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$TT8_MAMPS,0.023968,0.023968
$HUMID,48.81
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3909216
$PM_FREEKB,60039712
$24V_AH,13.0,20.891
$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20854.000,9495.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.845,4.089,0.000,0.000
$MEM,290856
$DATA_FILE_SIZE,39944,1128
$CAP_FILE_SIZE,218218,0
$CFSIZE,260034560,249544704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,21775.26,0x2378ba,7,5
$CURRENT,0.080,350.4,1
$GPS,080714,141429,4719.388,-12621.226,50,1.4,50,18.6