version: 66.12
glider: 187
mission: 4
dive: 134
start: 7 17 114 18 43 30
data:
$ID,187
$MISSION,4
$DIVE,134
$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,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,-1593374.2
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,170714,183456,4734.750,-12546.131,82,1.2,82,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-70.8
$GPS2,170714,184301,4734.677,-12546.122,14,1.5,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,228.4,113277,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.59,-116.8,399,2418,1430,1117,0.0,0.0,0,91,0.00,0.00,-60.67,0.000,16386,0.000,0.000,399,2419,2866,2928,2805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.59,-116.8,399,2418,2929,2805,3.4,-3.1,6,131,12.55,2.55,-8.48,0.000,18692,0.399,0.125,3127,3805,3337,3384,3290,0,0,0,0,0,0,14.15,14.33,14.57
$GC,311,-0.59,-116.8,3126,3805,3387,3293,44.7,-14.1,28,320,0.00,2.42,0.00,0.000,1030,0.000,0.073,3129,2392,3339,3386,3293,0,0,0,0,0,0,28.83,14.40,28.83
$GC,562,-0.59,-116.8,3128,2388,3390,3293,76.8,-12.1,53,571,0.00,2.50,0.00,0.000,260,0.000,0.099,3128,3808,3342,3391,3293,0,0,0,0,0,0,28.83,14.44,28.83
$GC,731,-0.59,-116.8,3130,3808,3389,3294,97.6,-12.6,70,741,0.00,2.40,0.00,0.000,1030,0.000,0.073,3127,2406,3339,3384,3294,0,0,0,0,0,0,28.83,14.48,28.83
$GC,981,-0.59,-116.8,3128,2403,3389,3300,125.0,-10.0,95,990,0.00,2.42,0.00,0.000,516,0.000,0.083,3128,985,3342,3390,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1051,-0.59,-116.8,3128,988,3390,3291,132.6,-11.1,102,1060,0.00,2.45,0.00,0.000,1030,0.000,0.080,3128,2406,3342,3390,3294,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1301,-0.59,-116.8,3125,2406,3390,3294,158.6,-9.7,127,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2406,3342,3390,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1551,-0.59,-116.8,3128,2406,3384,3290,183.1,-10.0,152,1560,0.00,2.45,0.00,0.000,516,0.000,0.085,3124,983,3342,3390,3294,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1641,-0.59,-116.8,3128,983,3390,3294,192.7,-10.9,161,1651,0.00,2.45,0.00,0.000,1030,0.000,0.082,3128,2407,3342,3390,3294,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1891,-0.59,-116.8,3128,2407,3389,3293,219.2,-10.6,186,1900,0.00,2.45,0.00,0.000,260,0.000,0.102,3133,3810,3342,3390,3294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1961,-0.59,-116.8,3128,3810,3390,3293,226.9,-10.7,193,1971,0.00,2.42,0.00,0.000,1030,0.000,0.076,3128,2386,3339,3385,3294,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2232,-0.59,-116.8,3128,2385,3389,3293,253.5,-9.5,218,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2387,3340,3389,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2531,-0.59,-116.8,3128,2385,3389,3291,283.8,-10.3,228,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2385,3340,3389,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2832,-0.59,-116.8,3128,2385,3389,3290,313.1,-9.5,238,2839,0.00,2.38,0.00,0.000,516,0.000,0.089,3128,994,3339,3389,3289,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2900,-0.59,-116.8,3128,993,3385,3289,320.1,-10.0,245,2909,0.00,2.47,0.00,0.000,1030,0.000,0.084,3128,2424,3339,3389,3289,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3225,-0.59,-116.8,3128,2424,3389,3286,350.9,-9.5,257,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2427,3336,3389,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-0.59,-116.8,3132,2424,3389,3287,380.2,-9.8,267,3529,0.00,2.47,0.00,0.000,516,0.000,0.089,3128,992,3339,3391,3287,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3600,-0.59,-116.8,3127,991,3385,3293,388.1,-9.8,275,3610,0.00,2.47,0.00,0.000,1030,0.000,0.084,3128,2398,3340,3389,3292,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3914,-0.59,-116.8,3128,2398,3389,3286,415.8,-8.7,286,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3338,3392,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4211,-0.59,-116.8,3127,2398,3384,3281,441.2,-8.6,296,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2403,3336,3389,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4511,-0.59,-116.8,3133,2398,3388,3283,466.4,-8.6,306,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3335,3388,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4811,-0.59,-116.8,3128,2398,3387,3283,492.2,-8.5,316,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3335,3387,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5111,-0.59,-116.8,3128,2398,3387,3283,517.2,-8.2,326,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3334,3387,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5411,-0.59,-116.8,3127,2398,3386,3281,542.4,-8.4,336,5419,0.00,2.42,0.00,0.000,516,0.000,0.090,3128,989,3334,3387,3281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5501,-0.59,-116.8,3128,986,3384,3281,550.6,-9.5,345,5509,0.00,2.45,0.00,0.000,1030,0.000,0.086,3127,2401,3333,3385,3281,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5834,-0.59,-116.8,3124,2401,3385,3280,579.3,-8.6,358,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3333,3385,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6131,-0.59,-116.8,3128,2403,3385,3275,604.2,-8.3,368,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3332,3388,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6432,-0.59,-116.8,3128,2401,3385,3279,628.8,-8.3,378,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3331,3385,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6731,-0.59,-116.8,3128,2401,3383,3278,654.2,-8.6,388,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3331,3384,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7031,-0.59,-116.8,3128,2401,3383,3277,680.7,-8.9,398,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2401,3329,3381,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7331,-0.59,-116.8,3129,2401,3383,3277,707.9,-9.1,408,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3330,3383,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7631,-0.59,-116.8,3128,2401,3383,3276,734.3,-8.5,418,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2401,3333,3390,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,-0.59,-116.8,3128,2401,3382,3276,756.4,-6.9,428,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3330,3384,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8231,-0.59,-116.8,3124,2397,3382,3275,776.2,-6.7,438,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3327,3383,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8532,-0.59,-116.8,3133,2401,3382,3269,794.3,-5.9,448,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3328,3382,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8831,-0.59,-116.8,3128,2401,3381,3269,811.8,-6.0,458,8839,0.00,2.45,0.00,0.000,516,0.000,0.094,3128,987,3327,3382,3273,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8891,-0.59,-116.8,3127,983,3383,3279,815.7,-6.8,464,8900,0.00,2.45,0.00,0.000,1030,0.000,0.088,3128,2400,3327,3381,3273,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9224,-0.59,-116.8,3128,2400,3384,3273,836.3,-6.4,477,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3327,3381,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9521,-0.59,-116.8,3128,2400,3381,3270,856.2,-6.4,487,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3322,3377,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9821,-0.59,-116.8,3128,2400,3381,3272,876.8,-7.1,497,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3326,3381,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10121,-0.59,-116.8,3129,2400,3381,3271,897.6,-6.8,507,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3326,3381,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10421,-0.59,-116.8,3127,2400,3381,3271,919.1,-7.4,517,10429,0.00,2.45,0.00,0.000,516,0.000,0.094,3128,987,3323,3376,3270,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10511,-0.59,-116.8,3128,988,3380,3270,926.1,-7.8,526,10519,0.00,2.45,0.00,0.000,1030,0.000,0.090,3128,2399,3325,3380,3270,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10844,-0.59,-116.8,3128,2400,3380,3270,948.8,-6.8,539,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3325,3380,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11141,-0.59,-116.8,3128,2399,3380,3269,966.6,-5.7,549,11150,0.00,2.47,0.00,0.000,260,0.000,0.108,3127,3809,3324,3380,3269,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11201,-0.59,-116.8,3128,3809,3380,3269,970.1,-5.8,555,11209,0.00,2.42,0.00,0.000,1030,0.000,0.080,3128,2398,3327,3385,3269,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11534,-0.59,-116.8,3128,2398,3379,3269,989.5,-5.9,568,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3324,3379,3269,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11557,begin apogee
$GC,11566,-0.25,0.0,3128,2320,3380,3270,991.2,-5.9,569,11672,0.38,0.00,100.10,1.927,10246,0.203,0.000,3236,2318,2859,2939,2779,0,0,0,0,0,0,14.45,28.83,13.25
$STATE,11675,end apogee,CONTROL_FINISHED_OK
$STATE,11675,begin climb
$GC,11679,0.59,116.8,3236,2320,2935,2776,993.5,0.0,572,11796,0.88,0.00,108.65,1.886,10246,0.148,0.000,3508,2320,2381,2529,2234,0,0,0,0,0,0,13.88,28.83,13.10
$GC,12076,0.59,116.8,3508,2324,2524,2228,964.2,8.9,586,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2319,2376,2524,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12379,0.59,116.8,3506,2319,2522,2226,937.6,8.9,596,12389,0.00,2.58,0.00,0.000,260,0.000,0.110,3508,3749,2374,2522,2227,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12448,0.59,116.8,3508,3749,2522,2226,930.3,10.1,603,12458,0.00,2.47,0.00,0.000,1030,0.000,0.090,3508,2344,2373,2521,2225,0,0,0,0,0,0,28.83,14.36,28.83
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$FREEZE,23.05,15.756,-1.755,0,1,0
$STATE,24303,end climb,NO_VERTICAL_VELOCITY
$STATE,24304,begin surface
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$SM_GC,1.72,9.43,0.15,0.00,0.076,0.142,0.000,398,2405,466,-9.09,-0.59,586.76,0,0,0,0,0,0,14.11,14.09,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,46.49
$INTERNAL_PRESSURE,8.89367
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3895136
$PM_FREEKB,58967648
$24V_AH,13.1,30.586
$10V_AH,13.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.808,4.068,0.000,0.000
$MEM,290788
$DATA_FILE_SIZE,46621,1316
$CAP_FILE_SIZE,253987,0
$CFSIZE,260034560,245350400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,24753.92,0x2378ba,7,5
$CURRENT,0.027, 82.9,1
$GPS,180714,013629,4733.583,-12549.295,40,1.3,40,18.7