version: 66.12
glider: 187
mission: 4
dive: 143
start: 7 20 114 10 40 56
data:
$ID,187
$MISSION,4
$DIVE,143
$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,-1593385.8
$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,26
$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
$GPS1,200714,102926,4724.009,-12609.934,71,2.1,91,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-71.1
$GPS2,200714,104027,4723.938,-12609.911,12,2.6,32,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,209.2,77252,-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,-116.8,396,2395,1463,1199,0.0,0.0,0,90,0.00,0.00,-57.67,0.000,16386,0.000,0.000,396,2394,2844,2900,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,397,2395,2902,2790,3.3,-2.7,6,130,12.65,2.58,-8.65,0.000,18692,0.402,0.121,3125,3813,3334,3381,3287,0,0,0,0,0,0,14.13,14.33,14.57
$GC,360,-0.59,-116.8,3125,3813,3384,3290,54.2,-13.5,33,371,0.00,2.42,0.00,0.000,1030,0.000,0.067,3125,2390,3337,3384,3291,0,0,0,0,0,0,28.83,14.43,28.83
$GC,610,-0.59,-116.8,3126,2390,3387,3292,86.3,-12.1,58,622,0.00,2.50,0.00,0.000,260,0.000,0.096,3125,3820,3338,3386,3291,0,0,0,0,0,0,28.83,14.43,28.83
$GC,851,-0.59,-116.8,3130,3820,3386,3292,114.5,-10.9,82,863,0.00,2.40,0.00,0.000,1030,0.000,0.069,3125,2405,3339,3387,3292,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1103,-0.59,-116.8,3125,2405,3386,3292,140.9,-10.0,107,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3339,3386,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1353,-0.59,-116.8,3125,2405,3386,3292,164.3,-8.9,132,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3339,3386,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-0.59,-116.8,3125,2405,3386,3292,187.5,-9.8,157,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3339,3386,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1853,-0.59,-116.8,3125,2405,3386,3291,212.1,-10.2,182,1864,0.00,2.40,0.00,0.000,516,0.000,0.081,3125,995,3339,3386,3293,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1905,-0.59,-116.8,3125,995,3386,3289,217.2,-10.6,187,1916,0.00,2.42,0.00,0.000,1030,0.000,0.080,3125,2400,3338,3386,3290,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2155,-0.59,-116.8,3125,2400,3386,3289,240.2,-8.5,212,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3338,3387,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2425,-0.59,-116.8,3126,2400,3386,3288,263.5,-8.7,229,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2726,-0.59,-116.8,3126,2400,3386,3287,291.0,-9.2,239,2736,0.00,2.40,0.00,0.000,516,0.000,0.082,3127,993,3336,3386,3287,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2795,-0.59,-116.8,3125,993,3386,3287,298.1,-10.3,246,2805,0.00,2.40,0.00,0.000,1030,0.000,0.080,3126,2399,3336,3386,3286,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3119,-0.59,-116.8,3125,2399,3385,3286,328.1,-9.3,258,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3416,-0.59,-116.8,3125,2399,3385,3284,355.8,-9.2,268,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3334,3384,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3716,-0.59,-116.8,3125,2398,3385,3283,382.6,-8.8,278,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3334,3385,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4016,-0.59,-116.8,3125,2400,3384,3282,408.8,-8.7,288,4026,0.00,2.45,0.00,0.000,260,0.000,0.101,3125,3812,3334,3386,3282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4086,-0.59,-116.8,3125,3812,3383,3278,415.0,-8.9,295,4096,0.00,2.40,0.00,0.000,1030,0.000,0.073,3125,2392,3332,3383,3282,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4406,-0.59,-116.8,3125,2389,3383,3281,442.7,-8.7,307,4416,0.00,2.40,0.00,0.000,516,0.000,0.089,3125,986,3332,3383,3281,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4527,-0.59,-116.8,3125,986,3382,3281,453.8,-9.5,319,4537,0.00,2.42,0.00,0.000,1030,0.000,0.083,3125,2398,3332,3383,3281,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4856,-0.59,-116.8,3125,2397,3382,3279,481.9,-8.3,332,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3330,3381,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,-0.59,-116.8,3125,2397,3382,3278,505.9,-8.1,342,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2394,3330,3382,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5457,-0.59,-116.8,3125,2397,3382,3277,530.0,-8.1,352,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3329,3382,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5757,-0.59,-116.8,3125,2397,3381,3277,554.1,-8.0,362,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6058,-0.59,-116.8,3126,2397,3381,3276,577.6,-7.7,372,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3328,3381,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6357,-0.59,-116.8,3125,2397,3380,3275,600.4,-7.5,382,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3327,3380,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6657,-0.59,-116.8,3125,2394,3380,3274,623.6,-7.7,392,6667,0.00,2.42,0.00,0.000,516,0.000,0.088,3125,989,3327,3380,3274,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6717,-0.59,-116.8,3125,989,3379,3274,628.5,-8.2,398,6727,0.00,2.45,0.00,0.000,1030,0.000,0.086,3125,2400,3325,3376,3274,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7050,-0.59,-116.8,3125,2400,3380,3273,653.5,-7.5,411,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3326,3380,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7347,-0.59,-116.8,3125,2400,3379,3272,676.7,-7.7,421,7358,0.00,2.45,0.00,0.000,260,0.000,0.103,3125,3809,3325,3379,3272,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7447,-0.59,-116.8,3125,3809,3378,3272,685.0,-8.4,431,7457,0.00,2.40,0.00,0.000,1030,0.000,0.079,3125,2405,3327,3382,3272,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7768,-0.59,-116.8,3130,2405,3378,3272,709.2,-7.4,443,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3325,3380,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8068,-0.59,-116.8,3125,2406,3378,3270,730.5,-6.9,453,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3324,3378,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8368,-0.59,-116.8,3125,2405,3378,3269,750.9,-6.7,463,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3324,3378,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8668,-0.59,-116.8,3130,2405,3377,3269,771.1,-6.8,473,8678,0.00,2.47,0.00,0.000,260,0.000,0.103,3124,3812,3321,3378,3265,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8767,-0.59,-116.8,3125,3815,3381,3269,778.2,-7.2,483,8777,0.00,2.42,0.00,0.000,1030,0.000,0.076,3125,2393,3323,3377,3269,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9088,-0.59,-116.8,3125,2390,3377,3269,800.1,-7.0,495,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2390,3326,3383,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9388,-0.59,-116.8,3125,2390,3376,3268,821.8,-7.4,505,9398,0.00,2.50,0.00,0.000,260,0.000,0.106,3125,3807,3323,3377,3269,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9508,-0.59,-116.8,3121,3808,3375,3268,831.0,-7.8,517,9518,0.00,2.42,0.00,0.000,1030,0.000,0.082,3125,2396,3324,3380,3268,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9837,-0.59,-116.8,3121,2394,3376,3268,855.2,-7.1,530,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3322,3376,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10141,-0.59,-116.8,3125,2394,3372,3267,875.9,-6.8,540,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3320,3376,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10440,-0.59,-116.8,3125,2394,3376,3267,895.9,-6.6,550,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3321,3375,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10742,-0.59,-116.8,3125,2394,3371,3265,915.5,-6.5,560,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2394,3321,3375,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11040,-0.59,-116.8,3125,2394,3381,3266,934.8,-6.2,570,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3320,3375,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11340,-0.59,-116.8,3125,2395,3375,3265,953.8,-6.3,580,11350,0.00,2.53,0.00,0.000,260,0.000,0.108,3125,3809,3323,3375,3271,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11410,-0.59,-116.8,3125,3809,3374,3265,958.6,-6.6,587,11420,0.00,2.45,0.00,0.000,1030,0.000,0.081,3125,2397,3319,3374,3265,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11731,-0.59,-116.8,3125,2396,3374,3265,978.5,-6.3,599,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3319,3373,3266,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11937,begin apogee
$GC,11945,-0.25,0.0,3125,2318,3374,3265,991.1,-6.0,606,12051,0.40,0.00,98.70,1.929,10246,0.207,0.000,3240,2318,2858,2935,2781,0,0,0,0,0,0,14.46,28.83,13.28
$STATE,12053,end apogee,CONTROL_FINISHED_OK
$STATE,12054,begin climb
$GC,12057,0.59,116.8,3240,2318,2934,2777,993.7,0.0,609,12184,0.88,2.67,107.93,1.889,10756,0.150,0.103,3519,935,2378,2523,2234,0,0,0,0,0,0,13.90,13.68,13.12
$GC,12215,0.59,116.8,3519,934,2519,2234,985.6,8.0,627,12225,0.00,2.55,0.00,0.000,1030,0.000,0.086,3525,2334,2378,2523,2234,0,0,0,0,0,0,28.83,13.90,28.83
$GC,12544,0.59,116.8,3520,2334,2522,2228,955.5,8.9,640,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2334,2374,2522,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12848,0.59,116.8,3516,2334,2521,2226,929.9,8.2,650,12860,0.00,2.47,0.00,0.000,516,0.000,0.103,3519,936,2374,2521,2227,0,0,0,0,0,0,28.83,14.33,28.83
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$STATE,25128,end climb,SURFACE_DEPTH_REACHED
$STATE,25128,begin surface coast
$FINISH,0.8,1.023362
$STATE,25180,end surface coast,CONTROL_FINISHED_OK
$STATE,25180,begin surface
$SM_CCo,25206,50.05,0.104,0,0,1328,375.06
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$TT8_MAMPS,0.024717,0.024717
$HUMID,47.32
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$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3892256
$PM_FREEKB,58693568
$24V_AH,13.1,32.958
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25205.000,441.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.835,5.745,0.000,0.000
$MEM,290812
$DATA_FILE_SIZE,49907,1379
$CAP_FILE_SIZE,268508,0
$CFSIZE,260034560,244346880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25209.97,0x2378ba,7,5
$CURRENT,0.074,342.5,1
$GPS,200714,174329,4723.234,-12613.543,40,1.1,45,18.6