version: 66.12
glider: 187
mission: 8
dive: 3
start: 6 16 115 19 12 27
data:
$ID,187
$MISSION,8
$DIVE,3
$N_DIVES,7
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1020
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53361
$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,400
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3455
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$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,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.55209
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$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,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,160615,190605,4745.2529,-12505.2666,2,1.2,7,16.5,0.4,152.4,6,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-76.7
$GPS2,160615,191157,4745.1880,-12505.2412,3,1.2,8,16.5,0.9,214.1,6,10.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,254.9,167372,-16.9,-10.000,-20.75,2244
$D_GRID,195
$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,27,-0.57,-146.6,93,1893,978,1169,0.0,0.0,0,111,0.00,0.00,-76.40,0.000,16386,0.000,0.000,93,1892,3102,3069,3136,0,0,0,0,0,0,14.77,28.83,14.78
$GC,118,-0.57,-146.6,98,1892,3075,3136,3.3,-4.3,8,147,13.95,2.83,-3.15,0.000,18692,0.390,2.229,3254,3319,3300,3265,3335,0,0,0,0,0,0,14.35,13.61,14.60
$GC,307,-0.52,-146.6,3254,3314,3263,3338,43.2,-13.4,42,318,0.00,2.53,0.00,0.000,1030,0.000,0.102,3255,1889,3304,3270,3338,0,0,0,0,0,0,14.62,14.53,14.64
$GC,509,-0.45,-146.6,3254,1891,3265,3339,68.0,-12.1,62,521,0.15,2.58,0.00,0.000,2308,0.239,0.111,3302,3317,3302,3265,3339,0,0,0,0,0,0,14.49,14.56,14.59
$GC,609,-0.56,-146.6,3304,3317,3265,3339,77.0,-8.0,79,622,0.00,2.50,0.00,0.000,1030,0.000,0.102,3303,1905,3302,3265,3339,0,0,0,0,0,0,14.67,14.57,14.69
$GC,804,-0.68,-146.6,3303,1905,3264,3339,91.8,-8.0,98,816,0.15,2.53,0.00,0.000,4612,0.112,0.117,3223,477,3301,3264,3339,0,0,0,0,0,0,14.64,14.58,14.67
$GC,865,-0.55,-146.6,3224,476,3265,3340,99.4,-15.1,107,878,0.17,2.53,0.00,0.000,3078,0.244,0.101,3272,1917,3302,3264,3340,0,0,0,0,0,0,14.52,14.60,14.67
$GC,1060,-0.59,-146.6,3272,1916,3264,3340,120.1,-8.6,126,1071,0.00,2.58,0.00,0.000,516,0.000,0.118,3272,475,3302,3264,3340,0,0,0,0,0,0,14.83,14.56,14.83
$GC,1137,-0.63,-146.6,3272,475,3264,3339,127.4,-10.5,138,1148,0.00,2.50,0.00,0.000,1030,0.000,0.101,3269,1897,3304,3264,3345,0,0,0,0,0,0,14.71,14.61,14.71
$GC,1340,-0.70,-146.6,3272,1897,3264,3339,145.4,-8.2,158,1352,0.10,2.53,0.00,0.000,4356,0.142,0.109,3210,3317,3301,3263,3340,0,0,0,0,0,0,14.67,14.59,14.69
$GC,1397,-0.59,-146.6,3210,3317,3259,3339,151.2,-12.3,166,1409,0.17,2.53,0.00,0.000,3078,0.242,0.103,3259,1885,3301,3264,3339,0,0,0,0,0,0,14.54,14.62,14.69
$GC,1601,-0.62,-146.6,3259,1884,3263,3339,172.0,-9.4,186,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1884,3299,3264,3335,0,0,0,0,0,0,14.83,14.85,14.85
$STATE,1678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1678,begin apogee
$GC,1689,-0.19,0.0,3259,1884,3263,3339,180.4,-10.4,194,1811,0.40,0.00,109.00,0.889,10246,0.197,0.000,3388,1883,2699,2610,2788,0,0,0,0,0,0,14.56,14.28,13.87
$STATE,1813,end apogee,CONTROL_FINISHED_OK
$STATE,1813,begin climb
$GC,1818,0.57,146.6,3388,1883,2600,2783,186.3,0.0,206,1944,0.75,2.58,107.65,0.868,10756,0.142,0.120,3637,492,2095,1946,2245,0,0,0,0,0,0,14.23,14.02,13.71
$GC,1960,0.43,146.6,3637,494,1941,2241,177.2,11.7,229,1972,0.15,2.55,0.00,0.000,5126,0.234,0.099,3596,1899,2093,1946,2240,0,0,0,0,0,0,14.09,14.16,14.23
$GC,2154,0.43,146.6,3596,1899,1945,2241,155.6,10.9,248,2165,0.00,2.58,0.00,0.000,260,0.000,0.109,3596,3319,2092,1945,2240,0,0,0,0,0,0,14.59,14.38,14.61
$GC,2311,0.43,146.6,3596,3318,1944,2240,136.6,12.2,276,2322,0.00,2.53,0.00,0.000,1030,0.000,0.105,3596,1905,2091,1943,2240,0,0,0,0,0,0,14.54,14.45,14.56
$GC,2514,0.43,146.6,3596,1905,1940,2240,115.5,10.8,296,2525,0.00,2.55,0.00,0.000,260,0.000,0.111,3596,3317,2090,1943,2238,0,0,0,0,0,0,14.73,14.51,14.75
$GC,2630,0.44,154.8,3595,3317,1942,2240,103.6,9.6,316,2647,0.00,2.55,2.88,0.439,9222,0.000,0.103,3597,1896,2068,1917,2220,0,0,0,0,0,0,14.64,14.54,14.12
$GC,2829,0.44,154.8,3596,1896,1941,2222,83.5,10.9,336,2845,0.00,2.62,1.55,0.086,8452,0.000,0.110,3597,3318,2069,1921,2217,0,0,0,0,0,0,14.78,14.56,14.55
$GC,2907,0.44,154.8,3596,3318,1936,2218,75.6,10.9,348,2918,0.00,2.53,0.00,0.000,1030,0.000,0.105,3598,1902,2077,1936,2219,0,0,0,0,0,0,14.67,14.57,14.69
$GC,3110,0.48,207.6,3598,1905,1938,2223,58.7,7.6,368,3167,0.00,2.58,45.00,0.770,8452,0.000,0.109,3599,3319,1842,1697,1988,0,0,0,0,0,0,14.81,14.40,14.12
$GC,3334,0.57,229.7,3598,3319,1692,1985,38.6,9.0,408,3363,0.10,2.55,17.25,0.756,11270,0.139,0.106,3656,1898,1763,1610,1916,0,0,0,0,0,0,14.54,14.50,14.14
$GC,3544,0.51,229.7,3656,1898,1595,1901,15.6,11.6,430,3556,0.10,2.58,0.00,0.000,4356,0.257,0.109,3622,3318,1748,1595,1902,0,0,0,0,0,0,14.44,14.52,14.53
$STATE,3681,end climb,SURFACE_DEPTH_REACHED
$STATE,3681,begin surface coast
$FINISH,0.2,1.024157
$STATE,3735,end surface coast,CONTROL_FINISHED_OK
$STATE,3735,begin surface
$SM_CCo,3768,71.70,0.086,0,0,1068,400.08
$SM_GC,1.41,9.93,2.60,71.70,0.065,0.104,0.086,89,1902,1068,-10.46,0.40,400.08,0,0,0,0,0,0,14.57,14.55,14.55
$IRIDIUM_FIX,4726.11,-12505.82,160615,190655
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.59
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3936896
$24V_AH,13.61,2.226
$10V_AH,13.32,0.000
$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,26.125,56.375,283.325,71.700,0.000,0.000,0.000,0.000,0.000,0.000,9.877,1006.213,1345.149,446.505,860.962,268.358,0.000,989.356,0.000,698.899,0.000,0.538,0.000
$DEVICE_MAMPS,390.150,2229.210,888.930,85.680,0.000,0.000,0.000,0.000,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3706.000,104.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.769,6.693,0.000,0.000
$MEM,286444
$DATA_FILE_SIZE,16734,465
$CAP_FILE_SIZE,92013,0
$CFSIZE,260034560,255987712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,124.91,1
$GPS,160615,201756,4745.068,-12505.813,33,0.9,33,16.5,0.6,136.3,10,7.4