version: 66.12
glider: 187
mission: 8
dive: 17
start: 6 18 115 17 14 14
data:
$ID,187
$MISSION,8
$DIVE,17
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,360
$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,1.0275
$MASS,53572
$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,350
$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,3435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,19
$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,0.00039999999
$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
$GPS1,180615,170432,4735.1367,-12527.3359,31,0.8,31,16.5,0.1,0.0,11,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-79.6
$GPS2,180615,171344,4735.0815,-12527.3164,2,0.7,3,16.5,0.1,0.0,12,7.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,226.9,133886,-16.9,-10.000,-20.78,2244
$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,27,-0.62,-146.0,95,1892,1177,1377,0.0,0.0,0,110,0.00,0.00,-74.90,0.000,16390,0.000,0.000,95,1893,3296,3279,3313,0,0,0,0,0,0,14.57,13.64,14.59
$GC,117,-0.62,-146.0,95,1893,3282,3314,4.9,-7.8,8,145,13.80,2.55,0.00,0.000,2308,0.384,0.103,3222,3312,3302,3282,3323,0,0,0,0,0,0,14.20,14.33,14.41
$GC,353,-0.53,-146.0,3216,3311,3280,3324,68.3,-17.4,51,366,0.17,2.58,0.00,0.000,3078,0.260,0.103,3257,1901,3304,3284,3324,0,0,0,0,0,0,14.33,14.42,14.49
$GC,548,-0.49,-146.0,3252,1900,3276,3329,93.4,-11.5,70,559,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1898,3303,3277,3329,0,0,0,0,0,0,14.65,14.67,14.67
$GC,740,-0.49,-146.0,3257,1900,3277,3330,113.8,-10.7,89,751,0.00,2.55,0.00,0.000,260,0.000,0.110,3257,3314,3303,3276,3330,0,0,0,0,0,0,14.69,14.46,14.70
$GC,826,-0.49,-146.0,3256,3313,3277,3333,121.7,-9.2,103,838,0.00,2.53,0.00,0.000,1030,0.000,0.099,3257,1898,3303,3277,3330,0,0,0,0,0,0,14.58,14.50,14.59
$GC,1029,-0.49,-146.0,3257,1898,3271,3331,141.6,-9.4,123,1041,0.00,2.53,0.00,0.000,260,0.000,0.107,3257,3312,3303,3276,3330,0,0,0,0,0,0,14.71,14.49,14.72
$GC,1178,-0.49,-146.0,3257,3312,3276,3330,155.0,-8.8,150,1190,0.00,2.53,0.00,0.000,1030,0.000,0.097,3257,1887,3301,3276,3327,0,0,0,0,0,0,14.61,14.52,14.63
$GC,1371,-0.49,-146.0,3257,1886,3276,3331,171.8,-8.4,169,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1886,3303,3276,3330,0,0,0,0,0,0,14.73,14.74,14.74
$GC,1564,-0.49,-146.0,3256,1886,3275,3331,187.7,-8.1,188,1575,0.00,2.55,0.00,0.000,260,0.000,0.108,3257,3313,3302,3275,3330,0,0,0,0,0,0,14.73,14.52,14.75
$GC,1661,-0.49,-146.0,3258,3313,3275,3327,194.9,-7.5,204,1672,0.00,2.50,0.00,0.000,1030,0.000,0.099,3257,1904,3302,3275,3330,0,0,0,0,0,0,14.59,14.52,14.62
$GC,1864,-0.49,-146.0,3256,1904,3274,3331,210.3,-7.7,224,1875,0.00,2.50,0.00,0.000,260,0.000,0.106,3257,3313,3301,3273,3330,0,0,0,0,0,0,14.75,14.54,14.76
$GC,1960,-0.49,-146.0,3256,3312,3274,3331,217.7,-7.8,240,1971,0.00,2.50,0.00,0.000,1030,0.000,0.099,3257,1901,3303,3273,3334,0,0,0,0,0,0,14.62,14.54,14.64
$GC,2163,-0.49,-146.0,3257,1902,3273,3332,234.1,-7.9,260,2174,0.00,2.53,0.00,0.000,260,0.000,0.105,3254,3315,3301,3273,3330,0,0,0,0,0,0,14.76,14.56,14.78
$GC,2269,-0.49,-146.0,3256,3315,3273,3331,242.5,-8.0,278,2280,0.00,2.53,0.00,0.000,1030,0.000,0.098,3257,1899,3302,3273,3331,0,0,0,0,0,0,14.65,14.57,14.66
$GC,2482,-0.49,-146.0,3257,1900,3272,3331,260.6,-8.6,291,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1899,3302,3273,3331,0,0,0,0,0,0,14.77,14.79,14.79
$GC,2786,-0.49,-146.0,3257,1899,3272,3331,285.9,-8.1,301,2798,0.00,2.53,0.00,0.000,260,0.000,0.108,3257,3313,3300,3271,3330,0,0,0,0,0,0,14.76,14.57,14.80
$GC,2863,-0.49,-146.0,3257,3312,3271,3333,292.3,-7.6,314,2875,0.00,2.53,0.00,0.000,1030,0.000,0.100,3257,1884,3300,3270,3330,0,0,0,0,0,0,14.67,14.58,14.69
$GC,3201,-0.49,-146.0,3257,1884,3269,3331,319.7,-8.2,329,3212,0.00,2.58,0.00,0.000,260,0.000,0.106,3257,3314,3300,3269,3331,0,0,0,0,0,0,14.79,14.58,14.81
$GC,3268,-0.49,-146.0,3257,3311,3269,3331,325.2,-8.1,340,3280,0.00,2.50,0.00,0.000,1030,0.000,0.099,3257,1902,3300,3269,3331,0,0,0,0,0,0,14.68,14.60,14.69
$GC,3578,-0.49,-146.0,3257,1903,3268,3330,352.0,-8.9,351,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1903,3299,3269,3330,0,0,0,0,0,0,14.80,14.82,14.81
$GC,3878,-0.49,-146.0,3257,1903,3268,3330,377.3,-8.5,361,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1903,3298,3268,3328,0,0,0,0,0,0,14.80,14.82,14.82
$GC,4177,-0.49,-146.0,3257,1900,3266,3331,401.4,-8.0,371,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1903,3299,3267,3331,0,0,0,0,0,0,14.81,14.83,14.82
$GC,4478,-0.49,-146.0,3257,1903,3266,3330,425.3,-8.0,381,4489,0.00,2.53,0.00,0.000,260,0.000,0.109,3257,3314,3298,3266,3331,0,0,0,0,0,0,14.84,14.60,14.83
$GC,4574,-0.53,-146.0,3257,3314,3265,3332,433.0,-7.9,397,4585,0.00,2.50,0.00,0.000,1030,0.000,0.102,3257,1902,3297,3265,3330,0,0,0,0,0,0,14.70,14.60,14.71
$GC,4896,-0.53,-146.0,3256,1902,3265,3331,458.0,-7.4,409,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1902,3298,3265,3331,0,0,0,0,0,0,14.81,14.83,14.83
$GC,5201,-0.56,-146.0,3257,1902,3264,3331,480.5,-7.5,419,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1902,3297,3264,3331,0,0,0,0,0,0,14.82,14.83,14.83
$GC,5501,-0.59,-146.0,3257,1902,3263,3331,500.5,-6.3,429,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1902,3296,3263,3330,0,0,0,0,0,0,14.80,14.83,14.83
$GC,5801,-0.63,-146.0,3256,1902,3263,3331,521.3,-7.5,439,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1902,3296,3262,3331,0,0,0,0,0,0,14.82,14.84,14.83
$GC,6101,-0.67,-146.0,3254,1902,3261,3331,542.4,-6.5,449,6112,0.10,0.00,0.00,0.000,4102,0.142,0.000,3203,1902,3295,3261,3330,0,0,0,0,0,0,14.66,14.73,14.71
$GC,6401,-0.63,-146.0,3203,1901,3258,3331,569.9,-9.4,459,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1901,3294,3258,3330,0,0,0,0,0,0,14.82,14.84,14.83
$GC,6701,-0.59,-146.0,3209,1901,3257,3332,598.0,-9.5,469,6712,0.12,0.00,0.00,0.000,2054,0.243,0.000,3239,1901,3293,3257,3330,0,0,0,0,0,0,14.57,14.72,14.69
$GC,7000,-0.59,-146.0,3239,1901,3255,3331,621.6,-7.8,479,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1901,3293,3256,3331,0,0,0,0,0,0,14.82,14.84,14.83
$GC,7300,-0.59,-146.0,3239,1901,3255,3330,644.3,-7.4,489,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1901,3293,3255,3331,0,0,0,0,0,0,14.82,14.83,14.83
$GC,7601,-0.59,-146.0,3239,1901,3254,3331,665.5,-7.0,499,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1901,3292,3254,3331,0,0,0,0,0,0,14.81,14.84,14.83
$GC,7900,-0.59,-146.0,3239,1901,3254,3331,685.0,-6.2,509,7911,0.00,2.55,0.00,0.000,260,0.000,0.113,3239,3314,3295,3261,3330,0,0,0,0,0,0,14.81,14.59,14.84
$GC,7948,-0.62,-146.0,3239,3314,3253,3330,688.0,-5.7,516,7959,0.00,2.53,0.00,0.000,1030,0.000,0.103,3239,1898,3292,3253,3331,0,0,0,0,0,0,14.71,14.62,14.72
$GC,8286,-0.62,-146.0,3239,1903,3253,3330,707.9,-6.3,531,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1897,3291,3253,3330,0,0,0,0,0,0,14.81,14.86,14.83
$GC,8590,-0.62,-146.0,3239,1898,3253,3328,728.5,-7.0,541,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1898,3288,3248,3329,0,0,0,0,0,0,14.81,14.83,14.83
$GC,8890,-0.62,-146.0,3239,1898,3252,3330,749.1,-7.2,551,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1898,3292,3253,3331,0,0,0,0,0,0,14.82,14.84,14.81
$GC,9191,-0.62,-146.0,3239,1898,3252,3329,769.7,-6.5,561,9202,0.00,2.53,0.00,0.000,516,0.000,0.122,3236,488,3288,3247,3330,0,0,0,0,0,0,14.81,14.59,14.83
$GC,9301,-0.62,-146.0,3239,488,3252,3330,777.5,-6.6,580,9312,0.00,2.50,0.00,0.000,1030,0.000,0.102,3239,1898,3291,3252,3331,0,0,0,0,0,0,14.70,14.62,14.71
$GC,9638,-0.62,-146.0,3239,1898,3251,3330,797.9,-6.7,595,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1898,3288,3246,3330,0,0,0,0,0,0,14.81,14.83,14.83
$GC,9943,-0.65,-146.0,3239,1898,3250,3335,818.4,-6.8,605,9954,0.00,2.55,0.00,0.000,260,0.000,0.116,3239,3318,3290,3250,3330,0,0,0,0,0,0,14.81,14.61,14.83
$GC,10074,-0.69,-146.0,3239,3316,3249,3330,825.7,-5.9,628,10086,0.00,2.55,0.00,0.000,1030,0.000,0.108,3239,1885,3289,3249,3330,0,0,0,0,0,0,14.68,14.59,14.71
$GC,10384,-0.72,-146.0,3236,1885,3248,3330,840.5,-4.7,639,10395,0.10,0.00,0.00,0.000,4102,0.143,0.000,3184,1885,3289,3249,3330,0,0,0,0,0,0,14.62,14.71,14.69
$GC,10684,-0.67,-146.0,3184,1884,3247,3330,875.0,-12.2,649,10695,0.08,2.60,0.00,0.000,2308,0.285,0.112,3210,3315,3288,3247,3330,0,0,0,0,0,0,14.52,14.59,14.62
$GC,10764,-0.67,-146.0,3210,3314,3245,3330,880.8,-5.5,662,10776,0.00,2.53,0.00,0.000,1030,0.000,0.108,3210,1904,3289,3248,3330,0,0,0,0,0,0,14.68,14.59,14.71
$STATE,10827,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10827,begin apogee
$GC,10839,-0.23,0.0,3214,2213,3247,3330,883.6,-3.6,668,10963,0.47,0.00,115.32,1.781,10246,0.210,0.000,3352,2213,2700,2614,2786,0,0,0,0,0,0,14.53,13.82,13.20
$STATE,10965,end apogee,CONTROL_FINISHED_OK
$STATE,10965,begin climb
$GC,10970,0.62,146.0,3352,2213,2610,2785,887.6,0.0,672,11108,0.88,2.72,118.03,1.732,10500,0.151,0.112,3628,3608,2100,1953,2248,0,0,0,0,0,0,13.81,13.62,13.06
$GC,11344,0.50,146.0,3628,3608,1956,2246,841.0,15.9,744,11356,0.17,2.62,0.00,0.000,5126,0.267,0.105,3598,2199,2101,1956,2246,0,0,0,0,0,0,14.12,14.19,14.26
$GC,11687,0.45,146.0,3598,2199,1959,2246,794.0,12.7,760,11698,0.00,2.60,0.00,0.000,260,0.000,0.115,3598,3610,2102,1959,2246,0,0,0,0,0,0,14.56,14.34,14.57
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$STATE,18921,end climb,SURFACE_DEPTH_REACHED
$STATE,18921,begin surface coast
$FINISH,0.1,1.023916
$STATE,18967,end surface coast,CONTROL_FINISHED_OK
$STATE,18967,begin surface
$SM_CCo,18997,13.12,0.086,0,0,1272,350.04
$SM_GC,0.88,9.88,0.55,13.12,0.051,0.117,0.086,90,1899,1272,-10.39,0.51,350.04,0,0,0,0,0,0,14.46,14.45,14.45
$IRIDIUM_FIX,4716.56,-12521.50,180615,122427
$TT8_MAMPS,0.020223,0.020223
$HUMID,49.88
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3931520
$24V_AH,13.06,5.265
$10V_AH,12.96,0.000
$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,26.125,133.750,367.750,13.125,0.000,0.000,0.000,270.425,0.000,0.000,5.010,2819.378,12388.926,576.042,2757.117,1005.760,0.000,2429.148,0.000,1920.505,0.000,0.538,0.000
$DEVICE_MAMPS,384.030,121.635,1780.920,86.445,0.000,0.000,0.000,141.525,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18987.000,484.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.805,6.751,0.000,0.000
$MEM,286408
$DATA_FILE_SIZE,43283,1248
$CAP_FILE_SIZE,234030,0
$CFSIZE,260034560,254676992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,14.90,1
$GPS,180615,223232,4734.695,-12530.348,30,0.8,30,16.5,0.2,346.8,9,7.6