version: 66.12
glider: 187
mission: 8
dive: 22
start: 6 19 115 20 12 1
data:
$ID,187
$MISSION,8
$DIVE,22
$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,400
$T_MISSION,420
$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,120
$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,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,3415
$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
$PITCH_ADJ_DBAND,0
$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,12
$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,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
$GPS1,190615,200327,4730.2202,-12537.4463,33,1.5,33,16.5,0.5,176.6,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.4
$GPS2,190615,201128,4730.1099,-12537.3906,2,1.4,5,16.5,0.6,150.3,8,9.6
$SPEED_LIMITS,0.143,0.224
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,229.9,118307,-15.9,-8.250,-20.22,2175
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.58,-116.8,90,1891,969,1168,0.0,0.0,0,112,0.00,0.00,-77.62,0.000,16386,0.000,0.000,92,1891,3174,3147,3202,0,0,0,0,0,0,14.57,28.83,14.57
$GC,119,-0.58,-116.8,97,1889,3148,3203,4.0,-6.0,8,143,13.52,2.55,0.00,0.000,2308,0.375,0.103,3210,3313,3178,3149,3207,0,0,0,0,0,0,14.21,14.35,14.42
$GC,377,-0.58,-116.8,3210,3310,3146,3213,68.0,-16.0,57,386,0.00,2.55,0.00,0.000,1030,0.000,0.101,3210,1890,3177,3141,3213,0,0,0,0,0,0,14.51,14.41,14.50
$GC,568,-0.58,-116.8,3215,1889,3142,3219,96.1,-14.5,76,575,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1890,3180,3142,3219,0,0,0,0,0,0,14.64,14.66,14.66
$GC,757,-0.58,-116.8,3215,1890,3141,3221,119.2,-12.0,95,765,0.00,2.58,0.00,0.000,260,0.000,0.108,3211,3314,3181,3141,3221,0,0,0,0,0,0,14.66,14.44,14.67
$GC,827,-0.58,-116.8,3210,3314,3141,3220,127.9,-12.4,107,835,0.00,2.53,0.00,0.000,1030,0.000,0.098,3210,1900,3181,3141,3221,0,0,0,0,0,0,14.56,14.50,14.57
$GC,1026,-0.58,-116.8,3206,1900,3141,3219,152.0,-11.9,127,1035,0.00,2.53,0.00,0.000,260,0.000,0.106,3210,3310,3183,3141,3226,0,0,0,0,0,0,14.68,14.47,14.69
$GC,1066,-0.58,-116.8,3209,3310,3141,3222,156.9,-12.4,133,1073,0.00,2.53,0.00,0.000,1030,0.000,0.098,3211,1900,3180,3141,3220,0,0,0,0,0,0,14.57,14.48,14.58
$GC,1264,-0.58,-116.8,3210,1900,3141,3223,180.9,-11.9,153,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1900,3184,3141,3227,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1455,-0.58,-116.8,3209,1905,3141,3223,202.3,-10.9,172,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1900,3181,3140,3223,0,0,0,0,0,0,14.69,14.73,14.71
$GC,1644,-0.58,-116.8,3209,1901,3140,3223,224.0,-11.1,191,1653,0.00,2.53,0.00,0.000,516,0.000,0.113,3210,481,3181,3140,3223,0,0,0,0,0,0,14.71,14.50,14.73
$GC,1762,-0.58,-116.8,3208,480,3140,3223,238.3,-12.2,212,1771,0.00,2.50,0.00,0.000,1030,0.000,0.094,3210,1900,3181,3140,3223,0,0,0,0,0,0,14.60,14.53,14.62
$GC,1962,-0.58,-116.8,3210,1900,3139,3223,260.3,-10.7,226,1970,0.00,2.55,0.00,0.000,516,0.000,0.113,3210,475,3181,3139,3223,0,0,0,0,0,0,14.75,14.48,14.73
$GC,2031,-0.58,-116.8,3210,475,3139,3223,268.2,-11.9,238,2038,0.00,2.53,0.00,0.000,1030,0.000,0.094,3209,1908,3181,3139,3223,0,0,0,0,0,0,14.62,14.54,14.63
$GC,2373,-0.58,-116.8,3209,1900,3132,3223,302.0,-9.4,254,2381,0.00,2.50,0.00,0.000,260,0.000,0.108,3210,3313,3180,3138,3223,0,0,0,0,0,0,14.73,14.52,14.75
$GC,2472,-0.58,-116.8,3210,3312,3137,3222,311.4,-9.1,272,2480,0.00,2.53,0.00,0.000,1030,0.000,0.100,3210,1891,3180,3138,3222,0,0,0,0,0,0,14.62,14.54,14.64
$GC,2816,-0.58,-116.8,3210,1891,3136,3222,342.6,-9.4,288,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1891,3179,3136,3222,0,0,0,0,0,0,14.75,14.77,14.76
$GC,3111,-0.58,-116.8,3210,1891,3134,3222,371.5,-9.8,298,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1889,3178,3135,3222,0,0,0,0,0,0,14.76,14.77,14.76
$GC,3411,-0.58,-116.8,3209,1891,3133,3223,400.6,-9.8,308,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1891,3180,3138,3222,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3711,-0.58,-116.8,3209,1891,3132,3222,429.4,-9.7,318,3718,0.00,2.50,0.00,0.000,516,0.000,0.118,3206,492,3177,3132,3223,0,0,0,0,0,0,14.76,14.56,14.78
$GC,3774,-0.58,-116.8,3209,492,3132,3223,436.0,-10.6,329,3782,0.00,2.45,0.00,0.000,1030,0.000,0.099,3210,1893,3177,3132,3222,0,0,0,0,0,0,14.65,14.56,14.66
$GC,4084,-0.58,-116.8,3215,1893,3130,3223,464.4,-8.9,340,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1893,3178,3135,3222,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4379,-0.58,-116.8,3210,1893,3129,3223,491.7,-9.1,350,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1893,3176,3129,3223,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4680,-0.58,-116.8,3209,1893,3127,3223,520.4,-9.6,360,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1893,3174,3127,3221,0,0,0,0,0,0,14.76,14.78,14.81
$GC,4979,-0.58,-116.8,3209,1893,3125,3223,547.0,-8.6,370,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1890,3171,3125,3218,0,0,0,0,0,0,14.76,14.79,14.78
$GC,5281,-0.58,-116.8,3209,1892,3124,3223,571.3,-7.8,380,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1893,3173,3124,3223,0,0,0,0,0,0,14.78,14.79,14.79
$GC,5580,-0.58,-116.8,3206,1893,3123,3223,595.3,-8.1,390,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1893,3172,3123,3222,0,0,0,0,0,0,14.76,14.77,14.78
$GC,5880,-0.58,-116.8,3209,1893,3123,3223,620.4,-8.4,400,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1895,3173,3123,3223,0,0,0,0,0,0,14.77,14.79,14.78
$GC,6180,-0.58,-116.8,3208,1896,3122,3222,647.5,-9.3,410,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1893,3172,3122,3223,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6481,-0.58,-116.8,3209,1897,3121,3222,670.4,-7.1,420,6488,0.00,2.55,0.00,0.000,260,0.000,0.109,3210,3316,3172,3122,3222,0,0,0,0,0,0,14.77,14.57,14.78
$GC,6723,-0.58,-116.8,3210,3316,3121,3222,687.0,-6.7,466,6730,0.00,2.53,0.00,0.000,1030,0.000,0.105,3210,1902,3171,3121,3221,0,0,0,0,0,0,14.64,14.55,14.66
$GC,7046,-0.58,-116.8,3209,1902,3118,3222,707.0,-6.2,478,7053,0.00,2.55,0.00,0.000,516,0.000,0.120,3210,491,3170,3118,3222,0,0,0,0,0,0,14.76,14.55,14.78
$GC,7192,-0.58,-116.8,3209,490,3119,3222,716.8,-6.2,505,7200,0.00,2.50,0.00,0.000,1030,0.000,0.098,3210,1911,3170,3119,3222,0,0,0,0,0,0,14.63,14.57,14.64
$GC,7521,-0.58,-116.8,3205,1910,3117,3222,733.8,-5.2,518,7528,0.00,2.47,0.00,0.000,260,0.000,0.110,3210,3293,3170,3118,3222,0,0,0,0,0,0,14.76,14.59,14.77
$GC,7763,-0.58,-116.8,3210,3296,3117,3217,747.8,-5.8,564,7771,0.00,2.50,0.00,0.000,1030,0.000,0.107,3209,1902,3169,3117,3222,0,0,0,0,0,0,14.63,14.54,14.65
$GC,8087,-0.58,-116.8,3210,1901,3116,3222,765.4,-5.5,576,8095,0.00,2.55,0.00,0.000,516,0.000,0.122,3210,477,3169,3116,3222,0,0,0,0,0,0,14.75,14.52,14.75
$GC,8275,-0.58,-116.8,3209,476,3123,3222,778.6,-6.9,611,8284,0.00,2.50,0.00,0.000,1030,0.000,0.098,3210,1896,3169,3116,3222,0,0,0,0,0,0,14.63,14.54,14.65
$GC,8584,-0.58,-116.8,3209,1896,3115,3222,798.5,-6.6,622,8592,0.00,2.53,0.00,0.000,260,0.000,0.109,3209,3314,3168,3115,3221,0,0,0,0,0,0,14.74,14.53,14.76
$GC,8828,-0.58,-116.8,3209,3314,3115,3221,814.8,-6.9,668,8836,0.00,2.55,0.00,0.000,1030,0.000,0.105,3210,1893,3168,3115,3221,0,0,0,0,0,0,14.62,14.54,14.64
$GC,9152,-0.58,-116.8,3210,1891,3114,3221,836.6,-6.6,680,9159,0.00,2.53,0.00,0.000,516,0.000,0.122,3210,492,3168,3115,3221,0,0,0,0,0,0,14.73,14.53,14.75
$GC,9365,-0.58,-116.8,3209,492,3114,3221,852.2,-7.0,720,9372,0.00,2.50,0.00,0.000,1030,0.000,0.099,3210,1914,3167,3114,3221,0,0,0,0,0,0,14.62,14.53,14.64
$GC,9688,-0.58,-116.8,3209,1914,3109,3221,871.3,-6.0,732,9696,0.00,2.50,0.00,0.000,260,0.000,0.110,3215,3315,3167,3114,3220,0,0,0,0,0,0,14.73,14.52,14.75
$GC,9931,-0.58,-116.8,3210,3315,3114,3220,886.9,-6.2,778,9939,0.00,2.53,0.00,0.000,1030,0.000,0.103,3210,1901,3164,3109,3220,0,0,0,0,0,0,14.62,14.53,14.64
$GC,10254,-0.58,-116.8,3209,1900,3113,3220,906.1,-6.1,790,10262,0.00,2.55,0.00,0.000,260,0.000,0.112,3206,3314,3167,3116,3219,0,0,0,0,0,0,14.73,14.52,14.76
$GC,10437,-0.58,-116.8,3210,3316,3112,3219,917.8,-5.7,824,10445,0.00,2.53,0.00,0.000,1030,0.000,0.103,3209,1902,3166,3113,3219,0,0,0,0,0,0,14.59,14.52,14.61
$GC,10761,-0.58,-116.8,3209,1900,3112,3223,936.8,-6.0,836,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1898,3163,3108,3219,0,0,0,0,0,0,14.73,14.75,14.75
$GC,11056,-0.58,-116.8,3209,1901,3111,3219,956.0,-6.5,846,11064,0.00,2.55,0.00,0.000,516,0.000,0.121,3210,479,3165,3112,3219,0,0,0,0,0,0,14.73,14.54,14.77
$GC,11161,-0.58,-116.8,3210,479,3112,3219,964.4,-8.0,864,11169,0.00,2.53,0.00,0.000,1030,0.000,0.100,3212,1894,3165,3112,3219,0,0,0,0,0,0,14.62,14.54,14.64
$GC,11501,-0.58,-116.8,3210,1893,3111,3219,987.5,-7.0,880,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1893,3165,3112,3219,0,0,0,0,0,0,14.73,14.74,14.76
$STATE,11555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11555,begin apogee
$GC,11567,-0.23,0.0,3210,2213,3112,3218,991.6,-6.9,882,11665,0.43,0.00,92.88,1.902,10246,0.204,0.000,3337,2213,2700,2618,2783,0,0,0,0,0,0,14.48,13.84,13.20
$STATE,11668,end apogee,CONTROL_FINISHED_OK
$STATE,11668,begin climb
$GC,11673,0.58,116.8,3337,2213,2613,2781,994.6,0.0,885,11779,0.80,0.00,97.12,1.857,10246,0.140,0.000,3595,2213,2224,2088,2361,0,0,0,0,0,0,13.83,13.64,13.02
$GC,12070,0.58,116.8,3595,2214,2088,2358,941.6,15.1,899,12081,0.00,2.58,0.00,0.000,260,0.000,0.116,3595,3609,2223,2088,2358,0,0,0,0,0,0,14.42,14.19,14.42
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$STATE,19374,end climb,SURFACE_DEPTH_REACHED
$STATE,19375,begin surface coast
$FINISH,0.1,1.014816
$STATE,19426,end surface coast,CONTROL_FINISHED_OK
$STATE,19426,begin surface
$SM_CCo,19460,53.30,0.084,0,0,1068,400.08
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$TT8_MAMPS,0.020223,0.020223
$HUMID,46.61
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3929600
$24V_AH,13.02,6.558
$10V_AH,13.36,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.775,163.775,304.475,53.300,0.000,0.000,0.000,227.500,0.000,0.000,7.391,3203.634,12370.578,615.040,2839.213,950.885,0.000,2323.234,0.000,2312.357,0.000,0.536,0.000
$DEVICE_MAMPS,374.850,121.635,1901.790,84.150,0.000,0.000,0.000,154.530,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19447.000,11820.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.809,8.953,0.000,0.000
$MEM,286384
$DATA_FILE_SIZE,53323,1501
$CAP_FILE_SIZE,228133,0
$CFSIZE,260034560,254173184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,43.72,1
$GPS,200615,013832,4729.861,-12539.173,21,0.8,21,16.5,0.2,0.0,10,6.7