version: 66.12
glider: 187
mission: 8
dive: 24
start: 6 20 115 7 9 5
data:
$ID,187
$MISSION,8
$DIVE,24
$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,11
$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,0.00039999999
$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
$GPS1,200615,070039,4728.6484,-12540.8584,27,1.1,27,16.5,0.5,94.6,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-77.2
$GPS2,200615,070832,4728.6494,-12540.8154,3,1.0,4,16.5,0.5,116.5,10,8.4
$SPEED_LIMITS,0.143,0.224
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,226.9,113217,-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,30,-0.58,-116.8,93,1889,967,1171,0.0,0.0,0,111,0.00,0.00,-76.88,0.000,16390,0.000,0.000,93,1889,3181,3154,3208,0,0,0,0,0,0,14.57,13.70,14.59
$GC,118,-0.58,-116.8,93,1889,3155,3208,4.5,-7.4,8,142,13.48,2.58,0.00,0.000,2308,0.372,0.104,3212,3319,3183,3156,3211,0,0,0,0,0,0,14.21,14.37,14.42
$GC,377,-0.58,-116.8,3212,3318,3153,3218,72.2,-16.3,57,386,0.00,2.55,0.00,0.000,1030,0.000,0.100,3213,1900,3185,3152,3219,0,0,0,0,0,0,14.50,14.40,14.51
$GC,568,-0.58,-116.8,3212,1901,3149,3223,101.3,-13.7,76,576,0.00,2.58,0.00,0.000,260,0.000,0.106,3212,3321,3186,3150,3223,0,0,0,0,0,0,14.64,14.45,14.66
$GC,665,-0.58,-116.8,3211,3321,3150,3224,114.4,-13.8,93,673,0.00,2.55,0.00,0.000,1030,0.000,0.099,3215,1888,3187,3150,3224,0,0,0,0,0,0,14.54,14.46,14.56
$GC,855,-0.58,-116.8,3211,1888,3150,3232,137.7,-11.8,112,862,0.00,2.58,0.00,0.000,260,0.000,0.105,3211,3315,3187,3150,3225,0,0,0,0,0,0,14.66,14.46,14.69
$GC,958,-0.58,-116.8,3211,3314,3150,3229,149.0,-11.4,130,966,0.00,2.53,0.00,0.000,1030,0.000,0.097,3211,1901,3188,3150,3226,0,0,0,0,0,0,14.55,14.46,14.56
$GC,1157,-0.58,-116.8,3211,1901,3149,3226,171.5,-11.6,150,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1901,3187,3149,3226,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1347,-0.58,-116.8,3211,1901,3148,3226,192.4,-11.0,169,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1901,3187,3149,3226,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1537,-0.58,-116.8,3214,1901,3149,3227,211.9,-10.5,188,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1901,3187,3148,3227,0,0,0,0,0,0,14.71,14.73,14.72
$GC,1726,-0.58,-116.8,3211,1901,3148,3226,231.3,-10.1,207,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1901,3186,3146,3226,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1917,-0.58,-116.8,3211,1903,3147,3226,249.6,-9.6,226,1924,0.00,2.53,0.00,0.000,516,0.000,0.115,3211,474,3187,3147,3227,0,0,0,0,0,0,14.72,14.50,14.74
$GC,1969,-0.58,-116.8,3211,476,3147,3227,255.3,-10.7,235,1977,0.00,2.50,0.00,0.000,1030,0.000,0.093,3211,1911,3186,3146,3226,0,0,0,0,0,0,14.61,14.54,14.63
$GC,2298,-0.58,-116.8,3211,1911,3146,3223,288.4,-10.5,248,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1908,3186,3146,3226,0,0,0,0,0,0,14.73,14.76,14.75
$GC,2593,-0.58,-116.8,3211,1911,3145,3226,319.2,-10.1,258,2601,0.00,2.55,0.00,0.000,516,0.000,0.113,3211,488,3185,3144,3227,0,0,0,0,0,0,14.75,14.54,14.77
$GC,2652,-0.58,-116.8,3211,488,3145,3227,325.8,-11.9,268,2660,0.00,2.47,0.00,0.000,1030,0.000,0.096,3211,1894,3185,3144,3226,0,0,0,0,0,0,14.64,14.56,14.65
$GC,2976,-0.58,-116.8,3211,1893,3142,3226,359.1,-10.4,280,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1893,3184,3142,3226,0,0,0,0,0,0,14.76,14.77,14.80
$GC,3271,-0.58,-116.8,3210,1893,3141,3226,389.9,-10.1,290,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1893,3183,3141,3226,0,0,0,0,0,0,14.79,14.78,14.78
$GC,3571,-0.58,-116.8,3208,1893,3142,3226,419.6,-9.8,300,3579,0.00,2.53,0.00,0.000,516,0.000,0.116,3211,475,3183,3140,3226,0,0,0,0,0,0,14.78,14.54,14.78
$GC,3688,-0.58,-116.8,3211,475,3139,3226,432.3,-11.4,321,3696,0.00,2.53,0.00,0.000,1030,0.000,0.097,3211,1909,3182,3139,3226,0,0,0,0,0,0,14.68,14.57,14.66
$GC,4016,-0.58,-116.8,3211,1909,3138,3226,465.6,-9.9,334,4024,0.00,2.55,0.00,0.000,516,0.000,0.114,3212,492,3182,3138,3226,0,0,0,0,0,0,14.76,14.56,14.78
$GC,4085,-0.58,-116.8,3211,491,3138,3226,473.2,-10.5,346,4092,0.00,2.47,0.00,0.000,1030,0.000,0.098,3211,1893,3181,3137,3226,0,0,0,0,0,0,14.64,14.56,14.66
$GC,4427,-0.58,-116.8,3211,1894,3136,3226,505.2,-9.2,362,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1894,3184,3136,3232,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4724,-0.58,-116.8,3210,1894,3135,3226,531.7,-8.7,372,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1892,3179,3134,3224,0,0,0,0,0,0,14.76,14.78,14.81
$GC,5023,-0.58,-116.8,3211,1894,3133,3226,556.7,-8.5,382,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1894,3180,3134,3226,0,0,0,0,0,0,14.77,14.79,14.78
$GC,5324,-0.58,-116.8,3211,1894,3132,3226,581.3,-8.1,392,5332,0.00,2.55,0.00,0.000,260,0.000,0.112,3211,3316,3179,3132,3226,0,0,0,0,0,0,14.77,14.57,14.78
$GC,5366,-0.58,-116.8,3208,3316,3132,3226,584.9,-8.5,399,5375,0.00,2.53,0.00,0.000,1030,0.000,0.102,3211,1901,3176,3128,3225,0,0,0,0,0,0,14.66,14.57,14.67
$GC,5705,-0.58,-116.8,3211,1900,3130,3226,613.3,-8.7,414,5713,0.00,2.55,0.00,0.000,516,0.000,0.116,3211,478,3181,3136,3226,0,0,0,0,0,0,14.77,14.54,14.78
$GC,5754,-0.58,-116.8,3211,478,3130,3226,618.4,-9.7,422,5762,0.00,2.50,0.00,0.000,1030,0.000,0.099,3211,1902,3178,3130,3226,0,0,0,0,0,0,14.67,14.57,14.66
$GC,6087,-0.58,-116.8,3211,1901,3128,3226,647.0,-8.8,436,6095,0.00,2.55,0.00,0.000,516,0.000,0.118,3211,484,3176,3126,3226,0,0,0,0,0,0,14.76,14.56,14.78
$GC,6129,-0.58,-116.8,3211,485,3127,3222,651.4,-9.8,443,6138,0.00,2.50,0.00,0.000,1030,0.000,0.100,3211,1907,3176,3128,3225,0,0,0,0,0,0,14.65,14.57,14.66
$GC,6468,-0.58,-116.8,3208,1908,3127,3226,678.9,-7.9,458,6476,0.00,2.53,0.00,0.000,260,0.000,0.115,3211,3314,3176,3126,3226,0,0,0,0,0,0,14.76,14.57,14.78
$GC,6512,-0.58,-116.8,3211,3313,3126,3226,682.6,-8.1,465,6520,0.00,2.53,0.00,0.000,1030,0.000,0.101,3211,1898,3175,3125,3226,0,0,0,0,0,0,14.64,14.57,14.66
$GC,6851,-0.58,-116.8,3211,1897,3124,3226,708.5,-7.8,480,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1898,3175,3125,3226,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7146,-0.58,-116.8,3211,1897,3124,3226,732.4,-7.9,490,7153,0.00,2.55,0.00,0.000,516,0.000,0.118,3212,472,3173,3120,3226,0,0,0,0,0,0,14.76,14.54,14.78
$GC,7302,-0.58,-116.8,3211,472,3124,3226,746.7,-9.5,519,7312,0.00,2.53,0.00,0.000,1030,0.000,0.099,3211,1911,3175,3124,3227,0,0,0,0,0,0,14.65,14.57,14.66
$GC,7612,-0.58,-116.8,3211,1909,3128,3225,770.9,-7.8,530,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1909,3174,3123,3225,0,0,0,0,0,0,14.75,14.77,14.79
$GC,7909,-0.58,-116.8,3211,1909,3123,3225,792.5,-7.2,540,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1909,3174,3123,3225,0,0,0,0,0,0,14.76,14.77,14.77
$GC,8208,-0.58,-116.8,3211,1909,3123,3226,814.4,-7.4,550,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1909,3174,3123,3225,0,0,0,0,0,0,14.76,14.80,14.75
$GC,8509,-0.58,-116.8,3211,1909,3122,3225,836.1,-7.3,560,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1909,3173,3122,3225,0,0,0,0,0,0,14.76,14.78,14.77
$GC,8809,-0.58,-116.8,3211,1909,3122,3225,858.2,-7.3,570,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1909,3173,3121,3225,0,0,0,0,0,0,14.73,14.78,14.77
$GC,9109,-0.58,-116.8,3211,1909,3122,3225,881.3,-7.9,580,9117,0.00,2.58,0.00,0.000,516,0.000,0.119,3211,476,3173,3122,3225,0,0,0,0,0,0,14.76,14.53,14.77
$GC,9187,-0.58,-116.8,3211,476,3121,3223,888.8,-8.9,594,9195,0.00,2.50,0.00,0.000,1030,0.000,0.103,3211,1894,3173,3122,3225,0,0,0,0,0,0,14.64,14.54,14.66
$GC,9521,-0.58,-116.8,3211,1893,3121,3225,912.6,-7.1,608,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1894,3172,3121,3224,0,0,0,0,0,0,14.73,14.75,14.76
$GC,9816,-0.58,-116.8,3212,1893,3121,3225,933.6,-7.0,618,9823,0.00,2.55,0.00,0.000,516,0.000,0.119,3208,478,3173,3121,3226,0,0,0,0,0,0,14.75,14.52,14.77
$GC,9968,-0.58,-116.8,3212,474,3120,3223,945.4,-5.2,646,9975,0.00,2.53,0.00,0.000,1030,0.000,0.100,3211,1911,3170,3120,3221,0,0,0,0,0,0,14.63,14.55,14.64
$GC,10291,-0.58,-116.8,3215,1910,3120,3223,966.8,-6.6,658,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1914,3171,3120,3223,0,0,0,0,0,0,14.74,14.76,14.76
$GC,10587,-0.58,-116.8,3211,1910,3121,3220,985.8,-6.4,668,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1910,3171,3119,3223,0,0,0,0,0,0,14.74,14.76,14.76
$STATE,10671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10671,begin apogee
$GC,10683,-0.23,0.0,3208,2195,3119,3223,991.6,-6.4,671,10782,0.40,0.00,93.70,1.902,10246,0.205,0.000,3332,2195,2701,2620,2783,0,0,0,0,0,0,14.50,13.85,13.21
$STATE,10786,end apogee,CONTROL_FINISHED_OK
$STATE,10786,begin climb
$GC,10791,0.58,116.8,3332,2195,2617,2782,994.5,0.0,674,10897,0.80,0.00,96.93,1.863,10502,0.138,0.000,3592,2194,2222,2086,2358,0,0,0,0,0,0,13.85,13.64,13.02
$GC,11186,0.58,116.8,3592,2195,2084,2355,945.2,13.8,698,11197,0.00,2.65,0.00,0.000,260,0.000,0.117,3592,3618,2219,2084,2355,0,0,0,0,0,0,14.40,14.20,14.42
$GC,11287,0.58,116.8,3591,3619,2080,2355,931.1,15.2,715,11300,0.00,2.62,0.00,0.000,1030,0.000,0.106,3600,2184,2217,2084,2351,0,0,0,0,0,0,14.35,14.28,14.38
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$STATE,18393,end climb,SURFACE_DEPTH_REACHED
$STATE,18393,begin surface coast
$FINISH,0.2,1.023602
$STATE,18444,end surface coast,CONTROL_FINISHED_OK
$STATE,18444,begin surface
$SM_CCo,18475,62.58,0.086,0,0,1068,400.08
$SM_GC,0.97,9.82,0.55,62.58,0.048,0.106,0.086,87,1899,1068,-10.33,0.48,400.08,0,0,0,0,0,0,14.49,14.47,14.45
$IRIDIUM_FIX,4713.38,-12535.60,200615,014321
$TT8_MAMPS,0.020972,0.020972
$HUMID,46.22
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3928832
$24V_AH,13.02,7.063
$10V_AH,13.36,0.000
$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,24.500,138.700,284.075,62.575,0.000,0.000,0.000,221.675,0.000,0.000,6.152,2840.071,12185.814,572.121,2507.244,891.696,0.000,2126.303,0.000,1964.080,0.000,0.536,0.000
$DEVICE_MAMPS,371.790,120.870,1901.790,85.680,0.000,0.000,0.000,156.825,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18464.000,10933.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.867,8.950,0.000,0.000
$MEM,286416
$DATA_FILE_SIZE,43281,1282
$CAP_FILE_SIZE,211671,0
$CFSIZE,260034560,253997056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,40.87,1
$GPS,200615,121932,4728.032,-12542.955,33,0.7,33,16.5,0.6,115.4,9,4.4