version: 66.12
glider: 187
mission: 8
dive: 25
start: 6 20 115 12 29 11
data:
$ID,187
$MISSION,8
$DIVE,25
$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,14
$R_STBD_OVSHOOT,17
$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
$GPS1,200615,121932,4728.0317,-12542.9551,33,0.7,33,16.5,0.6,115.4,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-79.0
$GPS2,200615,122842,4728.0659,-12542.8799,3,0.6,5,16.5,0.4,43.6,12,5.6
$SPEED_LIMITS,0.143,0.224
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,219.1,110408,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.58,-116.8,84,1890,968,1171,0.0,0.0,0,111,0.00,0.00,-76.32,0.000,16386,0.000,0.000,84,1890,3130,3099,3161,0,0,0,0,0,0,14.57,28.83,14.59
$GC,118,-0.58,-116.8,83,1885,3099,3162,3.7,-5.4,8,146,13.55,2.75,-0.75,0.000,18692,0.373,2.232,3213,3314,3181,3148,3215,0,0,0,0,0,0,14.22,13.61,14.45
$GC,383,-0.58,-116.8,3212,3312,3145,3221,71.7,-17.3,57,395,0.00,2.53,0.00,0.000,1030,0.000,0.099,3213,1902,3182,3144,3221,0,0,0,0,0,0,14.51,14.39,14.50
$GC,577,-0.58,-116.8,3212,1901,3142,3225,100.3,-13.3,76,588,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1899,3184,3143,3225,0,0,0,0,0,0,14.64,14.66,14.64
$GC,769,-0.58,-116.8,3211,1902,3142,3226,124.0,-12.3,95,780,0.00,2.55,0.00,0.000,260,0.000,0.108,3211,3314,3184,3142,3226,0,0,0,0,0,0,14.66,14.46,14.69
$GC,915,-0.58,-116.8,3211,3313,3142,3226,142.4,-12.4,121,926,0.00,2.53,0.00,0.000,1030,0.000,0.096,3211,1901,3184,3142,3226,0,0,0,0,0,0,14.58,14.50,14.59
$GC,1117,-0.58,-116.8,3211,1901,3142,3227,166.2,-11.9,141,1128,0.00,2.50,0.00,0.000,516,0.000,0.110,3211,487,3184,3142,3227,0,0,0,0,0,0,14.71,14.53,14.72
$GC,1236,-0.58,-116.8,3211,486,3142,3227,181.7,-12.7,162,1248,0.00,2.47,0.00,0.000,1030,0.000,0.092,3213,1910,3184,3142,3227,0,0,0,0,0,0,14.61,14.53,14.66
$GC,1430,-0.58,-116.8,3211,1910,3137,3227,204.5,-11.6,181,1441,0.00,2.47,0.00,0.000,260,0.000,0.106,3211,3315,3185,3143,3227,0,0,0,0,0,0,14.73,14.52,14.75
$GC,1516,-0.58,-116.8,3211,3314,3141,3226,214.0,-11.0,195,1527,0.00,2.50,0.00,0.000,1030,0.000,0.096,3211,1900,3184,3141,3227,0,0,0,0,0,0,14.62,14.54,14.64
$GC,1718,-0.58,-116.8,3212,1900,3141,3227,236.0,-10.3,215,1729,0.00,2.50,0.00,0.000,516,0.000,0.110,3211,481,3184,3141,3227,0,0,0,0,0,0,14.73,14.57,14.76
$GC,1833,-0.58,-116.8,3211,481,3147,3227,248.8,-11.7,235,1844,0.00,2.50,0.00,0.000,1030,0.000,0.094,3211,1907,3182,3138,3227,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2036,-0.58,-116.8,3211,1907,3140,3227,268.5,-9.6,243,2047,0.00,2.47,0.00,0.000,260,0.000,0.109,3211,3314,3183,3140,3227,0,0,0,0,0,0,14.76,14.55,14.79
$GC,2108,-0.58,-116.8,3211,3314,3139,3227,275.4,-9.5,255,2120,0.00,2.55,0.00,0.000,1030,0.000,0.099,3211,1884,3181,3140,3223,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2451,-0.58,-116.8,3211,1884,3142,3232,309.9,-10.2,271,2462,0.00,2.45,0.00,0.000,516,0.000,0.115,3211,496,3182,3138,3226,0,0,0,0,0,0,14.78,14.55,14.79
$GC,2488,-0.58,-116.8,3211,496,3138,3227,313.9,-11.3,276,2499,0.00,2.45,0.00,0.000,1030,0.000,0.093,3211,1908,3182,3138,3227,0,0,0,0,0,0,14.66,14.59,14.69
$GC,2797,-0.58,-116.8,3211,1908,3136,3227,343.8,-9.5,287,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1908,3181,3136,3227,0,0,0,0,0,0,14.79,14.80,14.81
$GC,3097,-0.58,-116.8,3211,1908,3135,3227,371.9,-9.4,297,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1908,3180,3135,3226,0,0,0,0,0,0,14.79,14.83,14.81
$GC,3393,-0.58,-116.8,3211,1908,3133,3227,399.6,-9.3,307,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1907,3183,3133,3233,0,0,0,0,0,0,14.80,14.82,14.82
$GC,3693,-0.58,-116.8,3211,1908,3132,3227,427.5,-9.1,317,3704,0.00,2.47,0.00,0.000,260,0.000,0.111,3211,3311,3178,3133,3223,0,0,0,0,0,0,14.81,14.61,14.85
$GC,3793,-0.58,-116.8,3211,3311,3131,3226,436.1,-8.9,334,3805,0.00,2.47,0.00,0.000,1030,0.000,0.102,3211,1905,3185,3137,3233,0,0,0,0,0,0,14.69,14.61,14.71
$GC,4099,-0.58,-116.8,3208,1905,3136,3227,463.7,-9.1,345,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1906,3178,3129,3227,0,0,0,0,0,0,14.82,14.83,14.83
$GC,4399,-0.58,-116.8,3211,1904,3128,3227,489.9,-8.6,355,4410,0.00,2.53,0.00,0.000,516,0.000,0.118,3211,480,3177,3128,3227,0,0,0,0,0,0,14.81,14.63,14.83
$GC,4491,-0.58,-116.8,3208,479,3128,3227,499.4,-10.1,371,4502,0.00,2.47,0.00,0.000,1030,0.000,0.098,3211,1893,3177,3127,3227,0,0,0,0,0,0,14.69,14.60,14.71
$GC,4817,-0.58,-116.8,3211,1893,3125,3227,527.6,-8.4,383,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1893,3176,3125,3227,0,0,0,0,0,0,14.81,14.83,14.83
$GC,5113,-0.58,-116.8,3211,1894,3124,3227,552.5,-8.3,393,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1893,3175,3124,3227,0,0,0,0,0,0,14.81,14.83,14.83
$GC,5417,-0.58,-116.8,3212,1893,3123,3227,577.2,-8.3,403,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1894,3174,3122,3227,0,0,0,0,0,0,14.81,14.83,14.83
$GC,5717,-0.58,-116.8,3211,1893,3122,3227,602.6,-8.4,413,5728,0.00,2.50,0.00,0.000,516,0.000,0.118,3211,494,3174,3122,3227,0,0,0,0,0,0,14.82,14.61,14.83
$GC,5753,-0.58,-116.8,3211,495,3122,3227,606.5,-9.8,418,5765,0.00,2.47,0.00,0.000,1030,0.000,0.099,3211,1913,3174,3122,3227,0,0,0,0,0,0,14.71,14.62,14.72
$GC,6064,-0.58,-116.8,3211,1910,3121,3226,632.6,-8.5,429,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1913,3174,3121,3227,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6364,-0.58,-116.8,3211,1913,3120,3227,657.4,-8.1,439,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1911,3172,3118,3226,0,0,0,0,0,0,14.81,14.86,14.83
$GC,6664,-0.58,-116.8,3208,1913,3119,3226,680.9,-7.6,449,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1913,3173,3119,3227,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6964,-0.58,-116.8,3211,1913,3118,3225,703.2,-7.4,459,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1913,3172,3118,3226,0,0,0,0,0,0,14.82,14.83,14.83
$GC,7264,-0.58,-116.8,3211,1913,3117,3226,725.4,-7.1,469,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1913,3172,3118,3226,0,0,0,0,0,0,14.81,14.83,14.83
$GC,7564,-0.58,-116.8,3211,1913,3117,3225,748.3,-7.7,479,7575,0.00,2.47,0.00,0.000,260,0.000,0.115,3211,3311,3171,3117,3225,0,0,0,0,0,0,14.81,14.62,14.83
$GC,7660,-0.58,-116.8,3211,3311,3116,3225,755.5,-7.4,495,7671,0.00,2.50,0.00,0.000,1030,0.000,0.104,3211,1904,3170,3116,3225,0,0,0,0,0,0,14.70,14.62,14.72
$GC,7987,-0.58,-116.8,3211,1903,3117,3225,780.1,-7.6,507,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1903,3170,3116,3225,0,0,0,0,0,0,14.81,14.82,14.83
$GC,8287,-0.58,-116.8,3211,1903,3115,3225,801.7,-7.0,517,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1903,3170,3115,3225,0,0,0,0,0,0,14.81,14.83,14.83
$GC,8587,-0.58,-116.8,3211,1903,3121,3222,822.5,-6.7,527,8598,0.00,2.53,0.00,0.000,516,0.000,0.119,3211,483,3169,3115,3224,0,0,0,0,0,0,14.81,14.60,14.83
$GC,8683,-0.58,-116.8,3211,483,3117,3223,829.2,-7.6,543,8694,0.00,2.50,0.00,0.000,1030,0.000,0.102,3211,1901,3169,3115,3223,0,0,0,0,0,0,14.70,14.62,14.71
$GC,9010,-0.58,-116.8,3211,1898,3115,3223,850.3,-6.3,555,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1901,3169,3115,3223,0,0,0,0,0,0,14.81,14.82,14.82
$GC,9309,-0.58,-116.8,3211,1901,3114,3223,870.9,-7.1,565,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1901,3167,3114,3220,0,0,0,0,0,0,14.81,14.82,14.82
$GC,9610,-0.58,-116.8,3210,1901,3114,3223,892.7,-7.2,575,9621,0.00,2.55,0.00,0.000,516,0.000,0.120,3211,485,3168,3114,3222,0,0,0,0,0,0,14.78,14.60,14.82
$GC,9701,-0.58,-116.8,3211,485,3114,3222,900.8,-8.3,591,9712,0.00,2.50,0.00,0.000,1030,0.000,0.103,3211,1897,3168,3114,3222,0,0,0,0,0,0,14.68,14.61,14.71
$GC,10028,-0.58,-116.8,3211,1896,3114,3227,923.6,-7.1,603,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1897,3168,3114,3222,0,0,0,0,0,0,14.80,14.81,14.81
$GC,10328,-0.58,-116.8,3211,1896,3115,3224,944.7,-7.0,613,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1896,3167,3113,3222,0,0,0,0,0,0,14.80,14.82,14.83
$GC,10628,-0.58,-116.8,3211,1897,3113,3222,965.4,-6.7,623,10640,0.00,2.55,0.00,0.000,516,0.000,0.123,3211,476,3167,3113,3222,0,0,0,0,0,0,14.80,14.57,14.81
$GC,10686,-0.58,-116.8,3211,474,3109,3220,970.0,-7.7,632,10697,0.00,2.53,0.00,0.000,1030,0.000,0.104,3211,1910,3167,3113,3221,0,0,0,0,0,0,14.69,14.60,14.70
$STATE,11008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11008,begin apogee
$GC,11019,-0.23,0.0,3210,2194,3112,3221,990.4,-6.0,645,11120,0.43,0.00,92.45,1.903,10246,0.203,0.000,3339,2194,2699,2617,2781,0,0,0,0,0,0,14.54,13.88,13.23
$STATE,11122,end apogee,CONTROL_FINISHED_OK
$STATE,11122,begin climb
$GC,11128,0.58,116.8,3339,2194,2614,2781,992.8,0.0,648,11233,0.77,0.00,96.68,1.870,10758,0.138,0.000,3592,2193,2222,2087,2357,0,0,0,0,0,0,13.88,13.66,13.04
$GC,11523,0.58,116.8,3592,2194,2086,2355,938.0,15.6,667,11534,0.00,2.65,0.00,0.000,260,0.000,0.119,3592,3622,2220,2086,2355,0,0,0,0,0,0,14.40,14.19,14.42
$GC,11609,0.58,116.8,3593,3622,2087,2355,924.1,16.9,682,11621,0.00,2.62,0.00,0.000,1030,0.000,0.106,3602,2197,2220,2086,2355,0,0,0,0,0,0,14.35,14.27,14.36
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$STATE,18876,end climb,SURFACE_DEPTH_REACHED
$STATE,18876,begin surface coast
$FINISH,0.1,1.023530
$STATE,18923,end surface coast,CONTROL_FINISHED_OK
$STATE,18923,begin surface
$SM_CCo,18954,51.58,0.086,0,0,1067,400.08
$SM_GC,1.33,9.88,0.57,51.58,0.053,0.116,0.086,96,1884,1067,-10.33,0.23,400.08,0,0,0,0,0,0,14.46,14.48,14.46
$IRIDIUM_FIX,4710.21,-12543.37,200615,070443
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.24
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3928448
$24V_AH,13.04,7.302
$10V_AH,13.02,0.000
$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,24.625,153.625,287.425,51.575,0.000,0.000,0.000,260.375,0.000,0.000,6.711,2773.900,12459.827,587.835,2720.011,996.281,0.000,2397.688,0.000,1906.288,0.000,0.537,0.000
$DEVICE_MAMPS,373.320,2231.505,1903.320,86.445,0.000,0.000,0.000,153.765,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18948.000,471.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.817,7.017,0.000,0.000
$MEM,286424
$DATA_FILE_SIZE,43351,1235
$CAP_FILE_SIZE,226880,0
$CFSIZE,260034560,253878272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,87.38,1
$GPS,200615,174732,4726.734,-12544.906,38,0.7,38,16.5,0.9,136.1,12,5.7