version: 66.12
glider: 187
mission: 8
dive: 45
start: 6 23 115 11 6 45
data:
$ID,187
$MISSION,8
$DIVE,45
$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,450
$T_MISSION,510
$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,1000
$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,0.0026964601
$HD_B,0.0099003203
$HD_C,2.26204e-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,375
$N_FILEKB,4
$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,3400
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$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,1800
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00079999998
$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
$GPS1,230615,105356,4716.8853,-12609.5947,34,1.0,34,16.5,0.0,0.0,10,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-79.2
$GPS2,230615,110612,4716.9302,-12609.5566,2,0.9,4,16.5,0.4,28.4,11,5.5
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,223.1,71010,-14.0,-7.333,-18.81,2445
$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,-0.49,-116.8,95,1802,1313,1513,0.0,0.0,0,100,0.00,0.00,-65.53,0.000,16386,0.000,0.000,96,1802,3234,3218,3250,0,0,0,0,0,0,14.52,28.83,14.54
$GC,106,-0.49,-116.8,95,1802,3218,3252,4.6,-7.5,7,135,13.38,2.70,-2.67,0.000,18948,0.364,2.226,3230,440,3422,3409,3435,0,0,0,0,0,0,14.19,13.55,14.40
$GC,359,-0.49,-116.8,3230,441,3409,3441,75.2,-19.3,53,370,0.00,2.42,0.00,0.000,1030,0.000,0.093,3230,1802,3425,3409,3441,0,0,0,0,0,0,14.46,14.40,14.48
$GC,561,-0.49,-116.8,3234,1798,3409,3442,107.0,-14.6,73,572,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1805,3423,3405,3442,0,0,0,0,0,0,14.62,14.64,14.64
$GC,752,-0.49,-116.8,3230,1802,3409,3444,134.5,-15.1,92,764,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1802,3426,3409,3444,0,0,0,0,0,0,14.66,14.68,14.67
$GC,945,-0.49,-116.8,3230,1802,3409,3444,161.5,-13.8,111,956,0.00,2.47,0.00,0.000,516,0.000,0.116,3230,432,3426,3409,3444,0,0,0,0,0,0,14.68,14.46,14.71
$GC,998,-0.49,-116.8,3230,432,3410,3444,169.1,-14.6,119,1009,0.00,2.40,0.00,0.000,1030,0.000,0.092,3230,1801,3426,3409,3444,0,0,0,0,0,0,14.57,14.49,14.60
$GC,1200,-0.49,-116.8,3231,1801,3409,3444,193.8,-11.3,139,1211,0.00,2.50,0.00,0.000,260,0.000,0.104,3230,3215,3427,3409,3445,0,0,0,0,0,0,14.70,14.50,14.72
$GC,1242,-0.49,-116.8,3230,3213,3409,3444,198.5,-10.8,145,1253,0.00,2.53,0.00,0.000,1030,0.000,0.096,3230,1788,3427,3410,3444,0,0,0,0,0,0,14.59,14.50,14.62
$GC,1444,-0.49,-116.8,3230,1784,3409,3444,221.0,-11.4,165,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1788,3425,3407,3444,0,0,0,0,0,0,14.72,14.74,14.73
$GC,1636,-0.49,-116.8,3230,1788,3409,3444,242.9,-11.7,184,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1788,3426,3409,3444,0,0,0,0,0,0,14.73,14.76,14.75
$GC,1850,-0.49,-116.8,3230,1788,3408,3444,267.1,-11.1,195,1861,0.00,2.38,0.00,0.000,516,0.000,0.112,3230,451,3425,3407,3444,0,0,0,0,0,0,14.78,14.54,14.76
$GC,1882,-0.49,-116.8,3230,453,3408,3444,270.8,-11.1,199,1893,0.00,2.35,0.00,0.000,1030,0.000,0.092,3230,1802,3425,3407,3444,0,0,0,0,0,0,14.64,14.53,14.65
$GC,2209,-0.49,-116.8,3229,1806,3405,3444,305.3,-10.5,211,2220,0.00,2.47,0.00,0.000,260,0.000,0.105,3230,3208,3424,3405,3444,0,0,0,0,0,0,14.76,14.57,14.78
$GC,2255,-0.49,-116.8,3229,3208,3405,3444,310.6,-10.0,218,2267,0.00,2.47,0.00,0.000,1030,0.000,0.097,3227,1805,3424,3404,3444,0,0,0,0,0,0,14.65,14.57,14.67
$GC,2593,-0.49,-116.8,3230,1805,3403,3444,345.5,-10.3,233,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1806,3423,3403,3444,0,0,0,0,0,0,14.78,14.80,14.78
$GC,2897,-0.49,-116.8,3230,1805,3401,3444,375.7,-9.7,243,2908,0.00,2.53,0.00,0.000,260,0.000,0.109,3230,3224,3422,3401,3444,0,0,0,0,0,0,14.78,14.57,14.80
$GC,2949,-0.49,-116.8,3230,3223,3401,3443,381.0,-9.1,251,2960,0.00,2.53,0.00,0.000,1030,0.000,0.099,3230,1788,3422,3401,3444,0,0,0,0,0,0,14.67,14.60,14.69
$GC,3281,-0.49,-116.8,3230,1788,3400,3444,412.3,-9.7,265,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1788,3422,3400,3444,0,0,0,0,0,0,14.80,14.81,14.81
$GC,3586,-0.49,-116.8,3230,1793,3393,3444,440.5,-9.1,275,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1788,3421,3398,3444,0,0,0,0,0,0,14.82,14.81,14.81
$GC,3882,-0.49,-116.8,3229,1788,3397,3450,467.7,-9.0,285,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1788,3420,3396,3444,0,0,0,0,0,0,14.80,14.85,14.81
$GC,4182,-0.49,-116.8,3230,1785,3394,3444,496.1,-9.5,295,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1788,3418,3394,3443,0,0,0,0,0,0,14.81,14.83,14.83
$GC,4482,-0.49,-116.8,3230,1788,3393,3444,525.2,-10.0,305,4493,0.00,2.55,0.00,0.000,260,0.000,0.108,3230,3225,3418,3392,3444,0,0,0,0,0,0,14.81,14.59,14.83
$GC,4543,-0.49,-116.8,3230,3225,3393,3443,531.4,-9.8,315,4554,0.00,2.50,0.00,0.000,1030,0.000,0.099,3230,1808,3417,3392,3443,0,0,0,0,0,0,14.69,14.60,14.71
$GC,4866,-0.49,-116.8,3230,1808,3391,3443,563.0,-9.7,327,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1808,3417,3391,3443,0,0,0,0,0,0,14.81,14.83,14.83
$GC,5166,-0.49,-116.8,3230,1807,3389,3443,591.2,-9.2,337,5177,0.00,2.50,0.00,0.000,260,0.000,0.109,3230,3206,3419,3396,3443,0,0,0,0,0,0,14.81,14.60,14.85
$GC,5248,-0.49,-116.8,3230,3205,3390,3442,598.7,-8.9,351,5259,0.00,2.50,0.00,0.000,1030,0.000,0.102,3230,1787,3416,3390,3442,0,0,0,0,0,0,14.69,14.59,14.71
$GC,5580,-0.49,-116.8,3230,1787,3389,3442,628.5,-8.7,365,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1787,3415,3389,3442,0,0,0,0,0,0,14.80,14.82,14.82
$GC,5881,-0.49,-116.8,3230,1787,3389,3443,653.7,-8.3,375,5892,0.00,2.55,0.00,0.000,260,0.000,0.109,3230,3222,3415,3388,3442,0,0,0,0,0,0,14.81,14.59,14.83
$GC,5942,-0.49,-116.8,3230,3221,3388,3441,658.9,-8.2,385,5953,0.00,2.53,0.00,0.000,1030,0.000,0.100,3230,1790,3414,3387,3441,0,0,0,0,0,0,14.69,14.60,14.71
$GC,6264,-0.49,-116.8,3230,1789,3387,3441,687.5,-9.0,397,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1789,3413,3386,3441,0,0,0,0,0,0,14.78,14.82,14.82
$GC,6569,-0.49,-116.8,3231,1790,3385,3441,713.7,-8.8,407,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1790,3413,3385,3441,0,0,0,0,0,0,14.81,14.83,14.82
$GC,6868,-0.49,-116.8,3230,1790,3385,3441,739.4,-8.6,417,6879,0.00,2.55,0.00,0.000,260,0.000,0.109,3230,3220,3412,3384,3441,0,0,0,0,0,0,14.79,14.59,14.82
$GC,6975,-0.49,-116.8,3230,3223,3387,3440,748.4,-8.3,435,6986,0.00,2.53,0.00,0.000,1030,0.000,0.102,3230,1789,3412,3384,3440,0,0,0,0,0,0,14.69,14.60,14.71
$GC,7318,-0.49,-116.8,3230,1790,3383,3440,776.4,-7.9,451,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1790,3411,3383,3440,0,0,0,0,0,0,14.80,14.81,14.82
$GC,7617,-0.49,-116.8,3230,1789,3382,3440,798.7,-7.4,461,7628,0.00,2.55,0.00,0.000,260,0.000,0.109,3230,3222,3409,3378,3440,0,0,0,0,0,0,14.80,14.59,14.83
$GC,7724,-0.49,-116.8,3230,3222,3382,3439,805.6,-7.0,479,7735,0.00,2.53,0.00,0.000,1030,0.000,0.103,3230,1808,3411,3383,3439,0,0,0,0,0,0,14.68,14.59,14.70
$GC,8067,-0.49,-116.8,3230,1808,3382,3440,830.7,-7.1,495,8078,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1807,3411,3382,3441,0,0,0,0,0,0,14.79,14.81,14.81
$GC,8371,-0.49,-116.8,3230,1807,3381,3439,850.6,-6.6,505,8382,0.00,2.53,0.00,0.000,260,0.000,0.109,3230,3226,3410,3381,3439,0,0,0,0,0,0,14.80,14.57,14.81
$GC,8448,-0.49,-116.8,3230,3223,3381,3438,856.0,-6.5,518,8460,0.00,2.53,0.00,0.000,1030,0.000,0.101,3229,1790,3410,3381,3439,0,0,0,0,0,0,14.67,14.57,14.69
$GC,8786,-0.49,-116.8,3230,1786,3381,3439,877.0,-6.5,533,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1789,3410,3381,3439,0,0,0,0,0,0,14.78,14.81,14.81
$GC,9091,-0.49,-116.8,3234,1789,3380,3441,897.5,-7.0,543,9102,0.00,2.55,0.00,0.000,260,0.000,0.109,3230,3220,3409,3380,3439,0,0,0,0,0,0,14.78,14.59,14.81
$GC,9153,-0.49,-116.8,3230,3220,3380,3438,902.5,-7.2,553,9164,0.00,2.53,0.00,0.000,1030,0.000,0.101,3230,1805,3408,3379,3438,0,0,0,0,0,0,14.67,14.59,14.69
$GC,9475,-0.49,-116.8,3230,1805,3378,3438,927.1,-7.7,565,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1805,3408,3378,3438,0,0,0,0,0,0,14.78,14.81,14.80
$GC,9775,-0.49,-116.8,3230,1805,3378,3438,950.3,-7.7,575,9787,0.00,2.53,0.00,0.000,260,0.000,0.110,3231,3221,3407,3378,3437,0,0,0,0,0,0,14.78,14.58,14.81
$GC,9832,-0.49,-116.8,3230,3221,3377,3437,955.3,-7.5,584,9843,0.00,2.55,0.00,0.000,1030,0.000,0.103,3230,1788,3407,3378,3437,0,0,0,0,0,0,14.69,14.57,14.69
$GC,10159,-0.49,-116.8,3231,1788,3377,3437,979.3,-7.5,597,10170,0.00,2.55,0.00,0.000,260,0.000,0.109,3230,3221,3407,3377,3437,0,0,0,0,0,0,14.78,14.58,14.81
$GC,10215,-0.49,-116.8,3230,3218,3377,3437,984.1,-7.4,606,10227,0.00,2.53,0.00,0.000,1030,0.000,0.105,3230,1807,3407,3377,3437,0,0,0,0,0,0,14.67,14.59,14.69
$STATE,10328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10328,begin apogee
$GC,10340,-0.20,0.0,3230,2354,3378,3437,992.1,-6.6,612,10441,0.32,0.00,92.65,1.905,10246,0.184,0.000,3333,2353,2942,2881,3003,0,0,0,0,0,0,14.54,13.88,13.24
$STATE,10443,end apogee,CONTROL_FINISHED_OK
$STATE,10443,begin climb
$GC,10448,0.49,116.8,3333,2354,2877,3000,996.2,0.0,615,10555,0.65,0.00,97.15,1.866,10502,0.125,0.000,3553,2353,2464,2339,2589,0,0,0,0,0,0,13.89,13.66,13.04
$GC,10843,0.49,116.8,3553,2353,2335,2585,963.6,10.0,639,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2353,2460,2335,2585,0,0,0,0,0,0,14.38,14.42,14.42
$GC,11147,0.49,116.8,3552,2353,2333,2586,934.1,9.8,649,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2350,2459,2333,2585,0,0,0,0,0,0,14.54,14.56,14.56
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$STATE,22269,end climb,SURFACE_DEPTH_REACHED
$STATE,22269,begin surface coast
$FINISH,0.2,1.023439
$STATE,22296,end surface coast,CONTROL_FINISHED_OK
$STATE,22296,begin surface
$SM_CCo,22389,0.00,0.000,0,0,1373,384.39
$SM_GC,1.57,9.98,1.02,0.00,0.043,0.110,0.000,89,1809,1373,-10.27,0.71,384.39,0,0,0,0,0,0,14.36,14.31,14.42
$IRIDIUM_FIX,4700.70,-12610.28,230615,044953
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.63
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3920768
$24V_AH,13.04,11.305
$10V_AH,13.39,0.000
$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,24.600,158.375,398.100,0.000,0.000,0.000,0.000,422.725,0.000,0.000,10.041,3121.409,15023.759,606.378,3139.707,1208.719,0.000,2830.469,0.000,2144.344,0.000,0.537,0.000
$DEVICE_MAMPS,364.140,2226.150,1904.850,0.000,0.000,0.000,0.000,145.350,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22321.000,553.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.816,7.036,0.000,0.000
$MEM,286400
$DATA_FILE_SIZE,49950,1395
$CAP_FILE_SIZE,260560,0
$CFSIZE,260034560,252334080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,339.28,1
$GPS,230615,172109,4715.881,-12613.038,23,1.4,23,16.5,0.6,4.8,7,10.0