version: 66.12
glider: 187
mission: 8
dive: 56
start: 6 26 115 10 13 33
data:
$ID,187
$MISSION,8
$DIVE,56
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$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,3392
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$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,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,16
$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,0.001
$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
$GPS1,260615,100332,4702.1128,-12653.4766,29,0.9,29,16.5,0.6,237.5,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-78.3
$GPS2,260615,101304,4702.0532,-12653.5811,2,0.8,3,16.5,0.5,237.6,12,7.0
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,247.7,8955,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,30,-0.47,-116.8,82,1887,1162,1449,0.0,0.0,0,101,0.00,0.00,-67.32,0.000,16386,0.000,0.000,81,1885,3186,3160,3212,0,0,0,0,0,0,14.54,28.83,14.57
$GC,108,-0.47,-116.8,81,1886,3161,3209,4.6,-7.8,7,134,13.40,2.78,-3.53,0.000,18692,0.362,2.221,3230,3314,3420,3405,3435,0,0,0,0,0,0,14.20,13.56,14.41
$GC,192,-0.47,-116.8,3229,3314,3404,3440,38.7,-23.6,21,201,0.00,2.53,0.00,0.000,1030,0.000,0.098,3230,1903,3422,3404,3440,0,0,0,0,0,0,14.41,14.31,14.42
$GC,382,-0.47,-116.8,3230,1903,3404,3442,75.4,-19.2,40,389,0.00,2.55,0.00,0.000,260,0.000,0.106,3231,3317,3426,3410,3442,0,0,0,0,0,0,14.58,14.37,14.59
$GC,405,-0.47,-116.8,3228,3316,3411,3442,80.0,-19.8,43,414,0.00,2.53,0.00,0.000,1030,0.000,0.094,3230,1897,3424,3405,3443,0,0,0,0,0,0,14.47,14.39,14.49
$GC,595,-0.47,-116.8,3230,1897,3400,3444,113.4,-16.6,62,604,0.00,2.53,0.00,0.000,516,0.000,0.109,3229,475,3424,3405,3444,0,0,0,0,0,0,14.62,14.40,14.64
$GC,675,-0.47,-116.8,3229,474,3404,3444,126.7,-16.6,76,682,0.00,2.53,0.00,0.000,1030,0.000,0.089,3230,1911,3422,3405,3440,0,0,0,0,0,0,14.52,14.43,14.54
$GC,873,-0.47,-116.8,3229,1907,3405,3444,156.3,-14.1,96,880,0.00,2.55,0.00,0.000,516,0.000,0.107,3230,490,3427,3405,3450,0,0,0,0,0,0,14.66,14.45,14.67
$GC,906,-0.47,-116.8,3229,491,3405,3444,161.2,-15.6,101,914,0.00,2.47,0.00,0.000,1030,0.000,0.088,3229,1907,3424,3405,3444,0,0,0,0,0,0,14.54,14.47,14.57
$GC,1095,-0.47,-116.8,3229,1907,3405,3444,184.4,-11.3,120,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1907,3424,3405,3444,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1286,-0.47,-116.8,3228,1907,3405,3444,206.6,-11.5,139,1294,0.00,2.47,0.00,0.000,260,0.000,0.106,3230,3310,3424,3405,3444,0,0,0,0,0,0,14.69,14.48,14.71
$GC,1356,-0.47,-116.8,3226,3311,3404,3444,214.9,-11.5,151,1364,0.00,2.50,0.00,0.000,1030,0.000,0.095,3229,1894,3424,3405,3444,0,0,0,0,0,0,14.58,14.50,14.59
$GC,1555,-0.47,-116.8,3229,1896,3405,3443,238.6,-12.3,171,1563,0.00,2.50,0.00,0.000,516,0.000,0.109,3230,485,3424,3404,3444,0,0,0,0,0,0,14.70,14.50,14.72
$GC,1638,-0.47,-116.8,3227,485,3404,3444,249.7,-13.7,186,1648,0.00,2.47,0.00,0.000,1030,0.000,0.090,3230,1906,3426,3404,3449,0,0,0,0,0,0,14.59,14.52,14.61
$GC,1825,-0.47,-116.8,3229,1906,3404,3444,271.7,-11.8,193,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1906,3421,3399,3444,0,0,0,0,0,0,14.71,14.73,14.73
$GC,2125,-0.47,-116.8,3229,1906,3402,3441,306.5,-11.3,203,2132,0.00,2.47,0.00,0.000,260,0.000,0.107,3229,3308,3422,3401,3444,0,0,0,0,0,0,14.73,14.53,14.75
$GC,2194,-0.47,-116.8,3229,3309,3401,3444,313.7,-10.3,215,2202,0.00,2.50,0.00,0.000,1030,0.000,0.096,3229,1905,3422,3401,3444,0,0,0,0,0,0,14.62,14.52,14.63
$GC,2538,-0.47,-116.8,3229,1899,3400,3444,348.3,-10.2,231,2545,0.00,2.53,0.00,0.000,516,0.000,0.112,3230,474,3422,3400,3444,0,0,0,0,0,0,14.74,14.52,14.76
$GC,2595,-0.47,-116.8,3227,473,3400,3444,355.4,-11.4,241,2603,0.00,2.50,0.00,0.000,1030,0.000,0.090,3230,1906,3422,3400,3445,0,0,0,0,0,0,14.62,14.56,14.64
$GC,2918,-0.47,-116.8,3229,1905,3399,3444,387.6,-10.0,253,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1905,3422,3400,3444,0,0,0,0,0,0,14.74,14.76,14.76
$GC,3215,-0.47,-116.8,3232,1905,3397,3444,418.2,-10.2,263,3222,0.00,2.55,0.00,0.000,516,0.000,0.112,3230,475,3420,3397,3444,0,0,0,0,0,0,14.75,14.53,14.75
$GC,3278,-0.47,-116.8,3230,475,3397,3444,425.6,-11.9,274,3289,0.00,2.50,0.00,0.000,1030,0.000,0.093,3230,1893,3420,3397,3444,0,0,0,0,0,0,14.64,14.53,14.65
$GC,3588,-0.47,-116.8,3229,1892,3394,3444,458.4,-10.6,285,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1892,3419,3394,3444,0,0,0,0,0,0,14.75,14.77,14.76
$GC,3884,-0.47,-116.8,3235,1892,3393,3444,489.2,-10.0,295,3892,0.00,2.55,0.00,0.000,516,0.000,0.115,3230,473,3416,3389,3444,0,0,0,0,0,0,14.76,14.54,14.78
$GC,3937,-0.47,-116.8,3229,472,3392,3444,495.0,-10.8,304,3945,0.00,2.50,0.00,0.000,1030,0.000,0.093,3229,1909,3418,3392,3444,0,0,0,0,0,0,14.64,14.57,14.65
$GC,4265,-0.47,-116.8,3229,1909,3390,3443,525.7,-9.3,317,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1908,3417,3391,3444,0,0,0,0,0,0,14.76,14.78,14.77
$GC,4562,-0.47,-116.8,3230,1909,3390,3443,553.9,-9.3,327,4569,0.00,2.55,0.00,0.000,516,0.000,0.114,3229,480,3416,3389,3443,0,0,0,0,0,0,14.76,14.53,14.76
$GC,4600,-0.47,-116.8,3230,475,3391,3443,557.9,-10.9,333,4608,0.00,2.50,0.00,0.000,1030,0.000,0.096,3230,1895,3416,3390,3443,0,0,0,0,0,0,14.64,14.56,14.66
$GC,4943,-0.47,-116.8,3229,1892,3388,3443,588.3,-8.7,349,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1892,3416,3388,3444,0,0,0,0,0,0,14.76,14.78,14.77
$GC,5239,-0.47,-116.8,3226,1891,3386,3443,614.6,-9.0,359,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1891,3414,3386,3443,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5539,-0.47,-116.8,3229,1891,3381,3443,643.3,-9.7,369,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1891,3414,3385,3443,0,0,0,0,0,0,14.78,14.80,14.78
$GC,5840,-0.47,-116.8,3227,1892,3381,3442,673.2,-10.0,379,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1892,3413,3384,3442,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6139,-0.47,-116.8,3234,1891,3383,3437,701.9,-9.5,389,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1891,3412,3383,3441,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6439,-0.47,-116.8,3229,1891,3383,3441,728.9,-8.7,399,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1891,3412,3383,3441,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6739,-0.47,-116.8,3231,1892,3382,3441,753.1,-7.8,409,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1891,3412,3384,3441,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7039,-0.47,-116.8,3229,1892,3381,3441,777.5,-8.3,419,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1892,3411,3381,3441,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7339,-0.47,-116.8,3231,1891,3388,3440,803.7,-8.9,429,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1891,3410,3381,3440,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7640,-0.47,-116.8,3229,1891,3380,3440,830.1,-8.6,439,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1891,3408,3380,3436,0,0,0,0,0,0,14.77,14.78,14.78
$GC,7939,-0.47,-116.8,3230,1892,3378,3445,857.2,-9.0,449,7946,0.00,2.55,0.00,0.000,260,0.000,0.113,3230,3316,3412,3385,3439,0,0,0,0,0,0,14.76,14.53,14.77
$GC,7992,-0.47,-116.8,3230,3317,3378,3445,862.4,-8.5,458,8001,0.00,2.53,0.00,0.000,1030,0.000,0.100,3230,1897,3408,3378,3438,0,0,0,0,0,0,14.64,14.56,14.69
$GC,8321,-0.47,-116.8,3229,1897,3376,3439,887.8,-7.7,471,8329,0.00,2.55,0.00,0.000,516,0.000,0.118,3230,474,3407,3377,3438,0,0,0,0,0,0,14.73,14.52,14.76
$GC,8379,-0.47,-116.8,3229,474,3377,3439,893.0,-8.5,481,8387,0.00,2.53,0.00,0.000,1030,0.000,0.098,3226,1911,3408,3377,3439,0,0,0,0,0,0,14.63,14.54,14.64
$GC,8703,-0.47,-116.8,3229,1910,3376,3436,916.1,-7.3,493,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1911,3408,3377,3439,0,0,0,0,0,0,14.74,14.76,14.76
$GC,8999,-0.47,-116.8,3230,1911,3375,3438,939.3,-7.9,503,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1911,3407,3376,3439,0,0,0,0,0,0,14.73,14.76,14.76
$GC,9299,-0.47,-116.8,3229,1910,3376,3438,964.0,-8.3,513,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1910,3405,3372,3438,0,0,0,0,0,0,14.74,14.76,14.76
$GC,9599,-0.47,-116.8,3234,1911,3375,3438,989.2,-8.4,523,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1912,3407,3376,3438,0,0,0,0,0,0,14.74,14.76,14.76
$STATE,9624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9624,begin apogee
$GC,9635,-0.17,0.0,3230,2354,3375,3438,991.7,-8.4,524,9734,0.32,0.00,92.90,1.886,10246,0.184,0.000,3331,2354,2945,2880,3010,0,0,0,0,0,0,14.50,13.88,13.24
$STATE,9737,end apogee,CONTROL_FINISHED_OK
$STATE,9737,begin climb
$GC,9742,0.47,116.8,3331,2354,2876,3002,996.4,0.0,527,9849,0.62,0.00,97.75,1.853,10246,0.129,0.000,3538,2354,2465,2342,2589,0,0,0,0,0,0,13.88,13.69,13.07
$GC,10138,0.47,116.8,3537,2354,2332,2586,969.0,8.8,541,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2355,2459,2332,2586,0,0,0,0,0,0,14.41,14.42,14.42
$GC,10443,0.47,116.8,3537,2356,2331,2585,941.5,9.3,551,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2355,2458,2331,2586,0,0,0,0,0,0,14.56,14.57,14.57
$GC,10743,0.47,116.8,3537,2355,2331,2586,913.8,9.2,561,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,2355,2457,2330,2584,0,0,0,0,0,0,14.62,14.64,14.64
$GC,11043,0.47,116.8,3537,2355,2331,2586,886.1,9.1,571,11054,0.00,2.55,0.00,0.000,260,0.000,0.116,3537,3769,2457,2330,2585,0,0,0,0,0,0,14.67,14.47,14.69
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$STATE,21965,end climb,SURFACE_DEPTH_REACHED
$STATE,21965,begin surface coast
$FINISH,-0.0,1.023470
$STATE,22016,end surface coast,CONTROL_FINISHED_OK
$STATE,22017,begin surface
$SM_CCo,22048,4.93,0.085,0,0,1411,375.06
$SM_GC,2.72,9.82,0.82,4.93,0.047,0.096,0.085,96,1900,1411,-10.24,0.54,375.06,0,0,0,0,0,0,14.42,14.40,14.41
$IRIDIUM_FIX,4641.78,-12617.44,260615,033642
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.67
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3916544
$24V_AH,13.07,14.633
$10V_AH,13.41,0.000
$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,24.550,168.500,385.175,4.925,0.000,0.000,0.000,308.200,0.000,0.000,5.206,3015.366,15099.758,627.827,2813.585,1043.767,0.000,2492.231,0.000,2024.352,0.000,0.537,0.000
$DEVICE_MAMPS,361.845,2220.795,1885.725,84.915,0.000,0.000,0.000,149.940,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22040.000,10012.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.796,8.942,0.000,0.000
$MEM,286384
$DATA_FILE_SIZE,46667,1313
$CAP_FILE_SIZE,248563,0
$CFSIZE,260034560,251105280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,217.43,1
$GPS,260615,162238,4701.218,-12658.169,36,0.9,36,16.5,0.3,228.8,9,9.4