version: 66.12
glider: 187
mission: 8
dive: 139
start: 7 18 115 18 34 5
data:
$ID,187
$MISSION,8
$DIVE,139
$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,110
$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,350
$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,3394
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,15
$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,0.00050000002
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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
$GPS1,180715,182026,4700.2705,-12655.7246,62,1.0,79,16.5,0.1,0.0,10,4.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.4
$GPS2,180715,183337,4700.1372,-12655.7715,4,1.1,5,16.5,0.4,328.0,10,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,273.8,5347,-14.8,-7.333,-19.49,2243
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.39,-107.1,69,1884,1331,1587,0.0,0.0,0,91,0.00,0.00,-55.53,0.000,16386,0.000,0.000,69,1882,2996,2958,3034,0,0,0,0,0,0,14.53,28.83,14.54
$GC,97,-0.39,-107.1,70,1882,2959,3031,3.7,-5.5,6,131,13.55,2.80,-6.28,0.000,18692,0.354,2.196,3253,3315,3383,3356,3411,0,0,0,0,0,0,14.10,13.29,14.38
$GC,323,-0.39,-107.1,3253,3319,3359,3413,52.5,-15.9,47,334,0.00,2.53,0.00,0.000,1030,0.000,0.099,3253,1910,3385,3358,3413,0,0,0,0,0,0,14.43,14.33,14.46
$GC,525,-0.39,-107.1,3253,1908,3359,3419,84.3,-15.9,67,536,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1908,3387,3359,3415,0,0,0,0,0,0,14.62,14.64,14.63
$GC,718,-0.39,-107.1,3253,1908,3359,3416,111.0,-13.3,86,729,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1908,3387,3359,3416,0,0,0,0,0,0,14.66,14.68,14.68
$GC,910,-0.39,-107.1,3253,1908,3358,3420,134.7,-11.7,105,921,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1908,3388,3359,3417,0,0,0,0,0,0,14.68,14.70,14.69
$GC,1102,-0.39,-107.1,3253,1908,3359,3417,155.8,-11.3,124,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1908,3388,3359,3417,0,0,0,0,0,0,14.70,14.71,14.71
$GC,1294,-0.39,-107.1,3253,1908,3359,3417,178.3,-11.5,143,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1908,3388,3359,3418,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1487,-0.39,-107.1,3253,1908,3359,3417,198.6,-10.1,162,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1908,3388,3359,3417,0,0,0,0,0,0,14.72,14.74,14.76
$GC,1678,-0.39,-107.1,3253,1908,3359,3417,217.0,-9.5,181,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1908,3387,3359,3416,0,0,0,0,0,0,14.73,14.73,14.75
$GC,1872,-0.39,-107.1,3253,1908,3358,3416,234.9,-9.3,200,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1908,3387,3358,3416,0,0,0,0,0,0,14.74,14.76,14.75
$GC,2063,-0.39,-107.1,3257,1908,3358,3417,254.0,-10.1,217,2075,0.00,2.53,0.00,0.000,516,0.000,0.110,3256,480,3387,3357,3417,0,0,0,0,0,0,14.75,14.52,14.76
$GC,2125,-0.39,-107.1,3253,479,3357,3417,260.9,-11.3,227,2136,0.00,2.47,0.00,0.000,1030,0.000,0.093,3253,1899,3387,3357,3417,0,0,0,0,0,0,14.60,14.52,14.64
$GC,2451,-0.39,-107.1,3253,1899,3355,3423,292.7,-9.8,239,2462,0.00,2.50,0.00,0.000,260,0.000,0.106,3253,3318,3386,3355,3417,0,0,0,0,0,0,14.76,14.54,14.78
$GC,2528,-0.39,-107.1,3252,3318,3350,3417,300.6,-9.6,252,2539,0.00,2.53,0.00,0.000,1030,0.000,0.096,3253,1884,3385,3354,3417,0,0,0,0,0,0,14.62,14.51,14.64
$GC,2865,-0.39,-107.1,3253,1886,3353,3417,334.2,-9.8,267,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1886,3384,3352,3416,0,0,0,0,0,0,14.80,14.79,14.78
$GC,3169,-0.39,-107.1,3253,1886,3351,3416,362.5,-9.3,277,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1886,3383,3351,3416,0,0,0,0,0,0,14.77,14.79,14.79
$GC,3469,-0.39,-107.1,3253,1886,3349,3416,388.7,-8.6,287,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1886,3382,3348,3416,0,0,0,0,0,0,14.79,14.81,14.81
$GC,3765,-0.39,-107.1,3253,1886,3347,3416,414.5,-8.7,297,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1886,3381,3347,3416,0,0,0,0,0,0,14.78,14.81,14.81
$GC,4069,-0.39,-107.1,3252,1887,3351,3416,441.6,-9.2,307,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1886,3380,3345,3416,0,0,0,0,0,0,14.78,14.82,14.81
$GC,4369,-0.39,-107.1,3253,1886,3344,3415,468.6,-9.0,317,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1886,3379,3344,3414,0,0,0,0,0,0,14.79,14.81,14.81
$GC,4669,-0.39,-107.1,3249,1886,3343,3414,495.4,-8.9,327,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1886,3377,3343,3412,0,0,0,0,0,0,14.78,14.81,14.81
$GC,4969,-0.39,-107.1,3253,1886,3342,3413,520.9,-8.3,337,4980,0.00,2.45,0.00,0.000,516,0.000,0.113,3253,495,3377,3342,3413,0,0,0,0,0,0,14.79,14.52,14.81
$GC,5050,-0.39,-107.1,3253,495,3342,3412,528.8,-9.1,351,5062,0.00,2.47,0.00,0.000,1030,0.000,0.096,3253,1913,3377,3341,3413,0,0,0,0,0,0,14.65,14.56,14.67
$GC,5382,-0.39,-107.1,3253,1914,3341,3412,554.4,-7.5,365,5394,0.00,2.50,0.00,0.000,260,0.000,0.110,3253,3317,3376,3341,3412,0,0,0,0,0,0,14.81,14.52,14.80
$GC,5440,-0.39,-107.1,3252,3317,3341,3412,558.5,-6.8,374,5452,0.00,2.47,0.00,0.000,1030,0.000,0.099,3253,1909,3376,3341,3412,0,0,0,0,0,0,14.59,14.51,14.62
$GC,5768,-0.39,-107.1,3252,1913,3339,3411,581.9,-7.3,387,5779,0.00,2.53,0.00,0.000,516,0.000,0.112,3253,479,3375,3339,3412,0,0,0,0,0,0,14.78,14.52,14.80
$GC,5829,-0.39,-107.1,3252,479,3339,3411,587.3,-8.8,397,5841,0.00,2.47,0.00,0.000,1030,0.000,0.096,3253,1897,3375,3339,3411,0,0,0,0,0,0,14.64,14.53,14.66
$GC,6156,-0.39,-107.1,3253,1897,3339,3411,614.6,-8.8,409,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1898,3372,3333,3412,0,0,0,0,0,0,14.78,14.80,14.81
$GC,6456,-0.39,-107.1,3252,1897,3338,3410,641.0,-8.8,419,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1897,3374,3338,3411,0,0,0,0,0,0,14.78,14.81,14.80
$GC,6756,-0.39,-107.1,3250,1896,3337,3410,666.8,-8.4,429,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1897,3373,3336,3410,0,0,0,0,0,0,14.78,14.81,14.81
$GC,7052,-0.39,-107.1,3253,1897,3336,3410,691.0,-7.9,439,7063,0.00,2.53,0.00,0.000,260,0.000,0.109,3253,3321,3375,3341,3409,0,0,0,0,0,0,14.79,14.50,14.81
$GC,7133,-0.39,-107.1,3253,3321,3336,3409,697.4,-7.7,453,7145,0.00,2.53,0.00,0.000,1030,0.000,0.098,3253,1900,3372,3335,3410,0,0,0,0,0,0,14.64,14.54,14.66
$GC,7466,-0.39,-107.1,3252,1900,3341,3408,723.4,-7.8,467,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1899,3371,3334,3409,0,0,0,0,0,0,14.78,14.81,14.80
$GC,7770,-0.39,-107.1,3252,1899,3334,3408,746.9,-7.9,477,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3371,3334,3408,0,0,0,0,0,0,14.78,14.80,14.80
$GC,8070,-0.39,-107.1,3258,1901,3332,3408,769.9,-7.5,487,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1899,3370,3333,3408,0,0,0,0,0,0,14.78,14.80,14.79
$GC,8370,-0.39,-107.1,3250,1899,3333,3411,791.8,-7.3,497,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1899,3367,3328,3407,0,0,0,0,0,0,14.78,14.79,14.79
$GC,8666,-0.39,-107.1,3253,1899,3333,3407,812.8,-7.0,507,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1898,3374,3339,3409,0,0,0,0,0,0,14.78,14.80,14.79
$GC,8966,-0.39,-107.1,3254,1899,3332,3407,832.5,-6.6,517,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1899,3369,3332,3406,0,0,0,0,0,0,14.78,14.80,14.79
$GC,9270,-0.39,-107.1,3254,1899,3331,3406,852.0,-6.5,527,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1899,3368,3331,3405,0,0,0,0,0,0,14.77,14.79,14.78
$GC,9566,-0.39,-107.1,3252,1899,3330,3406,872.2,-6.9,537,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1899,3368,3330,3406,0,0,0,0,0,0,14.78,14.81,14.79
$GC,9870,-0.39,-107.1,3253,1896,3330,3406,893.1,-6.9,547,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1899,3367,3329,3406,0,0,0,0,0,0,14.78,14.80,14.79
$GC,10170,-0.39,-107.1,3253,1899,3329,3402,913.2,-6.7,557,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1895,3367,3331,3404,0,0,0,0,0,0,14.78,14.79,14.79
$GC,10470,-0.39,-107.1,3253,1899,3325,3406,933.3,-6.5,567,10481,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1899,3367,3329,3405,0,0,0,0,0,0,14.77,14.79,14.79
$GC,10770,-0.39,-107.1,3253,1903,3328,3405,952.2,-6.2,577,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1899,3367,3329,3405,0,0,0,0,0,0,14.76,14.78,14.78
$GC,11070,-0.39,-107.1,3253,1899,3328,3405,971.3,-6.5,587,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1899,3366,3328,3405,0,0,0,0,0,0,14.76,14.78,14.78
$STATE,11365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11365,begin apogee
$GC,11377,-0.16,0.0,3253,2262,3328,3401,991.5,-6.9,597,11470,0.28,0.00,84.45,1.897,10246,0.164,0.000,3341,2263,2943,2884,3002,0,0,0,0,0,0,14.46,13.97,13.34
$STATE,11472,end apogee,CONTROL_FINISHED_OK
$STATE,11472,begin climb
$GC,11477,0.39,107.1,3340,2263,2881,3001,995.7,0.0,600,11576,0.50,0.00,89.12,1.871,10246,0.114,0.000,3516,2263,2502,2392,2613,0,0,0,0,0,0,13.99,13.76,13.15
$GC,11877,0.40,107.1,3516,2263,2389,2610,973.7,6.8,614,11888,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2263,2503,2396,2610,0,0,0,0,0,0,14.43,14.45,14.45
$GC,12180,0.40,107.1,3516,2262,2388,2611,952.5,7.2,624,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2262,2499,2388,2610,0,0,0,0,0,0,14.55,14.57,14.57
$GC,12481,0.40,107.1,3516,2263,2387,2611,931.1,7.1,634,12492,0.00,2.60,0.00,0.000,516,0.000,0.114,3517,823,2499,2387,2611,0,0,0,0,0,0,14.62,14.37,14.64
$GC,12542,0.40,107.1,3516,823,2387,2611,926.3,7.4,644,12553,0.00,2.55,0.00,0.000,1030,0.000,0.099,3517,2244,2499,2388,2611,0,0,0,0,0,0,14.50,14.40,14.52
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$STATE,23802,end climb,SURFACE_DEPTH_REACHED
$STATE,23802,begin surface coast
$FINISH,-0.1,1.023368
$STATE,23863,end surface coast,CONTROL_FINISHED_OK
$STATE,23863,begin surface
$SM_CCo,23894,4.85,0.084,0,0,1513,350.04
$SM_GC,2.75,9.77,0.62,4.85,0.046,0.094,0.084,89,1896,1513,-10.27,0.59,350.04,0,0,0,0,0,0,14.45,14.44,14.42
$IRIDIUM_FIX,4644.93,-12651.56,180715,111155
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.38
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,20.30
$XPDR_PINGS,0
$SC_FREEKB,3884672
$24V_AH,13.15,37.596
$10V_AH,13.51,0.000
$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,24.650,102.950,341.900,4.850,0.000,0.000,0.000,477.375,0.000,0.000,6.875,3149.195,16549.188,554.090,3285.266,1126.015,0.000,2807.807,0.000,2125.984,0.000,0.538,0.000
$DEVICE_MAMPS,354.195,2195.550,1897.200,84.150,0.000,0.000,0.000,149.940,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23891.000,599.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.684,7.123,0.000,0.000
$MEM,286380
$DATA_FILE_SIZE,46589,1348
$CAP_FILE_SIZE,257306,0
$CFSIZE,260034560,241676288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,101.85,1
$GPS,190715,011408,4700.927,-12658.588,45,0.8,45,16.5,1.1,282.5,9,8.5