version: 66.12
glider: 187
mission: 8
dive: 205
start: 8 5 115 7 10 8
data:
$ID,187
$MISSION,8
$DIVE,205
$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,400
$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,11
$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,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
$GPS1,050815,065539,4730.8047,-12607.4404,43,0.8,43,16.6,1.0,44.5,10,6.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-74.8
$GPS2,050815,070940,4730.9355,-12607.3281,2,0.8,6,16.6,1.1,311.4,10,9.1
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,171.4,87797,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.39,-107.1,82,1895,418,521,0.0,0.0,0,137,0.00,0.00,-101.88,0.000,16390,0.000,0.000,79,1895,3381,3374,3388,0,0,0,0,0,0,14.49,13.08,14.50
$GC,144,-0.39,-107.1,80,1894,3374,3389,2.5,-2.3,3,168,13.75,2.55,0.00,0.000,2308,0.360,0.091,3247,3321,3385,3375,3396,0,0,0,0,0,0,13.99,14.26,14.19
$GC,372,-0.39,-107.1,3247,3321,3375,3393,62.9,-13.9,46,383,0.00,2.58,0.00,0.000,1030,0.000,0.094,3248,1887,3385,3374,3397,0,0,0,0,0,0,14.42,14.29,14.44
$GC,593,-0.39,-107.1,3246,1887,3372,3402,92.2,-12.9,57,604,0.00,2.58,0.00,0.000,260,0.000,0.099,3247,3316,3387,3372,3402,0,0,0,0,0,0,14.65,14.33,14.66
$GC,660,-0.39,-107.1,3246,3317,3377,3402,100.5,-11.1,68,672,0.00,2.53,0.00,0.000,1030,0.000,0.091,3247,1891,3387,3372,3402,0,0,0,0,0,0,14.42,14.33,14.47
$GC,845,-0.39,-107.1,3247,1891,3371,3402,122.3,-12.0,75,857,0.00,2.58,0.00,0.000,260,0.000,0.099,3247,3322,3389,3376,3402,0,0,0,0,0,0,14.66,14.31,14.68
$GC,918,-0.39,-107.1,3246,3322,3371,3402,130.4,-10.8,87,930,0.00,2.50,0.00,0.000,1030,0.000,0.090,3246,1906,3384,3366,3402,0,0,0,0,0,0,14.50,14.38,14.54
$GC,1145,-0.39,-107.1,3246,1907,3369,3402,155.0,-11.0,99,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1907,3386,3370,3402,0,0,0,0,0,0,14.68,14.70,14.69
$GC,1321,-0.39,-107.1,3246,1907,3369,3402,174.1,-10.6,105,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1907,3386,3370,3402,0,0,0,0,0,0,14.71,14.72,14.72
$GC,1501,-0.39,-107.1,3246,1907,3368,3402,192.5,-10.2,111,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1907,3384,3366,3402,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1681,-0.39,-107.1,3252,1903,3366,3404,212.0,-10.9,117,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1904,3384,3366,3402,0,0,0,0,0,0,14.73,14.75,14.74
$GC,1861,-0.39,-107.1,3246,1907,3364,3402,231.2,-10.6,123,1873,0.00,2.53,0.00,0.000,260,0.000,0.103,3246,3316,3383,3364,3402,0,0,0,0,0,0,14.73,14.42,14.75
$GC,1919,-0.39,-107.1,3246,3315,3364,3402,237.0,-10.0,132,1930,0.00,2.53,0.00,0.000,1030,0.000,0.093,3251,1891,3382,3363,3402,0,0,0,0,0,0,14.54,14.43,14.57
$GC,2127,-0.39,-107.1,3252,1887,3361,3402,257.9,-10.1,140,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1890,3381,3361,3402,0,0,0,0,0,0,14.71,14.75,14.74
$GC,2426,-0.39,-107.1,3246,1891,3358,3402,288.7,-10.3,145,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1889,3380,3358,3402,0,0,0,0,0,0,14.75,14.77,14.76
$GC,2726,-0.39,-107.1,3246,1890,3355,3401,318.4,-9.8,150,2737,0.00,2.58,0.00,0.000,260,0.000,0.106,3246,3315,3378,3355,3402,0,0,0,0,0,0,14.76,14.43,14.78
$GC,2768,-0.39,-107.1,3246,3314,3355,3402,322.5,-9.4,156,2779,0.00,2.53,0.00,0.000,1030,0.000,0.095,3247,1905,3378,3355,3402,0,0,0,0,0,0,14.58,14.46,14.61
$GC,3114,-0.39,-107.1,3246,1905,3352,3402,354.4,-9.2,167,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1905,3377,3352,3402,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3411,-0.39,-107.1,3247,1905,3348,3402,382.4,-9.4,172,3422,0.00,2.55,0.00,0.000,260,0.000,0.106,3247,3319,3376,3350,3402,0,0,0,0,0,0,14.76,14.44,14.78
$GC,3432,-0.39,-107.1,3245,3318,3350,3402,384.5,-9.3,174,3443,0.00,2.53,0.00,0.000,1030,0.000,0.095,3247,1891,3376,3350,3402,0,0,0,0,0,0,14.58,14.46,14.61
$GC,3800,-0.39,-107.1,3246,1891,3345,3402,418.2,-9.3,189,3811,0.00,2.58,0.00,0.000,260,0.000,0.106,3246,3322,3376,3347,3405,0,0,0,0,0,0,14.77,14.37,14.78
$GC,3837,-0.39,-107.1,3246,3322,3345,3402,422.1,-9.3,194,3848,0.00,2.53,0.00,0.000,1030,0.000,0.093,3247,1906,3373,3345,3402,0,0,0,0,0,0,14.58,14.45,14.61
$GC,4188,-0.39,-107.1,3246,1906,3343,3402,452.1,-8.6,206,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1906,3375,3343,3408,0,0,0,0,0,0,14.79,14.77,14.78
$GC,4484,-0.39,-107.1,3246,1906,3340,3402,476.1,-7.9,211,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3371,3341,3402,0,0,0,0,0,0,14.76,14.78,14.80
$GC,4784,-0.39,-107.1,3246,1908,3335,3402,501.1,-8.4,216,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3369,3336,3402,0,0,0,0,0,0,14.77,14.78,14.79
$GC,5084,-0.39,-107.1,3246,1906,3338,3402,526.5,-8.5,221,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1906,3370,3338,3402,0,0,0,0,0,0,14.77,14.79,14.78
$GC,5384,-0.39,-107.1,3246,1906,3336,3402,551.4,-8.3,226,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3369,3336,3402,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5684,-0.39,-107.1,3246,1906,3334,3402,574.6,-7.6,231,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1906,3368,3334,3402,0,0,0,0,0,0,14.76,14.77,14.79
$GC,5985,-0.39,-107.1,3243,1906,3333,3401,597.1,-7.6,236,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1906,3369,3333,3405,0,0,0,0,0,0,14.76,14.76,14.77
$GC,6284,-0.39,-107.1,3246,1906,3332,3399,620.7,-7.9,241,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1911,3366,3332,3400,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6584,-0.39,-107.1,3246,1906,3331,3399,644.9,-8.1,246,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3368,3332,3404,0,0,0,0,0,0,14.76,14.77,14.77
$GC,6884,-0.39,-107.1,3246,1905,3331,3398,668.8,-8.0,251,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1902,3364,3330,3398,0,0,0,0,0,0,14.76,14.77,14.77
$GC,7184,-0.39,-107.1,3246,1905,3328,3398,693.8,-8.3,256,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1910,3362,3329,3395,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7484,-0.39,-107.1,3246,1905,3328,3404,718.2,-8.1,261,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1905,3363,3329,3398,0,0,0,0,0,0,14.77,14.78,14.76
$GC,7784,-0.39,-107.1,3244,1903,3329,3397,741.7,-7.8,266,7795,0.00,2.58,0.00,0.000,260,0.000,0.109,3246,3318,3360,3328,3393,0,0,0,0,0,0,14.76,14.40,14.77
$GC,7820,-0.39,-107.1,3246,3318,3328,3397,744.7,-8.8,271,7832,0.00,2.58,0.00,0.000,1030,0.000,0.098,3252,1888,3366,3328,3404,0,0,0,0,0,0,14.54,14.41,14.59
$GC,8173,-0.39,-107.1,3246,1888,3328,3397,771.2,-7.6,283,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3362,3327,3397,0,0,0,0,0,0,14.74,14.76,14.76
$GC,8469,-0.39,-107.1,3245,1885,3326,3397,793.4,-7.4,288,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3361,3326,3397,0,0,0,0,0,0,14.74,14.75,14.78
$GC,8769,-0.39,-107.1,3246,1888,3325,3397,815.3,-7.3,293,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3359,3321,3397,0,0,0,0,0,0,14.73,14.76,14.76
$GC,9068,-0.39,-107.1,3246,1888,3325,3397,836.3,-7.0,298,9079,0.00,2.60,0.00,0.000,260,0.000,0.109,3246,3316,3360,3324,3396,0,0,0,0,0,0,14.75,14.40,14.76
$GC,9124,-0.39,-107.1,3246,3315,3324,3396,840.1,-7.0,307,9136,0.00,2.55,0.00,0.000,1030,0.000,0.099,3246,1905,3359,3324,3395,0,0,0,0,0,0,14.54,14.42,14.57
$GC,9453,-0.39,-107.1,3246,1904,3323,3396,862.6,-6.9,315,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1902,3360,3324,3396,0,0,0,0,0,0,14.73,14.76,14.75
$GC,9753,-0.39,-107.1,3246,1904,3323,3395,882.4,-6.5,320,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3359,3323,3396,0,0,0,0,0,0,14.73,14.75,14.75
$GC,10053,-0.39,-107.1,3246,1904,3322,3395,900.9,-6.1,325,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1904,3358,3321,3396,0,0,0,0,0,0,14.73,14.75,14.75
$GC,10352,-0.39,-107.1,3247,1904,3319,3395,919.7,-6.3,330,10363,0.00,2.60,0.00,0.000,260,0.000,0.111,3247,3322,3358,3322,3395,0,0,0,0,0,0,14.74,14.35,14.76
$GC,10383,-0.39,-107.1,3247,3321,3323,3394,921.8,-6.0,334,10394,0.00,2.58,0.00,0.000,1030,0.000,0.099,3250,1889,3358,3322,3395,0,0,0,0,0,0,14.53,14.39,14.57
$GC,10740,-0.39,-107.1,3246,1890,3321,3392,945.2,-6.7,347,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1890,3360,3321,3400,0,0,0,0,0,0,14.72,14.74,14.73
$GC,11036,-0.39,-107.1,3246,1890,3319,3389,964.5,-6.6,352,11047,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1890,3357,3321,3394,0,0,0,0,0,0,14.73,14.75,14.76
$GC,11336,-0.39,-107.1,3246,1889,3319,3393,982.4,-6.0,357,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1889,3357,3320,3394,0,0,0,0,0,0,14.73,14.75,14.73
$STATE,11511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11511,begin apogee
$GC,11523,-0.16,0.0,3247,2247,3319,3394,993.1,-6.0,360,11615,0.32,0.00,84.65,1.893,10246,0.174,0.000,3340,2246,2940,2876,3005,0,0,0,0,0,0,14.31,13.97,13.26
$STATE,11618,end apogee,CONTROL_FINISHED_OK
$STATE,11618,begin climb
$GC,11623,0.39,107.1,3340,2246,2870,3002,995.8,0.0,361,11730,0.50,2.72,89.03,1.867,10500,0.114,0.109,3516,3663,2499,2373,2626,0,0,0,0,0,0,13.98,13.64,13.09
$GC,11795,0.39,107.1,3512,3662,2371,2620,986.5,8.5,393,11806,0.00,2.65,0.00,0.000,1030,0.000,0.098,3517,2251,2495,2371,2620,0,0,0,0,0,0,14.04,13.95,14.07
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$STATE,25442,end climb,SURFACE_DEPTH_REACHED
$STATE,25442,begin surface coast
$FINISH,0.0,1.010154
$STATE,25477,end surface coast,CONTROL_FINISHED_OK
$STATE,25478,begin surface
$SM_CCo,25509,12.88,0.087,0,0,1310,400.08
$SM_GC,1.98,9.82,0.65,12.88,0.036,0.096,0.087,95,1888,1310,-10.25,0.31,400.08,0,0,0,0,0,0,14.37,14.33,14.33
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$TT8_MAMPS,0.020223,0.020223
$HUMID,49.37
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3858624
$24V_AH,13.08,54.977
$10V_AH,13.07,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.691,6.549,0.000,0.000
$MEM,286380
$DATA_FILE_SIZE,36613,1078
$CAP_FILE_SIZE,238933,0
$CFSIZE,260034560,233992192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191,342.20,1
$GPS,050815,141708,4730.897,-12609.274,40,1.0,40,16.6,0.3,0.6,8,8.6