version: 66.12
glider: 187
mission: 8
dive: 473
start: 10 22 115 22 43 48
data:
$ID,187
$MISSION,8
$DIVE,473
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,15
$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,0.00050000002
$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,48
$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
$GPS1,221015,222710,4748.8213,-12524.9795,25,1.1,26,16.5,0.1,0.0,7,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-77.7
$GPS2,221015,224318,4748.8218,-12524.7402,3,1.2,6,16.5,0.6,237.9,7,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,207.6,150506,-14.8,-7.333,-19.49,2243
$D_GRID,743
$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,-107.1,85,1890,1227,1412,0.0,0.0,0,107,0.00,0.00,-71.43,0.000,16390,0.000,0.000,86,1889,3377,3371,3383,0,0,0,0,0,0,14.48,12.39,14.47
$GC,115,-0.39,-107.1,85,1894,3375,3383,2.4,-4.2,2,140,14.27,2.62,0.00,0.000,2308,0.361,0.095,3250,3316,3380,3375,3385,0,0,0,0,0,0,13.76,14.15,14.13
$GC,351,-0.39,-107.1,3250,3316,3374,3392,56.5,-10.2,46,362,0.00,2.60,0.00,0.000,1030,0.000,0.085,3250,1894,3383,3374,3392,0,0,0,0,0,0,14.21,14.07,14.25
$GC,564,-0.39,-107.1,3249,1888,3370,3396,82.0,-12.3,56,575,0.00,2.55,0.00,0.000,516,0.000,0.100,3250,490,3383,3370,3397,0,0,0,0,0,0,14.57,14.06,14.59
$GC,640,-0.39,-107.1,3250,490,3369,3396,91.3,-10.7,69,652,0.00,2.53,0.00,0.000,1030,0.000,0.086,3250,1898,3383,3369,3397,0,0,0,0,0,0,14.20,14.06,14.25
$GC,859,-0.39,-107.1,3250,1898,3373,3397,111.6,-9.4,80,870,0.00,2.58,0.00,0.000,260,0.000,0.098,3250,3321,3383,3370,3397,0,0,0,0,0,0,14.60,14.06,14.62
$GC,905,-0.39,-107.1,3249,3322,3369,3397,115.8,-8.8,87,916,0.00,2.55,0.00,0.000,1030,0.000,0.082,3250,1903,3381,3369,3393,0,0,0,0,0,0,14.19,14.06,14.23
$GC,1127,-0.39,-107.1,3250,1904,3370,3398,134.1,-8.9,98,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1900,3383,3370,3397,0,0,0,0,0,0,14.60,14.62,14.62
$GC,1303,-0.39,-107.1,3250,1903,3369,3397,150.6,-9.1,104,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1902,3380,3365,3395,0,0,0,0,0,0,14.62,14.63,14.63
$GC,1483,-0.39,-107.1,3245,1902,3369,3398,166.8,-9.1,110,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1903,3383,3369,3397,0,0,0,0,0,0,14.62,14.64,14.64
$GC,1663,-0.39,-107.1,3246,1903,3369,3401,182.5,-8.5,116,1674,0.00,2.58,0.00,0.000,516,0.000,0.099,3249,476,3383,3369,3398,0,0,0,0,0,0,14.62,14.09,14.64
$GC,1700,-0.39,-107.1,3250,475,3369,3398,186.1,-9.7,121,1713,0.00,2.58,0.00,0.000,1030,0.000,0.087,3250,1917,3383,3369,3398,0,0,0,0,0,0,14.25,14.12,14.26
$GC,1886,-0.39,-107.1,3249,1917,3367,3397,202.0,-8.4,128,1898,0.00,2.53,0.00,0.000,260,0.000,0.100,3252,3300,3382,3367,3397,0,0,0,0,0,0,14.65,14.08,14.64
$GC,1968,-0.39,-107.1,3250,3303,3367,3397,208.8,-7.9,142,1980,0.00,2.55,0.00,0.000,1030,0.000,0.087,3247,1889,3382,3367,3397,0,0,0,0,0,0,14.26,14.12,14.31
$GC,2186,-0.39,-107.1,3250,1885,3365,3397,226.1,-8.1,152,2197,0.00,2.53,0.00,0.000,516,0.000,0.099,3250,499,3381,3365,3398,0,0,0,0,0,0,14.62,14.06,14.64
$GC,2217,-0.39,-107.1,3250,495,3365,3398,229.2,-8.1,156,2229,0.00,2.50,0.00,0.000,1030,0.000,0.085,3250,1897,3381,3365,3397,0,0,0,0,0,0,14.26,14.11,14.30
$GC,2420,-0.39,-107.1,3249,1898,3363,3398,244.3,-7.5,164,2431,0.00,2.60,0.00,0.000,260,0.000,0.100,3250,3317,3380,3363,3398,0,0,0,0,0,0,14.63,14.07,14.68
$GC,2483,-0.39,-107.1,3250,3317,3363,3393,248.7,-6.6,174,2494,0.00,2.55,0.00,0.000,1030,0.000,0.085,3250,1904,3380,3363,3398,0,0,0,0,0,0,14.28,14.14,14.32
$GC,2685,-0.39,-107.1,3252,1904,3362,3397,263.4,-7.3,179,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1904,3379,3361,3397,0,0,0,0,0,0,14.65,14.69,14.66
$GC,2985,-0.39,-107.1,3250,1904,3359,3398,287.0,-7.9,184,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1904,3378,3359,3397,0,0,0,0,0,0,14.66,14.71,14.71
$GC,3285,-0.39,-107.1,3249,1904,3359,3397,312.2,-8.5,189,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1904,3380,3358,3402,0,0,0,0,0,0,14.66,14.68,14.68
$GC,3586,-0.39,-107.1,3249,1906,3356,3394,336.8,-8.2,194,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1904,3376,3352,3401,0,0,0,0,0,0,14.66,14.69,14.68
$GC,3886,-0.39,-107.1,3254,1904,3355,3396,360.1,-7.7,199,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1904,3376,3355,3397,0,0,0,0,0,0,14.67,14.69,14.69
$GC,4185,-0.39,-107.1,3249,1904,3353,3397,382.3,-7.5,204,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1904,3375,3353,3397,0,0,0,0,0,0,14.66,14.68,14.68
$GC,4486,-0.39,-107.1,3255,1904,3352,3397,404.6,-7.3,209,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1904,3376,3352,3401,0,0,0,0,0,0,14.69,14.68,14.68
$GC,4786,-0.39,-107.1,3250,1904,3350,3397,425.9,-7.1,214,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1904,3374,3351,3397,0,0,0,0,0,0,14.66,14.69,14.68
$GC,5085,-0.39,-107.1,3249,1908,3349,3397,448.1,-7.4,219,5096,0.00,2.62,0.00,0.000,260,0.000,0.104,3250,3308,3373,3349,3397,0,0,0,0,0,0,14.67,14.04,14.69
$GC,5139,-0.39,-107.1,3249,3304,3349,3397,451.7,-7.0,227,5150,0.00,2.58,0.00,0.000,1030,0.000,0.091,3250,1890,3373,3349,3397,0,0,0,0,0,0,14.22,14.08,14.28
$GC,5471,-0.39,-107.1,3255,1890,3346,3397,474.6,-6.8,236,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1889,3369,3342,3397,0,0,0,0,0,0,14.67,14.67,14.66
$GC,5772,-0.39,-107.1,3251,1889,3344,3393,495.0,-6.8,241,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1888,3371,3345,3397,0,0,0,0,0,0,14.64,14.65,14.65
$GC,6071,-0.39,-107.1,3246,1889,3344,3397,513.4,-6.1,246,6083,0.00,2.65,0.00,0.000,260,0.000,0.103,3250,3309,3368,3343,3393,0,0,0,0,0,0,14.66,14.02,14.69
$GC,6113,-0.39,-107.1,3249,3309,3344,3397,516.1,-6.3,252,6124,0.00,2.58,0.00,0.000,1030,0.000,0.090,3250,1905,3372,3343,3402,0,0,0,0,0,0,14.19,14.06,14.26
$GC,6461,-0.39,-107.1,3249,1905,3343,3397,537.8,-6.5,263,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1905,3369,3342,3396,0,0,0,0,0,0,14.63,14.64,14.64
$GC,6755,-0.39,-107.1,3250,1905,3341,3396,558.1,-6.7,268,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1905,3369,3341,3397,0,0,0,0,0,0,14.66,14.68,14.67
$GC,7060,-0.39,-107.1,3249,1906,3341,3397,579.3,-7.1,273,7071,0.00,2.62,0.00,0.000,260,0.000,0.104,3250,3311,3368,3340,3396,0,0,0,0,0,0,14.64,13.99,14.66
$GC,7102,-0.39,-107.1,3255,3311,3341,3396,582.3,-6.5,279,7113,0.00,2.60,0.00,0.000,1030,0.000,0.091,3250,1888,3368,3340,3396,0,0,0,0,0,0,14.18,14.03,14.24
$GC,7450,-0.39,-107.1,3249,1892,3340,3396,602.5,-5.8,290,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1888,3367,3340,3395,0,0,0,0,0,0,14.62,14.64,14.64
$GC,7744,-0.39,-107.1,3249,1889,3339,3396,620.1,-5.8,295,7755,0.00,2.67,0.00,0.000,260,0.000,0.104,3250,3317,3364,3333,3395,0,0,0,0,0,0,14.64,13.97,14.66
$GC,7801,-0.39,-107.1,3249,3317,3339,3395,623.5,-6.1,304,7812,0.00,2.60,0.00,0.000,1030,0.000,0.090,3250,1900,3367,3339,3395,0,0,0,0,0,0,14.19,14.04,14.23
$GC,8129,-0.39,-107.1,3249,1900,3338,3395,644.5,-6.6,312,8140,0.00,2.65,0.00,0.000,260,0.000,0.103,3254,3315,3368,3338,3398,0,0,0,0,0,0,14.61,13.95,14.63
$GC,8161,-0.39,-107.1,3249,3315,3338,3395,646.4,-5.6,316,8172,0.00,2.60,0.00,0.000,1030,0.000,0.090,3250,1896,3366,3338,3395,0,0,0,0,0,0,14.16,14.04,14.22
$GC,8518,-0.39,-107.1,3249,1896,3333,3394,665.6,-5.6,329,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1896,3367,3339,3395,0,0,0,0,0,0,14.62,14.64,14.63
$GC,8814,-0.39,-107.1,3249,1896,3337,3395,684.5,-6.3,334,8825,0.00,2.67,0.00,0.000,260,0.000,0.106,3250,3317,3366,3337,3395,0,0,0,0,0,0,14.62,13.95,14.66
$GC,8880,-0.39,-107.1,3249,3317,3337,3398,688.6,-5.9,345,8893,0.00,2.62,0.00,0.000,1030,0.000,0.093,3250,1890,3365,3337,3394,0,0,0,0,0,0,14.14,13.99,14.19
$GC,9187,-0.39,-107.1,3249,1890,3336,3394,706.3,-5.8,351,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1883,3362,3331,3394,0,0,0,0,0,0,14.65,14.64,14.64
$GC,9486,-0.39,-107.1,3249,1890,3335,3398,723.1,-5.6,356,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1890,3364,3335,3393,0,0,0,0,0,0,14.61,14.63,14.63
$GC,9787,-0.39,-107.1,3246,1890,3340,3394,740.7,-5.9,361,9799,0.00,2.67,0.00,0.000,260,0.000,0.106,3250,3312,3363,3334,3393,0,0,0,0,0,0,14.65,13.94,14.64
$STATE,9825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9825,begin apogee
$GC,9838,-0.16,0.0,3250,2253,3334,3392,743.3,-6.5,367,9931,0.32,0.00,84.90,1.604,10246,0.156,0.000,3344,2251,2941,2884,2998,0,0,0,0,0,0,13.95,13.90,12.97
$STATE,9934,end apogee,CONTROL_FINISHED_OK
$STATE,9934,begin climb
$GC,9940,0.39,107.1,3344,2251,2880,2996,745.2,0.0,368,10044,0.47,0.00,87.22,1.576,10758,0.096,0.000,3518,2246,2501,2379,2624,0,0,0,0,0,0,13.95,13.48,12.83
$GC,10376,0.43,107.1,3518,2250,2375,2624,726.9,5.4,397,10388,0.00,2.65,0.00,0.000,260,0.000,0.108,3518,3663,2503,2376,2630,0,0,0,0,0,0,14.49,14.02,14.48
$GC,10493,0.45,107.1,3518,3663,2375,2622,719.8,6.3,417,10505,0.00,2.60,0.00,0.000,1030,0.000,0.089,3527,2243,2498,2374,2622,0,0,0,0,0,0,14.24,14.09,14.28
$GC,10832,0.48,107.1,3526,2244,2374,2618,700.5,5.7,426,10843,0.00,2.58,0.00,0.000,516,0.000,0.103,3526,842,2498,2374,2622,0,0,0,0,0,0,14.58,14.08,14.59
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$STATE,20127,end climb,SURFACE_DEPTH_REACHED
$STATE,20127,begin surface coast
$FINISH,-0.0,1.023451
$STATE,20163,end surface coast,CONTROL_FINISHED_OK
$STATE,20163,begin surface
$SM_CCo,20196,23.80,0.083,0,0,1309,400.08
$SM_GC,1.17,10.15,1.95,23.80,0.041,0.087,0.083,93,1899,1309,-10.25,-0.68,400.08,0,0,0,0,0,0,14.26,14.15,14.19
$IRIDIUM_FIX,4732.49,-12522.93,221015,165925
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.68
$INTERNAL_PRESSURE,9.15736
$TCM_TEMP,20.70
$XPDR_PINGS,0
$SC_FREEKB,3746976
$24V_AH,12.39,130.866
$10V_AH,12.55,0.000
$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,26.050,180.500,345.750,23.800,0.000,0.000,0.000,549.325,0.000,0.000,8.388,2027.922,14784.891,582.957,2732.224,1042.617,0.000,2660.217,0.000,1439.585,0.000,0.537,0.000
$DEVICE_MAMPS,361.080,107.865,1604.205,82.620,0.000,0.000,0.000,153.000,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20247.000,540.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.013,7.728,0.000,0.000
$MEM,286344
$DATA_FILE_SIZE,33343,971
$CAP_FILE_SIZE,213643,0
$CFSIZE,260034560,199770112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,40.65,1
$GPS,231015,042244,4747.574,-12526.561,51,1.2,56,16.5,0.3,0.0,8,10.0