version: 66.12
glider: 187
mission: 8
dive: 508
start: 11 4 115 1 2 14
data:
$ID,187
$MISSION,8
$DIVE,508
$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,21
$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,0.00050000002
$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
$GPS1,041115,004356,4701.0679,-12658.5674,42,1.3,42,16.5,0.5,200.4,10,6.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-77.5
$GPS2,041115,010130,4700.9546,-12658.5840,2,1.2,5,16.5,0.4,1.5,10,7.9
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,225.4,2515,-25.3,-7.333,-28.93,883
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,32,-0.60,-42.1,73,1888,1216,1412,0.0,0.0,0,102,0.00,0.00,-66.07,0.000,16390,0.000,0.000,72,1888,3115,3093,3137,0,0,0,0,0,0,14.46,12.42,14.40
$GC,109,-0.60,-42.1,72,1886,3091,3139,2.3,-3.3,2,135,14.20,2.65,0.00,0.000,2820,0.361,0.094,3183,3322,3120,3096,3145,0,0,0,0,0,0,13.66,14.09,14.12
$GC,273,-0.60,-42.1,3183,3322,3087,3150,46.3,-19.7,33,281,0.00,2.58,0.00,0.000,1030,0.000,0.089,3183,1908,3118,3087,3150,0,0,0,0,0,0,14.15,14.00,14.19
$GC,488,-0.60,-42.1,3184,1903,3083,3156,83.3,-16.0,44,496,0.00,2.60,0.00,0.000,260,0.000,0.097,3181,3322,3119,3083,3156,0,0,0,0,0,0,14.50,13.93,14.52
$GC,638,-0.60,-42.1,3181,3322,3083,3156,103.3,-9.8,72,646,0.00,2.58,0.00,0.000,1030,0.000,0.083,3181,1891,3120,3083,3157,0,0,0,0,0,0,14.16,14.04,14.21
$GC,838,-0.60,-42.1,3178,1890,3084,3158,124.1,-10.8,80,846,0.00,2.62,0.00,0.000,260,0.000,0.096,3181,3321,3121,3084,3158,0,0,0,0,0,0,14.52,13.97,14.54
$GC,1080,-0.60,-42.1,3181,3321,3083,3159,150.1,-10.6,126,1089,0.00,2.58,0.00,0.000,1030,0.000,0.084,3181,1899,3121,3083,3159,0,0,0,0,0,0,14.17,14.04,14.23
$GC,1281,-0.60,-42.1,3181,1899,3083,3159,170.8,-10.2,134,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1900,3124,3089,3159,0,0,0,0,0,0,14.54,14.56,14.56
$GC,1460,-0.60,-42.1,3181,1899,3082,3159,189.6,-10.4,140,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1899,3121,3083,3159,0,0,0,0,0,0,14.55,14.57,14.57
$GC,1641,-0.60,-42.1,3185,1899,3082,3159,207.6,-9.7,146,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1899,3120,3082,3159,0,0,0,0,0,0,14.54,14.57,14.57
$GC,1820,-0.60,-42.1,3178,1898,3081,3159,225.6,-10.1,152,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1899,3119,3080,3159,0,0,0,0,0,0,14.56,14.58,14.58
$GC,2000,-0.60,-42.1,3181,1898,3077,3159,244.2,-10.2,158,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1899,3119,3080,3159,0,0,0,0,0,0,14.57,14.58,14.56
$GC,2181,-0.60,-42.1,3181,1899,3075,3155,262.7,-10.3,162,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1896,3119,3079,3159,0,0,0,0,0,0,14.57,14.59,14.59
$GC,2480,-0.60,-42.1,3182,1899,3077,3159,291.6,-9.5,167,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1898,3118,3077,3159,0,0,0,0,0,0,14.57,14.59,14.59
$GC,2780,-0.60,-42.1,3181,1899,3075,3159,319.2,-9.2,172,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1899,3117,3075,3160,0,0,0,0,0,0,14.59,14.60,14.59
$GC,3080,-0.60,-42.1,3181,1902,3073,3159,347.1,-9.3,177,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1898,3116,3073,3159,0,0,0,0,0,0,14.57,14.59,14.58
$GC,3381,-0.60,-42.1,3181,1898,3071,3159,374.4,-9.1,182,3391,0.00,2.65,0.00,0.000,260,0.000,0.104,3181,3314,3114,3070,3159,0,0,0,0,0,0,14.57,13.92,14.61
$GC,3427,-0.60,-42.1,3181,3314,3070,3159,378.6,-8.8,189,3435,0.00,2.60,0.00,0.000,1030,0.000,0.090,3182,1892,3115,3071,3159,0,0,0,0,0,0,14.15,14.01,14.19
$GC,3763,-0.60,-42.1,3181,1891,3069,3156,407.6,-8.7,199,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1892,3113,3068,3159,0,0,0,0,0,0,14.57,14.59,14.59
$GC,4061,-0.60,-42.1,3181,1891,3067,3155,433.1,-8.5,204,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1892,3113,3067,3160,0,0,0,0,0,0,14.57,14.58,14.58
$GC,4361,-0.60,-42.1,3181,1892,3059,3159,458.4,-8.4,209,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1891,3112,3064,3160,0,0,0,0,0,0,14.57,14.59,14.59
$GC,4662,-0.60,-42.1,3181,1892,3063,3159,483.2,-8.3,214,4671,0.00,2.60,0.00,0.000,516,0.000,0.107,3181,495,3111,3063,3159,0,0,0,0,0,0,14.57,13.88,14.57
$GC,4717,-0.60,-42.1,3181,495,3063,3159,488.6,-10.1,223,4724,0.00,2.58,0.00,0.000,1030,0.000,0.092,3182,1896,3108,3058,3159,0,0,0,0,0,0,14.11,13.95,14.16
$GC,5041,-0.60,-42.1,3181,1896,3061,3159,517.4,-8.8,231,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1896,3110,3061,3159,0,0,0,0,0,0,14.55,14.57,14.57
$GC,5341,-0.60,-42.1,3181,1896,3059,3159,543.2,-8.6,236,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1897,3109,3060,3159,0,0,0,0,0,0,14.54,14.58,14.55
$GC,5640,-0.60,-42.1,3180,1896,3057,3164,568.7,-8.5,241,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1896,3108,3057,3159,0,0,0,0,0,0,14.55,14.57,14.57
$GC,5940,-0.60,-42.1,3181,1896,3056,3162,593.1,-8.0,246,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1896,3108,3057,3159,0,0,0,0,0,0,14.55,14.57,14.57
$GC,6242,-0.60,-42.1,3181,1895,3055,3157,615.6,-7.4,251,6249,0.00,2.65,0.00,0.000,260,0.000,0.106,3181,3320,3107,3055,3159,0,0,0,0,0,0,14.55,13.85,14.57
$GC,6330,-0.60,-42.1,3181,3319,3055,3158,622.1,-7.3,267,6338,0.00,2.62,0.00,0.000,1030,0.000,0.092,3181,1908,3106,3054,3159,0,0,0,0,0,0,14.05,13.90,14.11
$GC,6679,-0.60,-42.1,3181,1907,3056,3159,647.1,-7.2,280,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1907,3106,3054,3158,0,0,0,0,0,0,14.52,14.55,14.54
$GC,6980,-0.60,-42.1,3181,1907,3053,3157,667.7,-6.9,285,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1907,3105,3053,3157,0,0,0,0,0,0,14.53,14.54,14.54
$GC,7279,-0.60,-42.1,3181,1907,3052,3157,690.2,-7.5,290,7287,0.00,2.65,0.00,0.000,516,0.000,0.106,3181,484,3104,3052,3157,0,0,0,0,0,0,14.54,13.84,14.56
$GC,7358,-0.60,-42.1,3181,484,3052,3155,697.3,-9.1,304,7366,0.00,2.62,0.00,0.000,1030,0.000,0.093,3181,1903,3104,3053,3155,0,0,0,0,0,0,14.06,13.91,14.12
$GC,7717,-0.60,-42.1,3181,1903,3051,3156,726.4,-8.1,319,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1902,3103,3051,3156,0,0,0,0,0,0,14.51,14.54,14.53
$GC,8017,-0.60,-42.1,3180,1902,3050,3155,750.5,-8.0,324,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1902,3102,3050,3155,0,0,0,0,0,0,14.52,14.53,14.53
$GC,8318,-0.60,-42.1,3181,1903,3049,3154,773.6,-7.7,329,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1903,3103,3051,3155,0,0,0,0,0,0,14.53,14.54,14.54
$GC,8617,-0.60,-42.1,3181,1903,3048,3154,795.4,-7.2,334,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1902,3101,3049,3154,0,0,0,0,0,0,14.52,14.55,14.53
$GC,8917,-0.60,-42.1,3181,1903,3048,3154,816.3,-6.9,339,8925,0.00,2.70,0.00,0.000,516,0.000,0.108,3181,473,3100,3047,3154,0,0,0,0,0,0,14.53,13.76,14.54
$GC,8952,-0.60,-42.1,3181,475,3048,3160,819.0,-8.1,344,8960,0.00,2.67,0.00,0.000,1030,0.000,0.094,3181,1909,3100,3048,3153,0,0,0,0,0,0,14.03,13.88,14.08
$GC,9296,-0.60,-42.1,3181,1914,3048,3153,843.3,-7.0,356,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1909,3099,3048,3150,0,0,0,0,0,0,14.51,14.52,14.52
$GC,9596,-0.60,-42.1,3187,1909,3047,3153,864.1,-7.0,361,9604,0.00,2.70,0.00,0.000,516,0.000,0.107,3181,485,3099,3047,3152,0,0,0,0,0,0,14.51,13.78,14.53
$GC,9675,-0.60,-42.1,3181,486,3047,3152,870.1,-7.9,375,9683,0.00,2.65,0.00,0.000,1030,0.000,0.096,3181,1904,3099,3047,3152,0,0,0,0,0,0,14.04,13.86,14.07
$GC,10034,-0.60,-42.1,3181,1904,3047,3152,894.9,-6.9,390,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1903,3099,3047,3152,0,0,0,0,0,0,14.51,14.53,14.53
$GC,10336,-0.60,-42.1,3181,1903,3045,3152,916.7,-7.3,395,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1904,3099,3046,3152,0,0,0,0,0,0,14.49,14.50,14.48
$GC,10634,-0.60,-42.1,3181,1903,3046,3157,938.5,-7.3,400,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1903,3099,3046,3152,0,0,0,0,0,0,14.49,14.51,14.51
$GC,10934,-0.60,-42.1,3181,1903,3046,3148,959.9,-7.1,405,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1903,3095,3038,3152,0,0,0,0,0,0,14.50,14.52,14.52
$GC,11236,-0.60,-42.1,3180,1903,3046,3151,979.5,-6.5,410,11238,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1903,3099,3046,3153,0,0,0,0,0,0,14.50,14.52,14.52
$STATE,11409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11409,begin apogee
$GC,11421,-0.16,0.0,3181,2261,3046,3147,990.9,-6.3,413,11461,0.55,0.00,34.03,1.892,10246,0.171,0.000,3342,2261,2943,2880,3006,0,0,0,0,0,0,13.65,14.00,12.90
$STATE,11464,end apogee,CONTROL_FINISHED_OK
$STATE,11464,begin climb
$GC,11469,0.60,42.1,3341,2261,2876,3004,990.9,0.0,413,11515,0.68,0.00,37.72,1.872,10246,0.084,0.000,3589,2261,2769,2697,2841,0,0,0,0,0,0,14.09,13.83,12.80
$GC,11782,0.61,67.4,3589,2261,2688,2839,980.3,4.4,419,11811,0.00,0.00,22.10,1.819,8198,0.000,0.000,3589,2261,2665,2581,2750,0,0,0,0,0,0,14.46,14.02,13.01
$GC,12074,0.61,67.4,3589,2260,2577,2750,960.7,7.0,424,12086,0.00,2.62,0.00,0.000,260,0.000,0.109,3589,3661,2664,2577,2751,0,0,0,0,0,0,14.50,13.99,14.52
$GC,12126,0.61,67.4,3589,3660,2577,2750,956.7,7.6,432,12138,0.00,2.60,0.00,0.000,1030,0.000,0.093,3598,2249,2663,2576,2750,0,0,0,0,0,0,14.20,14.06,14.26
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$FREEZE,46.05,14.428,-1.775,0,1,0
$STATE,25869,end climb,NO_VERTICAL_VELOCITY
$STATE,25869,begin surface
$SM_CCo,25876,297.40,0.715,0,0,468,606.14
$SM_GC,0.95,10.62,0.62,0.00,0.032,0.094,0.000,81,1902,467,-10.26,0.57,606.87,0,0,0,0,0,0,14.11,13.98,14.16
$IRIDIUM_FIX,4644.93,-12653.46,031115,161559
$TT8_MAMPS,0.02247,0.02247
$HUMID,48.34
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3731392
$24V_AH,12.42,142.645
$10V_AH,12.69,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.515,9.219,0.000,0.000
$MEM,286348
$DATA_FILE_SIZE,49919,1455
$CAP_FILE_SIZE,245755,0
$CFSIZE,260034560,194658304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,97.02,1
$GPS,041115,082201,4659.971,-12659.566,34,0.8,34,16.5,0.8,67.1,10,3.8