version: 66.12
glider: 187
mission: 8
dive: 44
start: 6 23 115 4 56 54
data:
$ID,187
$MISSION,8
$DIVE,44
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,3400
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$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,1800
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,18
$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,0.00079999998
$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
$GPS1,230615,044539,4717.8452,-12606.3027,54,1.2,54,16.5,0.3,48.3,7,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-78.9
$GPS2,230615,045621,4717.8413,-12606.2559,4,1.2,6,16.5,0.4,64.4,7,8.3
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,223.7,75497,-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,-0.49,-116.8,86,1799,1296,1534,0.0,0.0,0,101,0.00,0.00,-67.60,0.000,16386,0.000,0.000,83,1799,3324,3312,3336,0,0,0,0,0,0,14.54,28.83,14.57
$GC,108,-0.49,-116.8,83,1799,3312,3336,5.2,-9.0,7,133,13.45,2.67,-1.40,0.000,18948,0.365,2.228,3231,440,3420,3410,3430,0,0,0,0,0,0,14.19,13.55,14.41
$GC,256,-0.49,-116.8,3233,440,3410,3432,54.1,-19.4,34,266,0.00,2.42,0.00,0.000,1030,0.000,0.095,3233,1802,3423,3411,3435,0,0,0,0,0,0,14.42,14.34,14.44
$GC,447,-0.49,-116.8,3233,1802,3411,3438,89.5,-18.0,53,455,0.00,2.47,0.00,0.000,516,0.000,0.114,3234,432,3423,3410,3437,0,0,0,0,0,0,14.59,14.36,14.61
$GC,543,-0.49,-116.8,3233,432,3406,3438,104.2,-14.9,70,553,0.00,2.42,0.00,0.000,1030,0.000,0.093,3234,1808,3423,3409,3438,0,0,0,0,0,0,14.50,14.43,14.52
$GC,733,-0.49,-116.8,3233,1808,3411,3439,129.7,-13.1,89,741,0.00,2.50,0.00,0.000,260,0.000,0.105,3234,3219,3425,3414,3436,0,0,0,0,0,0,14.64,14.44,14.66
$GC,849,-0.49,-116.8,3233,3219,3410,3439,145.0,-12.9,110,859,0.00,2.53,0.00,0.000,1030,0.000,0.096,3234,1793,3425,3411,3439,0,0,0,0,0,0,14.54,14.47,14.56
$GC,1040,-0.49,-116.8,3233,1793,3411,3440,168.5,-11.5,129,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1793,3425,3411,3440,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1230,-0.49,-116.8,3230,1793,3410,3440,190.5,-11.9,148,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1793,3426,3412,3440,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1420,-0.49,-116.8,3233,1791,3410,3440,212.7,-11.9,167,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1792,3424,3408,3440,0,0,0,0,0,0,14.71,14.72,14.74
$GC,1611,-0.49,-116.8,3232,1793,3410,3440,234.9,-11.6,186,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1793,3425,3410,3440,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1805,-0.49,-116.8,3229,1797,3410,3440,256.6,-11.0,201,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1793,3425,3410,3440,0,0,0,0,0,0,14.73,14.74,14.74
$GC,2102,-0.49,-116.8,3229,1792,3407,3440,287.7,-10.4,211,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1793,3423,3407,3440,0,0,0,0,0,0,14.74,14.76,14.76
$GC,2401,-0.49,-116.8,3233,1793,3405,3439,319.3,-10.6,221,2408,0.00,2.55,0.00,0.000,260,0.000,0.109,3234,3214,3422,3405,3440,0,0,0,0,0,0,14.78,14.55,14.77
$GC,2459,-0.49,-116.8,3233,3214,3405,3435,325.3,-10.2,231,2467,0.00,2.53,0.00,0.000,1030,0.000,0.100,3235,1790,3422,3405,3440,0,0,0,0,0,0,14.64,14.55,14.65
$GC,2784,-0.49,-116.8,3232,1796,3403,3440,358.9,-10.6,243,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1790,3420,3401,3440,0,0,0,0,0,0,14.77,14.78,14.78
$GC,3078,-0.49,-116.8,3233,1789,3399,3440,390.0,-10.2,253,3086,0.00,2.58,0.00,0.000,260,0.000,0.109,3234,3223,3419,3400,3439,0,0,0,0,0,0,14.76,14.55,14.78
$GC,3111,-0.49,-116.8,3233,3225,3400,3440,393.4,-10.0,258,3121,0.00,2.50,0.00,0.000,1030,0.000,0.099,3234,1808,3418,3397,3440,0,0,0,0,0,0,14.65,14.56,14.66
$GC,3421,-0.49,-116.8,3233,1806,3399,3439,423.9,-10.1,269,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1808,3419,3399,3440,0,0,0,0,0,0,14.76,14.76,14.78
$GC,3718,-0.49,-116.8,3233,1809,3397,3440,454.7,-10.1,279,3725,0.00,2.53,0.00,0.000,260,0.000,0.109,3233,3222,3418,3396,3440,0,0,0,0,0,0,14.79,14.55,14.78
$GC,3787,-0.49,-116.8,3233,3222,3398,3440,461.7,-10.0,291,3795,0.00,2.55,0.00,0.000,1030,0.000,0.100,3234,1797,3418,3397,3439,0,0,0,0,0,0,14.66,14.57,14.67
$GC,4130,-0.49,-116.8,3234,1797,3394,3439,495.3,-9.7,307,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1796,3417,3394,3440,0,0,0,0,0,0,14.75,14.78,14.78
$GC,4426,-0.49,-116.8,3233,1797,3392,3441,523.7,-9.2,317,4433,0.00,2.55,0.00,0.000,260,0.000,0.109,3238,3223,3416,3392,3440,0,0,0,0,0,0,14.77,14.55,14.78
$GC,4465,-0.49,-116.8,3233,3223,3392,3439,527.1,-8.9,323,4473,0.00,2.55,0.00,0.000,1030,0.000,0.102,3239,1789,3415,3392,3439,0,0,0,0,0,0,14.65,14.55,14.66
$GC,4809,-0.49,-116.8,3233,1787,3390,3439,556.2,-8.5,339,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1787,3414,3390,3439,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5104,-0.49,-116.8,3233,1787,3389,3439,582.3,-8.7,349,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1787,3414,3390,3439,0,0,0,0,0,0,14.77,14.78,14.79
$GC,5404,-0.49,-116.8,3233,1788,3384,3439,607.6,-8.4,359,5412,0.00,2.55,0.00,0.000,260,0.000,0.110,3233,3217,3418,3394,3443,0,0,0,0,0,0,14.77,14.57,14.79
$GC,5478,-0.49,-116.8,3233,3219,3387,3439,613.6,-8.0,372,5485,0.00,2.53,0.00,0.000,1030,0.000,0.103,3234,1790,3413,3388,3439,0,0,0,0,0,0,14.65,14.56,14.66
$GC,5816,-0.49,-116.8,3233,1790,3386,3439,642.2,-9.0,387,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1789,3412,3385,3439,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6111,-0.49,-116.8,3233,1789,3384,3439,669.2,-9.0,397,6119,0.00,2.55,0.00,0.000,260,0.000,0.110,3233,3218,3411,3384,3439,0,0,0,0,0,0,14.77,14.57,14.78
$GC,6154,-0.49,-116.8,3233,3216,3384,3439,673.0,-9.1,404,6161,0.00,2.50,0.00,0.000,1030,0.000,0.103,3233,1808,3411,3383,3439,0,0,0,0,0,0,14.66,14.56,14.67
$GC,6492,-0.49,-116.8,3233,1808,3383,3435,701.4,-8.4,419,6500,0.00,2.53,0.00,0.000,260,0.000,0.110,3233,3214,3410,3382,3439,0,0,0,0,0,0,14.77,14.57,14.78
$GC,6531,-0.49,-116.8,3233,3213,3386,3438,704.9,-8.0,425,6539,0.00,2.53,0.00,0.000,1030,0.000,0.101,3233,1792,3413,3383,3444,0,0,0,0,0,0,14.64,14.59,14.66
$GC,6874,-0.49,-116.8,3233,1791,3382,3438,732.7,-8.0,441,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1791,3413,3382,3444,0,0,0,0,0,0,14.76,14.78,14.77
$GC,7171,-0.49,-116.8,3233,1791,3381,3438,756.3,-7.9,451,7179,0.00,2.55,0.00,0.000,260,0.000,0.109,3230,3206,3409,3381,3438,0,0,0,0,0,0,14.76,14.56,14.78
$GC,7250,-0.49,-116.8,3233,3207,3381,3437,762.6,-7.7,465,7258,0.00,2.50,0.00,0.000,1030,0.000,0.103,3230,1805,3409,3381,3437,0,0,0,0,0,0,14.64,14.59,14.66
$GC,7584,-0.49,-116.8,3233,1805,3381,3437,789.0,-8.0,479,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1805,3409,3380,3438,0,0,0,0,0,0,14.75,14.77,14.77
$GC,7879,-0.49,-116.8,3233,1805,3376,3437,813.0,-8.1,489,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1805,3408,3379,3438,0,0,0,0,0,0,14.78,14.78,14.77
$GC,8180,-0.49,-116.8,3233,1805,3378,3437,836.7,-7.7,499,8188,0.00,2.53,0.00,0.000,260,0.000,0.110,3233,3210,3408,3379,3437,0,0,0,0,0,0,14.76,14.54,14.77
$GC,8258,-0.49,-116.8,3233,3213,3378,3436,843.3,-7.8,513,8266,0.00,2.55,0.00,0.000,1030,0.000,0.104,3234,1788,3408,3378,3439,0,0,0,0,0,0,14.64,14.54,14.64
$GC,8592,-0.49,-116.8,3233,1788,3377,3435,868.7,-7.9,527,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1788,3410,3384,3436,0,0,0,0,0,0,14.75,14.76,14.76
$GC,8887,-0.49,-116.8,3233,1788,3377,3436,891.8,-7.6,537,8895,0.00,2.55,0.00,0.000,260,0.000,0.109,3240,3212,3406,3376,3436,0,0,0,0,0,0,14.75,14.56,14.77
$GC,8976,-0.49,-116.8,3233,3211,3376,3437,899.1,-7.3,553,8983,0.00,2.53,0.00,0.000,1030,0.000,0.105,3234,1790,3406,3376,3436,0,0,0,0,0,0,14.63,14.54,14.64
$GC,9299,-0.49,-116.8,3233,1790,3376,3435,921.3,-6.9,565,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1788,3406,3376,3437,0,0,0,0,0,0,14.76,14.77,14.76
$GC,9595,-0.49,-116.8,3233,1787,3376,3436,942.5,-7.1,575,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1790,3406,3376,3436,0,0,0,0,0,0,14.75,14.77,14.76
$GC,9895,-0.49,-116.8,3233,1790,3375,3433,964.4,-7.4,585,9902,0.00,2.58,0.00,0.000,260,0.000,0.112,3233,3215,3405,3375,3435,0,0,0,0,0,0,14.75,14.54,14.76
$GC,9973,-0.49,-116.8,3233,3213,3375,3435,971.1,-7.6,599,9981,0.00,2.50,0.00,0.000,1030,0.000,0.106,3234,1813,3405,3376,3435,0,0,0,0,0,0,14.63,14.53,14.64
$STATE,10238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10238,begin apogee
$GC,10254,-0.20,0.0,3233,2354,3375,3430,991.7,-8.1,611,10351,0.32,0.00,92.00,1.919,10246,0.186,0.000,3334,2354,2942,2882,3003,0,0,0,0,0,0,14.50,13.85,13.21
$STATE,10355,end apogee,CONTROL_FINISHED_OK
$STATE,10355,begin climb
$GC,10360,0.49,116.8,3335,2354,2877,3001,996.5,0.0,614,10466,0.65,0.00,97.68,1.875,10246,0.125,0.000,3553,2358,2465,2341,2589,0,0,0,0,0,0,13.87,13.66,13.05
$GC,10752,0.49,116.8,3553,2353,2337,2587,966.2,9.7,628,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2354,2462,2337,2587,0,0,0,0,0,0,14.40,14.42,14.42
$GC,11056,0.49,116.8,3549,2354,2335,2586,936.4,10.0,638,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2354,2461,2335,2587,0,0,0,0,0,0,14.54,14.57,14.57
$GC,11357,0.49,116.8,3553,2354,2334,2588,905.6,10.3,648,11368,0.00,2.58,0.00,0.000,516,0.000,0.112,3556,936,2460,2334,2587,0,0,0,0,0,0,14.62,14.42,14.64
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$STATE,21262,end climb,SURFACE_DEPTH_REACHED
$STATE,21262,begin surface coast
$FINISH,2.9,1.023423
$STATE,21267,end surface coast,CONTROL_FINISHED_OK
$STATE,21267,begin surface
$SM_CCo,21302,29.30,0.086,0,0,1411,375.06
$SM_GC,1.17,10.20,3.58,29.30,0.080,0.102,0.086,96,1808,1411,-10.27,0.76,375.06,0,0,0,0,0,0,14.48,14.45,14.45
$IRIDIUM_FIX,4700.70,-12600.71,220615,223434
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.77
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3921152
$24V_AH,13.05,11.010
$10V_AH,13.39,0.000
$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,24.950,164.025,339.525,29.300,0.000,0.000,0.000,375.875,0.000,0.000,7.997,3103.909,14304.389,617.203,2833.406,1094.287,0.000,2512.184,0.000,2141.622,0.000,0.537,0.000
$DEVICE_MAMPS,364.905,2228.445,1919.385,86.445,0.000,0.000,0.000,149.940,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21292.000,10574.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.805,8.926,0.000,0.000
$MEM,286380
$DATA_FILE_SIZE,49926,1384
$CAP_FILE_SIZE,240414,0
$CFSIZE,260034560,252461056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019,10.83,1
$GPS,230615,105356,4716.885,-12609.595,34,1.0,34,16.5,0.0,0.0,10,6.0