version: 66.12
glider: 187
mission: 8
dive: 52
start: 6 25 115 8 14 38
data:
$ID,187
$MISSION,8
$DIVE,52
$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,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,3395
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$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,13
$R_STBD_OVSHOOT,19
$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,0.001
$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
$GPS1,250615,080208,4708.3472,-12636.6875,23,1.1,23,16.5,0.1,0.0,7,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-78.3
$GPS2,250615,081405,4708.2935,-12636.7490,3,1.1,5,16.5,0.3,0.0,7,8.9
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,235.0,33142,-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,-0.47,-116.8,86,1800,1310,1514,0.0,0.0,0,101,0.00,0.00,-67.60,0.000,16386,0.000,0.000,89,1805,3293,3278,3309,0,0,0,0,0,0,14.52,28.83,14.54
$GC,108,-0.47,-116.8,86,1800,3279,3301,4.7,-7.7,7,133,13.50,2.65,-1.95,0.000,18948,0.366,2.220,3235,441,3420,3408,3432,0,0,0,0,0,0,14.17,13.56,14.40
$GC,213,-0.47,-116.8,3234,442,3408,3438,43.9,-24.2,25,221,0.00,2.40,0.00,0.000,1030,0.000,0.092,3235,1799,3424,3411,3437,0,0,0,0,0,0,14.39,14.31,14.43
$GC,412,-0.47,-116.8,3234,1800,3408,3439,87.9,-22.7,45,419,0.00,2.50,0.00,0.000,260,0.000,0.104,3234,3204,3423,3408,3439,0,0,0,0,0,0,14.57,14.37,14.59
$GC,500,-0.47,-116.8,3234,3205,3408,3439,104.2,-16.5,61,508,0.00,2.50,0.00,0.000,1030,0.000,0.096,3234,1801,3424,3408,3440,0,0,0,0,0,0,14.50,14.40,14.50
$GC,699,-0.47,-116.8,3233,1798,3408,3441,132.1,-13.9,81,706,0.00,2.53,0.00,0.000,260,0.000,0.103,3235,3213,3424,3409,3440,0,0,0,0,0,0,14.63,14.43,14.65
$GC,738,-0.47,-116.8,3234,3212,3408,3441,138.0,-15.2,87,745,0.00,2.50,0.00,0.000,1030,0.000,0.096,3235,1799,3424,3408,3441,0,0,0,0,0,0,14.52,14.44,14.53
$GC,937,-0.47,-116.8,3234,1799,3409,3441,167.1,-13.6,107,945,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1799,3424,3408,3441,0,0,0,0,0,0,14.66,14.70,14.67
$GC,1126,-0.47,-116.8,3234,1799,3409,3440,187.9,-9.6,126,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1799,3425,3408,3443,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1316,-0.47,-116.8,3234,1799,3408,3441,209.2,-12.1,145,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1804,3424,3408,3441,0,0,0,0,0,0,14.69,14.71,14.70
$GC,1506,-0.47,-116.8,3234,1799,3408,3441,233.2,-12.2,164,1514,0.00,2.53,0.00,0.000,260,0.000,0.104,3234,3214,3422,3408,3437,0,0,0,0,0,0,14.70,14.51,14.70
$GC,1575,-0.47,-116.8,3235,3213,3408,3443,241.1,-11.3,176,1583,0.00,2.53,0.00,0.000,1030,0.000,0.097,3235,1787,3424,3408,3441,0,0,0,0,0,0,14.59,14.50,14.61
$GC,1788,-0.47,-116.8,3234,1787,3407,3441,264.5,-11.1,189,1795,0.00,2.53,0.00,0.000,260,0.000,0.102,3236,3206,3424,3407,3442,0,0,0,0,0,0,14.71,14.52,14.73
$GC,1827,-0.47,-116.8,3234,3211,3407,3441,269.2,-10.9,195,1835,0.00,2.47,0.00,0.000,1030,0.000,0.096,3235,1797,3423,3406,3441,0,0,0,0,0,0,14.60,14.53,14.62
$GC,2171,-0.47,-116.8,3234,1796,3404,3441,305.7,-10.6,211,2178,0.00,2.53,0.00,0.000,260,0.000,0.104,3235,3221,3424,3405,3443,0,0,0,0,0,0,14.73,14.53,14.75
$GC,2214,-0.47,-116.8,3235,3220,3405,3441,310.9,-10.8,218,2222,0.00,2.50,0.00,0.000,1030,0.000,0.099,3235,1805,3422,3404,3441,0,0,0,0,0,0,14.62,14.54,14.64
$GC,2552,-0.47,-116.8,3234,1805,3409,3441,344.9,-9.7,233,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1809,3421,3401,3441,0,0,0,0,0,0,14.73,14.76,14.76
$GC,2849,-0.47,-116.8,3235,1808,3400,3441,371.6,-8.9,243,2856,0.00,2.50,0.00,0.000,260,0.000,0.106,3234,3205,3421,3402,3440,0,0,0,0,0,0,14.75,14.55,14.76
$GC,2961,-0.47,-116.8,3234,3205,3400,3440,381.4,-9.1,263,2969,0.00,2.53,0.00,0.000,1030,0.000,0.100,3235,1787,3423,3400,3446,0,0,0,0,0,0,14.64,14.54,14.65
$GC,3294,-0.47,-116.8,3234,1787,3399,3440,414.9,-10.2,277,3303,0.00,2.50,0.00,0.000,260,0.000,0.104,3235,3203,3419,3398,3441,0,0,0,0,0,0,14.74,14.52,14.76
$GC,3338,-0.47,-116.8,3234,3204,3398,3441,419.8,-9.8,284,3346,0.00,2.47,0.00,0.000,1030,0.000,0.097,3235,1795,3422,3403,3441,0,0,0,0,0,0,14.64,14.56,14.65
$GC,3676,-0.47,-116.8,3237,1795,3396,3441,452.1,-9.4,299,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1800,3418,3396,3441,0,0,0,0,0,0,14.75,14.77,14.79
$GC,3972,-0.47,-116.8,3234,1795,3395,3439,479.1,-8.8,309,3979,0.00,2.53,0.00,0.000,260,0.000,0.106,3235,3211,3417,3394,3440,0,0,0,0,0,0,14.76,14.56,14.77
$GC,4065,-0.47,-116.8,3234,3209,3394,3440,486.9,-8.5,326,4074,0.00,2.50,0.00,0.000,1030,0.000,0.101,3235,1790,3417,3394,3440,0,0,0,0,0,0,14.64,14.56,14.66
$GC,4374,-0.47,-116.8,3234,1789,3392,3441,514.0,-8.9,337,4382,0.00,2.53,0.00,0.000,260,0.000,0.106,3235,3204,3416,3392,3440,0,0,0,0,0,0,14.76,14.55,14.77
$GC,4453,-0.47,-116.8,3234,3208,3392,3440,521.2,-8.7,351,4460,0.00,2.47,0.00,0.000,1030,0.000,0.099,3240,1806,3416,3392,3440,0,0,0,0,0,0,14.64,14.57,14.66
$GC,4785,-0.47,-116.8,3235,1806,3390,3436,552.2,-9.3,365,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1806,3415,3390,3440,0,0,0,0,0,0,14.75,14.78,14.78
$GC,5081,-0.47,-116.8,3233,1806,3389,3440,577.9,-8.3,375,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1806,3415,3390,3440,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5381,-0.47,-116.8,3234,1806,3388,3440,602.7,-8.1,385,5388,0.00,2.53,0.00,0.000,260,0.000,0.109,3234,3222,3414,3388,3440,0,0,0,0,0,0,14.76,14.54,14.78
$GC,5433,-0.47,-116.8,3234,3222,3388,3439,607.0,-7.9,394,5442,0.00,2.53,0.00,0.000,1030,0.000,0.100,3234,1789,3413,3387,3439,0,0,0,0,0,0,14.64,14.55,14.66
$GC,5763,-0.47,-116.8,3234,1788,3386,3439,633.7,-8.5,407,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1789,3409,3380,3439,0,0,0,0,0,0,14.76,14.78,14.79
$GC,6058,-0.47,-116.8,3234,1788,3385,3439,659.8,-8.6,417,6065,0.00,2.55,0.00,0.000,260,0.000,0.106,3235,3227,3412,3385,3439,0,0,0,0,0,0,14.76,14.55,14.78
$GC,6100,-0.47,-116.8,3233,3221,3381,3439,663.5,-8.6,424,6108,0.00,2.50,0.00,0.000,1030,0.000,0.101,3235,1808,3412,3385,3439,0,0,0,0,0,0,14.64,14.54,14.66
$GC,6439,-0.47,-116.8,3234,1805,3384,3439,691.5,-7.9,439,6446,0.00,2.53,0.00,0.000,260,0.000,0.109,3230,3218,3410,3383,3438,0,0,0,0,0,0,14.74,14.56,14.77
$GC,6651,-0.47,-116.8,3234,3218,3383,3437,708.0,-7.6,479,6658,0.00,2.53,0.00,0.000,1030,0.000,0.101,3234,1788,3411,3384,3438,0,0,0,0,0,0,14.62,14.54,14.65
$GC,6974,-0.47,-116.8,3234,1786,3382,3438,732.0,-7.4,491,6982,0.00,2.38,0.00,0.000,516,0.000,0.116,3235,452,3409,3382,3437,0,0,0,0,0,0,14.75,14.54,14.79
$GC,7181,-0.47,-116.8,3234,452,3382,3440,750.0,-8.8,530,7190,0.00,2.38,0.00,0.000,1030,0.000,0.098,3235,1802,3407,3377,3437,0,0,0,0,0,0,14.63,14.54,14.65
$GC,7511,-0.47,-116.8,3234,1803,3382,3436,774.4,-7.4,543,7519,0.00,2.53,0.00,0.000,260,0.000,0.109,3235,3229,3409,3382,3436,0,0,0,0,0,0,14.74,14.52,14.76
$GC,7753,-0.47,-116.8,3234,3224,3382,3436,793.3,-7.7,589,7761,0.00,2.53,0.00,0.000,1030,0.000,0.099,3232,1788,3408,3381,3436,0,0,0,0,0,0,14.63,14.54,14.64
$GC,8076,-0.47,-116.8,3234,1790,3381,3436,818.7,-8.1,601,8083,0.00,2.38,0.00,0.000,516,0.000,0.115,3235,453,3408,3381,3435,0,0,0,0,0,0,14.73,14.53,14.76
$GC,8138,-0.47,-116.8,3234,453,3382,3436,824.6,-10.0,612,8147,0.00,2.38,0.00,0.000,1030,0.000,0.097,3235,1803,3408,3380,3436,0,0,0,0,0,0,14.62,14.53,14.64
$GC,8449,-0.47,-116.8,3234,1803,3380,3436,850.5,-8.3,623,8456,0.00,2.50,0.00,0.000,260,0.000,0.109,3235,3206,3407,3380,3435,0,0,0,0,0,0,14.73,14.54,14.73
$GC,8691,-0.47,-116.8,3235,3206,3379,3434,870.4,-7.9,669,8698,0.00,2.47,0.00,0.000,1030,0.000,0.099,3235,1806,3408,3381,3435,0,0,0,0,0,0,14.62,14.54,14.64
$GC,9013,-0.47,-116.8,3234,1806,3375,3435,894.4,-7.5,681,9021,0.00,2.42,0.00,0.000,516,0.000,0.115,3235,441,3406,3378,3435,0,0,0,0,0,0,14.73,14.52,14.75
$GC,9256,-0.47,-116.8,3234,441,3378,3436,914.6,-7.9,727,9263,0.00,2.40,0.00,0.000,1030,0.000,0.099,3234,1803,3405,3378,3432,0,0,0,0,0,0,14.62,14.52,14.63
$GC,9580,-0.47,-116.8,3235,1802,3377,3434,934.7,-6.0,739,9587,0.00,2.50,0.00,0.000,260,0.000,0.112,3234,3207,3405,3377,3434,0,0,0,0,0,0,14.73,14.53,14.74
$GC,9822,-0.47,-116.8,3234,3206,3377,3434,948.8,-5.4,785,9830,0.00,2.50,0.00,0.000,1030,0.000,0.101,3235,1797,3405,3377,3433,0,0,0,0,0,0,14.61,14.53,14.63
$GC,10145,-0.47,-116.8,3234,1792,3375,3433,964.8,-5.0,797,10152,0.00,2.55,0.00,0.000,260,0.000,0.112,3235,3217,3404,3376,3433,0,0,0,0,0,0,14.73,14.52,14.73
$GC,10387,-0.47,-116.8,3234,3217,3376,3432,977.1,-5.1,843,10394,0.00,2.53,0.00,0.000,1030,0.000,0.103,3235,1795,3404,3376,3433,0,0,0,0,0,0,14.61,14.53,14.62
$STATE,10611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10611,begin apogee
$GC,10623,-0.17,0.0,3235,2354,3376,3433,990.5,-6.1,852,10720,0.32,0.00,92.28,1.896,10246,0.184,0.000,3337,2353,2943,2883,3004,0,0,0,0,0,0,14.49,13.85,13.21
$STATE,10724,end apogee,CONTROL_FINISHED_OK
$STATE,10724,begin climb
$GC,10729,0.47,116.8,3338,2353,2880,3000,993.4,0.0,855,10844,0.60,2.70,96.72,1.860,10756,0.120,0.112,3543,939,2461,2337,2585,0,0,0,0,0,0,13.87,13.63,13.05
$GC,10921,0.47,116.8,3542,940,2331,2585,980.7,9.1,891,10932,0.00,2.60,0.00,0.000,1030,0.000,0.096,3542,2350,2460,2337,2584,0,0,0,0,0,0,14.07,13.97,14.09
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$STATE,23007,end climb,SURFACE_DEPTH_REACHED
$STATE,23007,begin surface coast
$FINISH,0.3,1.023372
$STATE,23053,end surface coast,CONTROL_FINISHED_OK
$STATE,23053,begin surface
$SM_CCo,23085,9.98,0.087,0,0,1411,375.06
$SM_GC,2.43,9.75,1.00,9.98,0.042,0.103,0.087,86,1807,1411,-10.26,0.74,375.06,0,0,0,0,0,0,14.47,14.43,14.44
$IRIDIUM_FIX,4654.38,-12640.79,250615,013154
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.83
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3918080
$24V_AH,13.05,13.441
$10V_AH,13.01,0.000
$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,24.675,208.100,371.150,9.975,0.000,0.000,0.000,452.175,0.000,0.000,7.118,3565.130,15003.283,648.093,3407.924,1170.214,0.000,2883.517,0.000,2522.436,0.000,0.538,0.000
$DEVICE_MAMPS,365.670,2220.030,1896.435,87.210,0.000,0.000,0.000,150.705,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23078.000,10983.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.693,8.925,0.000,0.000
$MEM,286376
$DATA_FILE_SIZE,56642,1656
$CAP_FILE_SIZE,275382,0
$CFSIZE,260034560,251523072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,200.10,1
$GPS,250615,144108,4706.611,-12640.682,38,1.2,38,16.5,0.3,212.7,7,8.6