version: 66.12
glider: 187
mission: 8
dive: 100
start: 7 6 115 19 15 4
data:
$ID,187
$MISSION,8
$DIVE,100
$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,350
$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,13
$R_STBD_OVSHOOT,14
$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
$GPS1,060715,190539,4745.7778,-12522.8760,26,0.9,26,16.5,0.4,226.2,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-78.5
$GPS2,060715,191435,4745.6733,-12522.9590,3,0.9,6,16.5,0.3,200.3,9,8.8
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,217.8,148923,-14.8,-7.333,-19.49,2243
$D_GRID,837
$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,29,-0.39,-107.1,85,1894,1370,1641,0.0,0.0,0,91,0.00,0.00,-57.15,0.000,16386,0.000,0.000,86,1894,3048,3023,3074,0,0,0,0,0,0,14.59,28.83,14.60
$GC,97,-0.39,-107.1,83,1896,3023,3074,3.3,-4.7,6,123,13.52,0.00,-5.43,0.000,18950,0.362,0.000,3261,1895,3380,3357,3404,0,0,0,0,0,0,14.18,13.47,14.43
$GC,304,-0.39,-107.1,3262,1895,3358,3411,51.9,-13.9,28,312,0.00,2.55,0.00,0.000,260,0.000,0.105,3261,3320,3384,3358,3411,0,0,0,0,0,0,14.60,14.37,14.62
$GC,348,-0.39,-107.1,3260,3319,3358,3411,58.1,-14.3,35,356,0.00,2.53,0.00,0.000,1030,0.000,0.094,3261,1897,3384,3358,3411,0,0,0,0,0,0,14.49,14.40,14.51
$GC,537,-0.39,-107.1,3261,1897,3358,3412,84.3,-13.0,54,545,0.00,2.53,0.00,0.000,516,0.000,0.108,3262,477,3385,3358,3412,0,0,0,0,0,0,14.64,14.42,14.66
$GC,635,-0.39,-107.1,3261,476,3362,3412,96.4,-12.4,71,644,0.00,2.50,0.00,0.000,1030,0.000,0.090,3261,1900,3385,3358,3413,0,0,0,0,0,0,14.53,14.45,14.55
$GC,825,-0.39,-107.1,3260,1900,3359,3413,117.3,-10.4,90,833,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1900,3385,3358,3413,0,0,0,0,0,0,14.66,14.69,14.68
$GC,1015,-0.39,-107.1,3261,1901,3358,3416,139.1,-10.9,109,1023,0.00,2.53,0.00,0.000,260,0.000,0.105,3261,3320,3385,3357,3413,0,0,0,0,0,0,14.68,14.45,14.70
$GC,1057,-0.39,-107.1,3260,3320,3358,3410,143.5,-9.8,116,1066,0.00,2.53,0.00,0.000,1030,0.000,0.095,3261,1886,3386,3358,3414,0,0,0,0,0,0,14.55,14.46,14.59
$GC,1248,-0.39,-107.1,3261,1886,3358,3414,162.8,-11.0,135,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1886,3385,3357,3414,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1438,-0.39,-107.1,3261,1886,3358,3414,182.4,-10.1,154,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1881,3386,3358,3414,0,0,0,0,0,0,14.70,14.72,14.72
$GC,1628,-0.39,-107.1,3261,1887,3358,3414,200.0,-8.9,173,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1886,3384,3358,3410,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1817,-0.39,-107.1,3258,1886,3358,3412,217.1,-9.0,192,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1887,3385,3358,3413,0,0,0,0,0,0,14.72,14.76,14.74
$GC,2008,-0.39,-107.1,3261,1886,3358,3414,234.7,-9.2,211,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1886,3389,3365,3414,0,0,0,0,0,0,14.76,14.76,14.74
$GC,2207,-0.39,-107.1,3264,1886,3357,3414,253.9,-9.8,229,2216,0.00,2.55,0.00,0.000,260,0.000,0.107,3261,3319,3384,3356,3413,0,0,0,0,0,0,14.76,14.52,14.75
$GC,2271,-0.39,-107.1,3261,3319,3356,3414,260.1,-9.5,240,2280,0.00,2.53,0.00,0.000,1030,0.000,0.095,3261,1897,3385,3356,3414,0,0,0,0,0,0,14.62,14.53,14.63
$GC,2581,-0.39,-107.1,3260,1899,3355,3413,288.9,-9.0,251,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1897,3383,3354,3413,0,0,0,0,0,0,14.74,14.75,14.76
$GC,2877,-0.39,-107.1,3261,1896,3353,3420,314.0,-8.1,261,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1897,3383,3353,3414,0,0,0,0,0,0,14.73,14.75,14.76
$GC,3177,-0.39,-107.1,3261,1900,3352,3419,338.4,-8.3,271,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1896,3383,3352,3414,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3477,-0.39,-107.1,3261,1897,3351,3413,364.0,-7.9,281,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1896,3381,3350,3413,0,0,0,0,0,0,14.74,14.78,14.78
$GC,3777,-0.39,-107.1,3260,1896,3349,3413,386.6,-7.6,291,3784,0.00,2.50,0.00,0.000,516,0.000,0.115,3258,493,3380,3348,3413,0,0,0,0,0,0,14.76,14.52,14.78
$GC,3835,-0.39,-107.1,3263,493,3349,3413,391.9,-9.1,301,3843,0.00,2.50,0.00,0.000,1030,0.000,0.095,3261,1915,3381,3350,3413,0,0,0,0,0,0,14.64,14.54,14.65
$GC,4159,-0.39,-107.1,3257,1914,3347,3413,418.5,-8.5,313,4167,0.00,2.47,0.00,0.000,260,0.000,0.109,3261,3301,3381,3347,3415,0,0,0,0,0,0,14.75,14.53,14.76
$GC,4253,-0.39,-107.1,3262,3298,3346,3413,426.5,-8.1,330,4262,0.00,2.50,0.00,0.000,1030,0.000,0.100,3260,1889,3379,3346,3413,0,0,0,0,0,0,14.62,14.52,14.64
$GC,4562,-0.39,-107.1,3260,1888,3344,3414,452.2,-8.5,341,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1889,3377,3344,3410,0,0,0,0,0,0,14.75,14.77,14.76
$GC,4858,-0.39,-107.1,3261,1888,3344,3413,475.9,-7.4,351,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1892,3378,3344,3412,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5159,-0.39,-107.1,3261,1889,3338,3413,497.4,-7.4,361,5167,0.00,2.55,0.00,0.000,260,0.000,0.110,3261,3308,3377,3343,3411,0,0,0,0,0,0,14.76,14.54,14.77
$GC,5198,-0.39,-107.1,3261,3306,3342,3412,500.5,-8.0,367,5206,0.00,2.50,0.00,0.000,1030,0.000,0.100,3257,1906,3377,3342,3412,0,0,0,0,0,0,14.63,14.54,14.65
$GC,5542,-0.39,-107.1,3261,1905,3342,3413,527.7,-7.8,383,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1905,3377,3342,3412,0,0,0,0,0,0,14.75,14.78,14.77
$GC,5838,-0.39,-107.1,3261,1905,3338,3412,550.4,-7.3,393,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1905,3376,3341,3412,0,0,0,0,0,0,14.76,14.78,14.77
$GC,6137,-0.39,-107.1,3261,1905,3340,3412,570.9,-6.8,403,6145,0.00,2.53,0.00,0.000,260,0.000,0.109,3261,3316,3375,3340,3411,0,0,0,0,0,0,14.76,14.53,14.77
$GC,6206,-0.39,-107.1,3260,3315,3340,3411,575.4,-6.6,415,6214,0.00,2.53,0.00,0.000,1030,0.000,0.099,3261,1903,3375,3340,3411,0,0,0,0,0,0,14.63,14.54,14.64
$GC,6549,-0.39,-107.1,3261,1903,3337,3406,600.5,-7.8,431,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1902,3375,3339,3411,0,0,0,0,0,0,14.76,14.77,14.76
$GC,6845,-0.39,-107.1,3261,1902,3339,3410,624.3,-8.1,441,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1903,3374,3339,3410,0,0,0,0,0,0,14.77,14.77,14.77
$GC,7145,-0.39,-107.1,3261,1902,3338,3409,647.0,-7.2,451,7153,0.00,2.55,0.00,0.000,260,0.000,0.111,3261,3310,3374,3338,3410,0,0,0,0,0,0,14.76,14.52,14.77
$GC,7194,-0.39,-107.1,3261,3310,3338,3409,650.4,-7.2,459,7201,0.00,2.53,0.00,0.000,1030,0.000,0.103,3261,1882,3373,3338,3409,0,0,0,0,0,0,14.59,14.52,14.64
$GC,7526,-0.39,-107.1,3260,1889,3338,3409,673.6,-6.9,473,7534,0.00,2.58,0.00,0.000,260,0.000,0.110,3261,3308,3373,3338,3409,0,0,0,0,0,0,14.77,14.52,14.74
$GC,7590,-0.39,-107.1,3261,3307,3338,3408,678.1,-6.5,484,7598,0.00,2.50,0.00,0.000,1030,0.000,0.102,3261,1905,3373,3338,3408,0,0,0,0,0,0,14.62,14.52,14.64
$GC,7900,-0.39,-107.1,3260,1906,3337,3408,697.5,-6.4,495,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1905,3372,3337,3408,0,0,0,0,0,0,14.73,14.76,14.76
$GC,8196,-0.39,-107.1,3266,1905,3336,3408,717.0,-6.5,505,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1905,3372,3336,3409,0,0,0,0,0,0,14.75,14.76,14.76
$GC,8496,-0.39,-107.1,3261,1905,3335,3408,735.8,-5.9,515,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1905,3371,3335,3408,0,0,0,0,0,0,14.75,14.77,14.77
$GC,8796,-0.39,-107.1,3261,1906,3334,3413,752.8,-5.9,525,8804,0.00,2.53,0.00,0.000,260,0.000,0.111,3261,3301,3368,3329,3407,0,0,0,0,0,0,14.74,14.52,14.76
$GC,8871,-0.39,-107.1,3260,3301,3334,3407,757.4,-6.0,538,8878,0.00,2.50,0.00,0.000,1030,0.000,0.102,3261,1896,3372,3338,3407,0,0,0,0,0,0,14.62,14.53,14.64
$GC,9208,-0.39,-107.1,3260,1899,3334,3403,776.6,-5.6,553,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1899,3370,3334,3407,0,0,0,0,0,0,14.77,14.75,14.76
$GC,9504,-0.39,-107.1,3261,1899,3333,3407,795.8,-6.6,563,9512,0.00,2.55,0.00,0.000,260,0.000,0.112,3261,3301,3370,3333,3407,0,0,0,0,0,0,14.74,14.51,14.76
$GC,9591,-0.39,-107.1,3261,3301,3333,3406,801.1,-6.3,579,9599,0.00,2.50,0.00,0.000,1030,0.000,0.103,3261,1904,3369,3333,3406,0,0,0,0,0,0,14.61,14.50,14.62
$GC,9914,-0.39,-107.1,3261,1905,3333,3406,821.2,-6.1,591,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1904,3369,3333,3406,0,0,0,0,0,0,14.73,14.75,14.75
$STATE,10175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10175,begin apogee
$GC,10186,-0.16,0.0,3261,2246,3332,3406,837.7,-6.3,600,10275,0.28,0.00,83.50,1.735,10246,0.181,0.000,3340,2246,2940,2879,3001,0,0,0,0,0,0,14.47,13.98,13.39
$STATE,10279,end apogee,CONTROL_FINISHED_OK
$STATE,10279,begin climb
$GC,10284,0.39,107.1,3340,2246,2874,3000,840.4,0.0,603,10379,0.50,0.00,86.53,1.704,10758,0.125,0.000,3513,2246,2502,2387,2617,0,0,0,0,0,0,13.98,13.79,13.22
$GC,10660,0.39,107.1,3513,2246,2385,2616,818.0,7.7,621,10672,0.00,2.60,0.00,0.000,260,0.000,0.114,3514,3660,2501,2386,2616,0,0,0,0,0,0,14.45,14.24,14.46
$GC,10713,0.39,107.1,3513,3660,2384,2616,813.2,8.7,629,10724,0.00,2.58,0.00,0.000,1030,0.000,0.101,3514,2250,2500,2385,2616,0,0,0,0,0,0,14.36,14.28,14.38
$GC,11045,0.39,107.1,3514,2250,2385,2616,788.5,7.4,643,11056,0.00,2.58,0.00,0.000,516,0.000,0.116,3513,827,2500,2385,2616,0,0,0,0,0,0,14.59,14.38,14.61
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$STATE,20988,end climb,SURFACE_DEPTH_REACHED
$STATE,20988,begin surface coast
$FINISH,-0.1,1.013272
$STATE,21046,end surface coast,CONTROL_FINISHED_OK
$STATE,21046,begin surface
$SM_CCo,21077,7.53,0.086,0,0,1513,350.04
$SM_GC,2.85,9.85,0.65,7.53,0.050,0.108,0.086,88,1902,1513,-10.27,0.57,350.04,0,0,0,0,0,0,14.46,14.44,14.44
$IRIDIUM_FIX,4729.30,-12526.30,060715,135145
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.26
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3899648
$24V_AH,13.22,26.264
$10V_AH,13.16,0.000
$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,24.525,148.050,317.750,7.525,0.000,0.000,0.000,270.375,0.000,0.000,7.722,3177.983,13999.426,572.106,2851.905,998.920,0.000,2361.772,0.000,2168.684,0.000,0.537,0.000
$DEVICE_MAMPS,361.845,116.280,1735.020,85.680,0.000,0.000,0.000,151.470,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21071.000,10503.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.997,8.958,0.000,0.000
$MEM,286348
$DATA_FILE_SIZE,49930,1402
$CAP_FILE_SIZE,242872,0
$CFSIZE,260034560,246452224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019,329.22,1
$GPS,070715,010809,4744.526,-12525.969,43,0.9,43,16.5,0.1,0.0,8,8.7