version: 66.12
glider: 187
mission: 8
dive: 185
start: 7 30 115 7 26 11
data:
$ID,187
$MISSION,8
$DIVE,185
$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,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,14
$R_STBD_OVSHOOT,12
$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
$GPS1,300715,070701,4747.6650,-12525.6172,26,1.1,26,16.6,0.3,330.1,10,5.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-78.6
$GPS2,300715,072542,4747.7285,-12525.5820,3,1.2,4,16.6,1.0,296.2,9,8.3
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,198.1,148443,-14.8,-7.333,-19.49,2243
$D_GRID,772
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.39,-107.1,78,1895,1213,1412,0.0,0.0,0,106,0.00,0.00,-71.15,0.000,16390,0.000,0.000,78,1895,3379,3377,3382,0,0,0,0,0,0,14.53,13.15,14.55
$GC,113,-0.39,-107.1,78,1895,3379,3382,2.6,-4.7,2,137,13.70,2.55,0.00,0.000,2308,0.361,0.090,3250,3322,3382,3381,3384,0,0,0,0,0,0,14.07,14.31,14.26
$GC,266,-0.39,-107.1,3249,3322,3378,3391,46.8,-13.0,30,278,0.00,2.55,0.00,0.000,1030,0.000,0.095,3250,1904,3382,3373,3391,0,0,0,0,0,0,14.43,14.33,14.46
$GC,469,-0.39,-107.1,3249,1904,3376,3397,72.8,-13.0,38,481,0.00,2.55,0.00,0.000,516,0.000,0.106,3250,476,3386,3376,3397,0,0,0,0,0,0,14.64,14.35,14.64
$GC,512,-0.39,-107.1,3249,477,3381,3397,78.7,-14.5,44,523,0.00,2.53,0.00,0.000,1030,0.000,0.092,3248,1899,3386,3376,3396,0,0,0,0,0,0,14.49,14.40,14.50
$GC,739,-0.39,-107.1,3247,1899,3376,3398,106.9,-12.8,56,750,0.00,2.58,0.00,0.000,260,0.000,0.103,3247,3325,3386,3376,3397,0,0,0,0,0,0,14.66,14.40,14.69
$GC,795,-0.39,-107.1,3246,3325,3375,3397,114.3,-11.5,65,806,0.00,2.53,0.00,0.000,1030,0.000,0.093,3247,1888,3386,3375,3398,0,0,0,0,0,0,14.50,14.40,14.54
$GC,1003,-0.39,-107.1,3246,1889,3377,3397,140.5,-12.7,74,1014,0.00,2.50,0.00,0.000,516,0.000,0.109,3246,492,3386,3375,3397,0,0,0,0,0,0,14.70,14.43,14.71
$GC,1065,-0.39,-107.1,3246,488,3376,3398,148.8,-13.2,84,1076,0.00,2.50,0.00,0.000,1030,0.000,0.093,3248,1909,3386,3375,3397,0,0,0,0,0,0,14.57,14.45,14.57
$GC,1267,-0.39,-107.1,3246,1909,3373,3394,171.4,-10.7,92,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1906,3385,3373,3398,0,0,0,0,0,0,14.72,14.75,14.73
$GC,1447,-0.39,-107.1,3247,1909,3372,3397,189.5,-9.8,98,1459,0.00,2.50,0.00,0.000,260,0.000,0.107,3247,3320,3384,3372,3397,0,0,0,0,0,0,14.73,14.45,14.74
$GC,1495,-0.39,-107.1,3244,3320,3372,3397,194.7,-10.8,105,1506,0.00,2.50,0.00,0.000,1030,0.000,0.094,3246,1908,3384,3372,3397,0,0,0,0,0,0,14.60,14.46,14.60
$GC,1717,-0.39,-107.1,3246,1908,3369,3398,218.2,-10.9,116,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1908,3383,3370,3397,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1892,-0.39,-107.1,3246,1908,3369,3395,236.6,-10.1,122,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1908,3383,3369,3397,0,0,0,0,0,0,14.73,14.76,14.76
$GC,2102,-0.39,-107.1,3246,1907,3368,3397,256.8,-9.5,128,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1904,3382,3368,3397,0,0,0,0,0,0,14.75,14.78,14.77
$GC,2402,-0.39,-107.1,3252,1907,3365,3397,287.2,-10.4,133,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1907,3381,3365,3397,0,0,0,0,0,0,14.78,14.78,14.78
$GC,2702,-0.39,-107.1,3246,1907,3363,3397,318.8,-10.5,138,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1907,3378,3359,3397,0,0,0,0,0,0,14.78,14.80,14.80
$GC,3003,-0.39,-107.1,3246,1907,3360,3397,347.7,-9.4,143,3014,0.00,2.55,0.00,0.000,260,0.000,0.109,3247,3321,3378,3359,3397,0,0,0,0,0,0,14.78,14.49,14.80
$GC,3029,-0.39,-107.1,3248,3317,3360,3397,350.3,-9.1,146,3041,0.00,2.53,0.00,0.000,1030,0.000,0.096,3243,1896,3378,3360,3397,0,0,0,0,0,0,14.62,14.52,14.65
$GC,3392,-0.39,-107.1,3246,1895,3358,3397,384.0,-9.5,160,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1899,3376,3357,3396,0,0,0,0,0,0,14.78,14.79,14.79
$GC,3687,-0.39,-107.1,3246,1896,3355,3397,412.6,-9.5,165,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1896,3374,3351,3397,0,0,0,0,0,0,14.78,14.80,14.80
$GC,3987,-0.39,-107.1,3249,1896,3353,3397,439.6,-8.9,170,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1892,3375,3354,3397,0,0,0,0,0,0,14.79,14.81,14.81
$GC,4288,-0.39,-107.1,3246,1896,3352,3397,462.0,-7.3,175,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1898,3378,3359,3397,0,0,0,0,0,0,14.78,14.80,14.80
$GC,4587,-0.39,-107.1,3246,1896,3350,3393,482.2,-6.7,180,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1895,3374,3351,3397,0,0,0,0,0,0,14.79,14.81,14.81
$GC,4887,-0.39,-107.1,3246,1896,3349,3397,506.4,-8.1,185,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1896,3373,3349,3397,0,0,0,0,0,0,14.80,14.81,14.81
$GC,5188,-0.39,-107.1,3246,1895,3347,3397,530.8,-8.1,190,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1895,3370,3347,3393,0,0,0,0,0,0,14.80,14.81,14.81
$GC,5488,-0.39,-107.1,3246,1895,3345,3397,554.6,-8.1,195,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1896,3371,3346,3397,0,0,0,0,0,0,14.78,14.80,14.80
$GC,5788,-0.39,-107.1,3246,1895,3344,3397,581.2,-8.8,200,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1896,3372,3344,3400,0,0,0,0,0,0,14.79,14.81,14.81
$GC,6087,-0.39,-107.1,3246,1900,3343,3397,604.5,-7.8,205,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1896,3370,3343,3397,0,0,0,0,0,0,14.78,14.83,14.80
$GC,6387,-0.39,-107.1,3246,1896,3342,3397,628.8,-8.1,210,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1895,3369,3342,3397,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6688,-0.39,-107.1,3246,1895,3342,3402,653.1,-8.0,215,6700,0.00,2.55,0.00,0.000,516,0.000,0.116,3247,475,3368,3341,3396,0,0,0,0,0,0,14.81,14.45,14.79
$GC,6750,-0.39,-107.1,3246,475,3341,3391,658.2,-8.3,225,6761,0.00,2.53,0.00,0.000,1030,0.000,0.097,3246,1899,3368,3341,3396,0,0,0,0,0,0,14.57,14.45,14.60
$GC,7073,-0.39,-107.1,3245,1900,3341,3397,683.5,-8.0,232,7084,0.00,2.55,0.00,0.000,260,0.000,0.112,3247,3323,3368,3341,3395,0,0,0,0,0,0,14.77,14.44,14.79
$GC,7124,-0.39,-107.1,3246,3323,3340,3400,687.4,-7.2,240,7135,0.00,2.55,0.00,0.000,1030,0.000,0.098,3246,1890,3368,3340,3396,0,0,0,0,0,0,14.59,14.47,14.62
$GC,7457,-0.39,-107.1,3246,1889,3340,3395,711.5,-7.3,249,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1889,3367,3340,3395,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7757,-0.39,-107.1,3247,1889,3338,3395,734.3,-7.6,254,7768,0.00,2.60,0.00,0.000,260,0.000,0.111,3247,3323,3367,3339,3395,0,0,0,0,0,0,14.78,14.44,14.79
$GC,7814,-0.39,-107.1,3246,3322,3339,3394,738.7,-6.8,263,7825,0.00,2.53,0.00,0.000,1030,0.000,0.097,3247,1907,3366,3338,3394,0,0,0,0,0,0,14.59,14.47,14.63
$GC,8142,-0.39,-107.1,3246,1907,3338,3393,766.4,-8.6,271,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1907,3365,3338,3393,0,0,0,0,0,0,14.77,14.79,14.79
$STATE,8256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8256,begin apogee
$GC,8268,-0.16,0.0,3248,2262,3338,3393,777.0,-8.7,273,8358,0.30,0.00,82.22,1.642,10246,0.178,0.000,3339,2263,2940,2884,2997,0,0,0,0,0,0,14.39,14.05,13.47
$STATE,8361,end apogee,CONTROL_FINISHED_OK
$STATE,8361,begin climb
$GC,8366,0.39,107.1,3339,2263,2882,2996,780.2,0.0,274,8472,0.50,2.70,85.78,1.605,10500,0.121,0.112,3514,3658,2499,2382,2616,0,0,0,0,0,0,14.05,13.81,13.28
$GC,8529,0.42,107.1,3514,3658,2380,2622,778.0,5.6,304,8540,0.00,2.62,0.00,0.000,1030,0.000,0.099,3514,2253,2497,2380,2615,0,0,0,0,0,0,14.13,14.04,14.14
$GC,8876,0.46,107.1,3514,2254,2380,2615,759.5,5.5,315,8888,0.00,2.58,0.00,0.000,516,0.000,0.111,3514,826,2497,2380,2615,0,0,0,0,0,0,14.52,14.26,14.54
$GC,8988,0.50,107.1,3514,826,2380,2615,753.3,5.4,334,9000,0.10,2.55,0.00,0.000,3078,0.125,0.097,3582,2248,2497,2380,2615,0,0,0,0,0,0,14.39,14.31,14.44
$GC,9331,0.50,107.1,3582,2248,2379,2615,721.6,9.8,344,9342,0.00,2.58,0.00,0.000,260,0.000,0.113,3582,3663,2497,2379,2615,0,0,0,0,0,0,14.64,14.36,14.65
$GC,9413,0.50,107.1,3578,3663,2378,2615,712.1,11.2,358,9425,0.12,2.58,0.00,0.000,5126,0.246,0.099,3556,2234,2497,2379,2615,0,0,0,0,0,0,14.28,14.37,14.47
$GC,9776,0.50,107.1,3559,2235,2377,2616,678.6,9.0,373,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2234,2499,2384,2615,0,0,0,0,0,0,14.69,14.70,14.69
$GC,10076,0.50,107.1,3559,2234,2377,2615,651.0,9.3,378,10088,0.00,2.65,0.00,0.000,260,0.000,0.110,3559,3675,2499,2383,2615,0,0,0,0,0,0,14.71,14.44,14.73
$GC,10143,0.50,107.1,3559,3681,2377,2614,643.8,10.8,389,10155,0.00,2.58,0.00,0.000,1030,0.000,0.099,3567,2239,2496,2377,2615,0,0,0,0,0,0,14.56,14.45,14.59
$GC,10449,0.50,107.1,3567,2239,2377,2615,616.0,8.8,395,10461,0.00,2.53,0.00,0.000,516,0.000,0.113,3570,839,2496,2377,2615,0,0,0,0,0,0,14.72,14.43,14.73
$GC,10556,0.50,107.1,3570,844,2377,2614,606.5,9.5,413,10567,0.00,2.50,0.00,0.000,1030,0.000,0.096,3571,2259,2495,2377,2614,0,0,0,0,0,0,14.57,14.46,14.60
$GC,10903,0.50,107.1,3570,2259,2377,2620,576.0,8.7,424,10915,0.00,2.55,0.00,0.000,260,0.000,0.115,3571,3662,2495,2376,2614,0,0,0,0,0,0,14.73,14.42,14.75
$GC,11039,0.50,107.1,3570,3662,2376,2614,563.4,9.0,448,11050,0.00,2.55,0.00,0.000,1030,0.000,0.099,3581,2253,2495,2376,2614,0,0,0,0,0,0,14.57,14.45,14.60
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$STATE,18665,end climb,SURFACE_DEPTH_REACHED
$STATE,18665,begin surface coast
$FINISH,-0.2,1.023360
$STATE,18762,end surface coast,CONTROL_FINISHED_OK
$STATE,18762,begin surface
$SM_CCo,18793,33.28,0.087,0,0,1309,400.08
$SM_GC,1.26,9.75,0.62,33.28,0.037,0.097,0.087,82,1894,1309,-10.27,0.57,400.08,0,0,0,0,0,0,14.43,14.42,14.40
$IRIDIUM_FIX,4729.30,-12521.83,300715,071244
$TT8_MAMPS,0.020223,0.020223
$HUMID,49.72
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3866944
$24V_AH,13.15,49.273
$10V_AH,13.23,0.000
$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,24.700,154.200,299.450,33.275,0.000,0.000,0.000,704.950,0.000,0.000,5.616,2051.789,13587.831,531.870,2833.977,930.669,0.000,2683.832,0.000,1493.090,0.000,0.538,0.000
$DEVICE_MAMPS,361.080,116.280,1642.455,87.210,0.000,0.000,0.000,144.585,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18833.000,483.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.980,6.906,0.000,0.000
$MEM,286384
$DATA_FILE_SIZE,36718,1006
$CAP_FILE_SIZE,201715,0
$CFSIZE,260034560,236539904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,203.41,1
$GPS,300715,124149,4745.700,-12527.405,54,0.7,54,16.5,0.5,163.9,11,4.3