version: 66.12
glider: 187
mission: 8
dive: 186
start: 7 30 115 12 55 19
data:
$ID,187
$MISSION,8
$DIVE,186
$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,20
$R_STBD_OVSHOOT,17
$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
$GPS1,300715,124149,4745.6997,-12527.4053,54,0.7,54,16.5,0.5,163.9,11,4.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-78.7
$GPS2,300715,125446,4745.5479,-12527.3506,3,0.8,5,16.5,0.5,234.8,9,6.5
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,224.0,144256,-14.8,-7.333,-19.49,2243
$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,25,begin dive
$GC,30,-0.39,-107.1,73,1889,1213,1408,0.0,0.0,0,107,0.00,0.00,-72.50,0.000,16390,0.000,0.000,72,1892,3379,3376,3383,0,0,0,0,0,0,14.52,13.12,14.54
$GC,113,-0.39,-107.1,72,1887,3377,3382,2.4,-3.7,2,134,13.68,2.60,0.00,0.000,2308,0.359,0.100,3247,3321,3381,3378,3384,0,0,0,0,0,0,14.07,14.23,14.25
$GC,363,-0.39,-107.1,3247,3321,3384,3392,54.4,-13.3,50,372,0.00,2.55,0.00,0.000,1030,0.000,0.095,3247,1905,3385,3379,3392,0,0,0,0,0,0,14.45,14.32,14.45
$GC,583,-0.39,-107.1,3247,1905,3376,3396,81.2,-11.8,62,587,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1905,3388,3380,3396,0,0,0,0,0,0,14.62,14.64,14.63
$GC,763,-0.39,-107.1,3247,1905,3376,3397,102.3,-11.9,68,770,0.00,2.55,0.00,0.000,260,0.000,0.106,3247,3315,3386,3376,3397,0,0,0,0,0,0,14.64,14.37,14.66
$GC,820,-0.39,-107.1,3246,3314,3376,3397,109.9,-12.9,78,829,0.00,2.53,0.00,0.000,1030,0.000,0.093,3247,1890,3386,3375,3397,0,0,0,0,0,0,14.49,14.39,14.52
$GC,1020,-0.39,-107.1,3247,1890,3376,3397,133.8,-11.7,86,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1890,3386,3376,3396,0,0,0,0,0,0,14.67,14.67,14.69
$GC,1200,-0.39,-107.1,3247,1890,3375,3397,152.8,-10.3,92,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1890,3386,3375,3397,0,0,0,0,0,0,14.68,14.73,14.70
$GC,1380,-0.39,-107.1,3243,1890,3375,3397,171.7,-10.4,98,1388,0.00,2.58,0.00,0.000,260,0.000,0.106,3246,3318,3386,3375,3397,0,0,0,0,0,0,14.69,14.40,14.71
$GC,1425,-0.39,-107.1,3246,3317,3370,3397,176.0,-9.4,105,1433,0.00,2.53,0.00,0.000,1030,0.000,0.093,3250,1901,3389,3381,3397,0,0,0,0,0,0,14.54,14.42,14.56
$GC,1640,-0.39,-107.1,3247,1901,3373,3395,199.2,-11.5,116,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1901,3382,3368,3397,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1820,-0.39,-107.1,3247,1900,3371,3397,220.7,-11.9,122,1828,0.00,2.53,0.00,0.000,516,0.000,0.109,3246,482,3383,3371,3396,0,0,0,0,0,0,14.71,14.40,14.70
$GC,1874,-0.39,-107.1,3244,482,3371,3397,227.6,-12.6,131,1882,0.00,2.50,0.00,0.000,1030,0.000,0.094,3248,1899,3384,3371,3397,0,0,0,0,0,0,14.54,14.43,14.57
$GC,2078,-0.39,-107.1,3246,1899,3370,3398,250.3,-10.9,140,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1899,3383,3370,3397,0,0,0,0,0,0,14.71,14.73,14.73
$GC,2378,-0.39,-107.1,3246,1899,3368,3397,281.3,-10.2,145,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1899,3383,3369,3397,0,0,0,0,0,0,14.72,14.74,14.74
$GC,2678,-0.39,-107.1,3246,1899,3367,3397,310.4,-9.6,150,2685,0.00,2.55,0.00,0.000,260,0.000,0.109,3247,3323,3381,3366,3397,0,0,0,0,0,0,14.72,14.42,14.73
$GC,2741,-0.39,-107.1,3246,3323,3363,3397,316.6,-9.1,161,2750,0.00,2.55,0.00,0.000,1030,0.000,0.096,3247,1888,3381,3366,3397,0,0,0,0,0,0,14.55,14.42,14.59
$GC,3048,-0.39,-107.1,3246,1886,3364,3397,345.5,-9.5,167,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1888,3379,3359,3400,0,0,0,0,0,0,14.73,14.74,14.73
$GC,3347,-0.39,-107.1,3247,1888,3361,3393,376.5,-10.4,172,3354,0.00,2.50,0.00,0.000,516,0.000,0.111,3246,481,3378,3360,3397,0,0,0,0,0,0,14.72,14.42,14.75
$GC,3374,-0.39,-107.1,3246,481,3361,3397,379.6,-11.1,176,3381,0.00,2.53,0.00,0.000,1030,0.000,0.094,3247,1918,3382,3368,3397,0,0,0,0,0,0,14.56,14.44,14.58
$GC,3723,-0.39,-107.1,3246,1918,3353,3397,413.7,-9.6,189,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1918,3377,3358,3397,0,0,0,0,0,0,14.73,14.75,14.78
$GC,4023,-0.39,-107.1,3246,1918,3357,3397,442.6,-9.6,194,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1918,3383,3364,3403,0,0,0,0,0,0,14.73,14.76,14.76
$GC,4323,-0.39,-107.1,3247,1918,3356,3397,470.2,-9.1,199,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1919,3376,3356,3397,0,0,0,0,0,0,14.73,14.75,14.76
$GC,4623,-0.39,-107.1,3246,1918,3354,3403,494.3,-7.9,204,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1918,3375,3354,3397,0,0,0,0,0,0,14.73,14.75,14.75
$GC,4923,-0.39,-107.1,3246,1918,3353,3399,517.0,-7.5,209,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1918,3375,3353,3397,0,0,0,0,0,0,14.73,14.75,14.76
$GC,5223,-0.39,-107.1,3246,1918,3352,3403,538.3,-7.0,214,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1918,3374,3352,3397,0,0,0,0,0,0,14.74,14.76,14.76
$GC,5524,-0.39,-107.1,3251,1918,3348,3397,558.3,-6.6,219,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1918,3374,3351,3397,0,0,0,0,0,0,14.73,14.75,14.76
$GC,5823,-0.39,-107.1,3246,1918,3350,3397,580.5,-7.4,224,5831,0.00,2.50,0.00,0.000,260,0.000,0.109,3248,3304,3373,3349,3397,0,0,0,0,0,0,14.73,14.42,14.74
$GC,5927,-0.39,-107.1,3247,3304,3349,3396,588.4,-7.7,243,5935,0.00,2.53,0.00,0.000,1030,0.000,0.099,3247,1892,3371,3349,3393,0,0,0,0,0,0,14.54,14.43,14.57
$GC,6261,-0.39,-107.1,3246,1892,3347,3397,615.7,-8.2,253,6268,0.00,2.53,0.00,0.000,516,0.000,0.116,3253,491,3372,3347,3397,0,0,0,0,0,0,14.72,14.40,14.72
$GC,6299,-0.39,-107.1,3246,490,3347,3397,619.2,-9.2,259,6307,0.00,2.50,0.00,0.000,1030,0.000,0.096,3247,1899,3375,3347,3403,0,0,0,0,0,0,14.54,14.42,14.57
$GC,6638,-0.39,-107.1,3246,1899,3345,3397,647.5,-8.3,270,6646,0.00,2.55,0.00,0.000,260,0.000,0.110,3247,3322,3371,3345,3397,0,0,0,0,0,0,14.71,14.38,14.72
$GC,6681,-0.39,-107.1,3246,3321,3341,3396,650.9,-7.8,277,6688,0.00,2.55,0.00,0.000,1030,0.000,0.098,3247,1897,3373,3350,3396,0,0,0,0,0,0,14.54,14.42,14.57
$GC,7015,-0.39,-107.1,3246,1897,3344,3396,675.0,-7.1,287,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1897,3370,3344,3396,0,0,0,0,0,0,14.71,14.73,14.73
$GC,7315,-0.39,-107.1,3246,1897,3347,3396,695.8,-7.0,292,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1897,3370,3344,3396,0,0,0,0,0,0,14.72,14.77,14.74
$GC,7615,-0.39,-107.1,3246,1897,3342,3396,716.8,-7.0,297,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1897,3372,3343,3402,0,0,0,0,0,0,14.73,14.77,14.75
$GC,7915,-0.39,-107.1,3246,1898,3342,3396,739.3,-7.5,302,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1897,3369,3342,3396,0,0,0,0,0,0,14.71,14.73,14.73
$GC,8216,-0.39,-107.1,3247,1897,3341,3396,761.7,-7.5,307,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1897,3368,3341,3396,0,0,0,0,0,0,14.72,14.74,14.73
$GC,8514,-0.39,-107.1,3246,1897,3341,3395,784.0,-7.4,312,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1897,3367,3340,3395,0,0,0,0,0,0,14.72,14.74,14.73
$GC,8815,-0.39,-107.1,3246,1896,3342,3391,804.6,-6.7,317,8822,0.00,2.55,0.00,0.000,516,0.000,0.116,3247,493,3367,3340,3395,0,0,0,0,0,0,14.71,14.38,14.73
$GC,8873,-0.39,-107.1,3246,495,3340,3395,809.1,-8.1,327,8881,0.00,2.53,0.00,0.000,1030,0.000,0.097,3246,1918,3367,3340,3395,0,0,0,0,0,0,14.52,14.40,14.56
$GC,9192,-0.39,-107.1,3246,1918,3340,3394,832.3,-7.1,334,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1915,3367,3340,3395,0,0,0,0,0,0,14.71,14.73,14.73
$GC,9493,-0.39,-107.1,3242,1918,3338,3390,851.2,-6.2,339,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1921,3367,3339,3395,0,0,0,0,0,0,14.71,14.72,14.72
$GC,9792,-0.39,-107.1,3246,1918,3339,3394,873.0,-7.4,344,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1918,3366,3338,3394,0,0,0,0,0,0,14.71,14.73,14.71
$GC,10092,-0.39,-107.1,3246,1918,3338,3394,894.8,-7.2,349,10100,0.00,2.53,0.00,0.000,260,0.000,0.112,3246,3314,3368,3338,3399,0,0,0,0,0,0,14.70,14.40,14.71
$GC,10141,-0.39,-107.1,3247,3313,3338,3393,898.0,-4.0,357,10148,0.00,2.55,0.00,0.000,1030,0.000,0.101,3245,1904,3365,3338,3393,0,0,0,0,0,0,14.52,14.40,14.55
$GC,10470,-0.39,-107.1,3245,1905,3338,3393,920.3,-6.8,366,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1905,3365,3338,3393,0,0,0,0,0,0,14.71,14.73,14.72
$GC,10770,-0.39,-107.1,3242,1904,3345,3394,938.8,-6.2,371,10778,0.00,2.58,0.00,0.000,260,0.000,0.112,3246,3311,3365,3338,3393,0,0,0,0,0,0,14.71,14.38,14.72
$GC,11015,-0.39,-107.1,3246,3311,3338,3392,938.7,1.7,417,11022,0.00,2.55,0.00,0.000,1030,0.000,0.101,3247,1891,3364,3336,3393,0,0,0,0,0,0,14.50,14.38,14.53
$STATE,11149,end dive,NO_VERTICAL_VELOCITY
$STATE,11149,begin apogee
$GC,11161,-0.16,0.0,3247,2246,3342,3392,938.8,0.0,421,11250,0.28,0.00,84.55,1.838,10246,0.134,0.000,3340,2246,2941,2886,2996,0,0,0,0,0,0,14.36,13.95,13.29
$STATE,11253,end apogee,CONTROL_FINISHED_OK
$STATE,11253,begin climb
$GC,11258,0.39,107.1,3341,2246,2883,2995,939.1,0.0,422,11364,0.52,2.80,87.85,1.795,10500,0.114,0.111,3517,3662,2499,2385,2614,0,0,0,0,0,0,13.97,13.74,13.14
$GC,11598,0.39,107.1,3516,3663,2379,2617,919.2,8.5,485,11609,0.00,2.62,0.00,0.000,1030,0.000,0.099,3517,2243,2497,2379,2616,0,0,0,0,0,0,14.23,14.13,14.25
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$STATE,22870,end climb,SURFACE_DEPTH_REACHED
$STATE,22870,begin surface coast
$FINISH,-0.1,1.002685
$STATE,22936,end surface coast,CONTROL_FINISHED_OK
$STATE,22936,begin surface
$SM_CCo,23027,0.00,0.000,0,0,1277,408.18
$SM_GC,1.00,9.77,0.60,0.00,0.043,0.106,0.000,93,1896,1277,-10.25,0.65,408.18,0,0,0,0,0,0,14.42,14.38,14.49
$IRIDIUM_FIX,4729.30,-12523.69,300715,072131
$TT8_MAMPS,0.020972,0.020972
$HUMID,48.81
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3866528
$24V_AH,13.12,49.560
$10V_AH,13.42,0.000
$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,24.725,164.675,371.350,0.000,0.000,0.000,0.000,465.975,0.000,0.000,6.467,2235.910,17502.982,577.829,2568.955,900.507,0.000,2412.069,0.000,1566.418,0.000,0.537,0.000
$DEVICE_MAMPS,358.785,116.280,1838.295,0.000,0.000,0.000,0.000,154.530,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23002.000,11500.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.727,8.939,0.000,0.000
$MEM,286364
$DATA_FILE_SIZE,36679,1065
$CAP_FILE_SIZE,208552,0
$CFSIZE,260034560,236421120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,110.32,1
$GPS,300715,192035,4744.032,-12529.681,31,1.4,35,16.5,0.1,0.0,5,5.0