version: 66.12
glider: 187
mission: 8
dive: 195
start: 8 2 115 5 57 53
data:
$ID,187
$MISSION,8
$DIVE,195
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,020815,053839,4733.8784,-12547.2227,31,0.9,31,16.5,0.4,136.0,8,8.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-76.6
$GPS2,020815,055720,4733.7544,-12547.1523,3,1.0,6,16.5,0.3,108.1,8,7.6
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,245.6,111238,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,28,-0.39,-107.1,69,1880,1208,1418,0.0,0.0,0,107,0.00,0.00,-71.85,0.000,16390,0.000,0.000,68,1882,3382,3381,3383,0,0,0,0,0,0,14.54,13.09,14.57
$GC,114,-0.39,-107.1,69,1881,3377,3383,2.4,-4.3,2,138,13.65,2.55,0.00,0.000,2308,0.358,0.094,3247,3301,3381,3377,3385,0,0,0,0,0,0,14.04,14.31,14.26
$GC,372,-0.39,-107.1,3243,3301,3374,3393,62.8,-12.3,51,383,0.00,2.47,0.00,0.000,1030,0.000,0.094,3247,1911,3385,3377,3393,0,0,0,0,0,0,14.43,14.35,14.47
$GC,594,-0.39,-107.1,3243,1911,3376,3397,92.2,-13.3,62,605,0.00,2.53,0.00,0.000,260,0.000,0.103,3243,3302,3386,3376,3397,0,0,0,0,0,0,14.64,14.34,14.66
$GC,620,-0.39,-107.1,3243,3302,3375,3397,96.1,-12.6,65,632,0.00,2.50,0.00,0.000,1030,0.000,0.092,3243,1890,3386,3376,3397,0,0,0,0,0,0,14.45,14.34,14.52
$GC,828,-0.39,-107.1,3242,1890,3370,3398,122.1,-11.8,74,840,0.00,2.50,0.00,0.000,516,0.000,0.106,3248,483,3386,3375,3398,0,0,0,0,0,0,14.70,14.38,14.69
$GC,983,-0.39,-107.1,3243,482,3375,3398,141.6,-11.7,102,995,0.00,2.47,0.00,0.000,1030,0.000,0.090,3243,1900,3389,3375,3404,0,0,0,0,0,0,14.52,14.40,14.57
$GC,1186,-0.39,-107.1,3243,1899,3374,3398,163.2,-10.6,110,1198,0.00,2.55,0.00,0.000,260,0.000,0.103,3243,3321,3386,3374,3398,0,0,0,0,0,0,14.69,14.38,14.72
$GC,1229,-0.39,-107.1,3243,3320,3369,3398,167.8,-11.1,116,1240,0.00,2.53,0.00,0.000,1030,0.000,0.090,3243,1901,3386,3374,3398,0,0,0,0,0,0,14.54,14.42,14.57
$GC,1457,-0.39,-107.1,3243,1901,3371,3398,190.3,-10.2,128,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1901,3385,3372,3398,0,0,0,0,0,0,14.71,14.73,14.72
$GC,1631,-0.39,-107.1,3243,1901,3370,3402,209.2,-10.7,134,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1901,3384,3370,3398,0,0,0,0,0,0,14.72,14.73,14.73
$GC,1812,-0.39,-107.1,3243,1900,3370,3398,229.4,-11.3,140,1823,0.00,2.53,0.00,0.000,516,0.000,0.109,3243,489,3383,3369,3398,0,0,0,0,0,0,14.73,14.42,14.77
$GC,1878,-0.39,-107.1,3243,489,3366,3398,237.8,-12.4,151,1890,0.00,2.47,0.00,0.000,1030,0.000,0.093,3243,1899,3384,3369,3400,0,0,0,0,0,0,14.56,14.43,14.58
$GC,2064,-0.39,-107.1,3243,1899,3367,3398,259.4,-11.6,157,2075,0.00,2.53,0.00,0.000,260,0.000,0.104,3243,3316,3382,3366,3398,0,0,0,0,0,0,14.73,14.42,14.75
$GC,2111,-0.39,-107.1,3243,3316,3366,3398,264.7,-11.1,164,2122,0.00,2.53,0.00,0.000,1030,0.000,0.093,3243,1889,3382,3366,3398,0,0,0,0,0,0,14.56,14.46,14.59
$GC,2448,-0.39,-107.1,3243,1889,3364,3404,301.3,-10.8,174,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1889,3381,3364,3398,0,0,0,0,0,0,14.74,14.76,14.76
$GC,2749,-0.39,-107.1,3243,1891,3361,3398,332.3,-10.3,179,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1889,3381,3365,3398,0,0,0,0,0,0,14.76,14.77,14.77
$GC,3049,-0.39,-107.1,3243,1889,3358,3398,362.2,-10.0,184,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1889,3378,3358,3398,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3348,-0.39,-107.1,3243,1888,3357,3398,393.7,-10.6,189,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1889,3377,3357,3398,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3648,-0.39,-107.1,3243,1888,3355,3398,425.5,-10.6,194,3660,0.00,2.50,0.00,0.000,516,0.000,0.110,3243,491,3376,3354,3398,0,0,0,0,0,0,14.77,14.45,14.78
$GC,3700,-0.39,-107.1,3243,491,3354,3399,431.4,-11.3,202,3711,0.00,2.47,0.00,0.000,1030,0.000,0.096,3243,1897,3378,3354,3403,0,0,0,0,0,0,14.59,14.47,14.62
$GC,4033,-0.39,-107.1,3243,1900,3352,3398,464.3,-9.8,211,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1900,3375,3352,3398,0,0,0,0,0,0,14.77,14.78,14.78
$GC,4332,-0.39,-107.1,3242,1900,3350,3398,492.3,-9.3,216,4343,0.00,2.55,0.00,0.000,260,0.000,0.108,3248,3323,3374,3350,3398,0,0,0,0,0,0,14.77,14.43,14.78
$GC,4384,-0.39,-107.1,3243,3323,3350,3397,496.9,-8.6,224,4395,0.00,2.53,0.00,0.000,1030,0.000,0.094,3243,1906,3371,3346,3397,0,0,0,0,0,0,14.58,14.45,14.62
$GC,4716,-0.39,-107.1,3243,1906,3348,3397,527.8,-9.5,233,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1910,3372,3348,3397,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5016,-0.39,-107.1,3243,1905,3346,3397,556.4,-9.5,238,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1906,3375,3353,3397,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5317,-0.39,-107.1,3243,1906,3345,3397,582.5,-8.5,243,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1905,3371,3345,3397,0,0,0,0,0,0,14.78,14.82,14.79
$GC,5616,-0.39,-107.1,3243,1906,3343,3397,605.1,-7.4,248,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1907,3367,3343,3392,0,0,0,0,0,0,14.78,14.79,14.80
$GC,5917,-0.39,-107.1,3241,1906,3342,3395,625.5,-6.7,253,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1906,3370,3343,3397,0,0,0,0,0,0,14.77,14.78,14.78
$GC,6216,-0.39,-107.1,3241,1905,3341,3396,646.9,-7.2,258,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1905,3369,3342,3396,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6517,-0.39,-107.1,3243,1905,3341,3396,671.7,-8.4,263,6528,0.00,2.58,0.00,0.000,516,0.000,0.112,3245,474,3368,3341,3396,0,0,0,0,0,0,14.77,14.40,14.79
$GC,6584,-0.39,-107.1,3243,474,3341,3395,678.3,-9.6,274,6596,0.00,2.53,0.00,0.000,1030,0.000,0.095,3243,1902,3370,3341,3399,0,0,0,0,0,0,14.57,14.45,14.60
$GC,6889,-0.39,-107.1,3243,1902,3340,3395,704.0,-8.3,280,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1902,3367,3340,3395,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7189,-0.39,-107.1,3243,1902,3339,3391,728.0,-7.9,285,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1902,3373,3345,3401,0,0,0,0,0,0,14.76,14.78,14.77
$GC,7489,-0.39,-107.1,3243,1902,3338,3395,751.2,-7.7,290,7501,0.00,2.58,0.00,0.000,516,0.000,0.113,3241,482,3366,3338,3395,0,0,0,0,0,0,14.76,14.40,14.77
$GC,7556,-0.39,-107.1,3243,482,3339,3394,756.9,-8.3,301,7568,0.00,2.53,0.00,0.000,1030,0.000,0.098,3243,1901,3366,3338,3394,0,0,0,0,0,0,14.57,14.45,14.60
$GC,7863,-0.39,-107.1,3239,1904,3338,3394,780.4,-7.7,307,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1904,3366,3338,3395,0,0,0,0,0,0,14.76,14.77,14.77
$GC,8162,-0.39,-107.1,3243,1904,3337,3393,804.7,-8.1,312,8173,0.00,2.58,0.00,0.000,516,0.000,0.113,3245,486,3365,3337,3393,0,0,0,0,0,0,14.76,14.41,14.78
$GC,8234,-0.39,-107.1,3243,488,3337,3393,811.2,-8.9,324,8245,0.00,2.53,0.00,0.000,1030,0.000,0.098,3247,1914,3365,3337,3394,0,0,0,0,0,0,14.55,14.44,14.59
$GC,8607,-0.39,-107.1,3243,1916,3336,3393,840.1,-7.7,341,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1916,3364,3335,3393,0,0,0,0,0,0,14.74,14.76,14.76
$GC,8907,-0.39,-107.1,3242,1916,3335,3393,863.3,-7.8,346,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1916,3363,3335,3392,0,0,0,0,0,0,14.74,14.76,14.76
$GC,9207,-0.39,-107.1,3243,1916,3334,3393,884.6,-7.1,351,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1916,3363,3334,3393,0,0,0,0,0,0,14.75,14.77,14.76
$GC,9507,-0.39,-107.1,3243,1916,3334,3393,906.2,-7.3,356,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1914,3362,3333,3392,0,0,0,0,0,0,14.74,14.77,14.76
$GC,9807,-0.39,-107.1,3243,1916,3333,3392,928.0,-7.3,361,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1917,3362,3333,3392,0,0,0,0,0,0,14.75,14.77,14.77
$GC,10107,-0.39,-107.1,3243,1916,3333,3391,949.6,-7.1,366,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1916,3362,3333,3392,0,0,0,0,0,0,14.76,14.78,14.78
$GC,10409,-0.39,-107.1,3243,1916,3333,3391,969.7,-6.7,371,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1917,3361,3332,3391,0,0,0,0,0,0,14.73,14.76,14.76
$STATE,10702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10702,begin apogee
$GC,10713,-0.16,0.0,3243,2248,3328,3391,990.1,-6.8,376,10806,0.32,0.00,84.18,1.900,10246,0.168,0.000,3344,2248,2942,2887,2998,0,0,0,0,0,0,14.35,13.98,13.30
$STATE,10808,end apogee,CONTROL_FINISHED_OK
$STATE,10808,begin climb
$GC,10814,0.39,107.1,3345,2247,2882,2996,993.0,0.0,377,10920,0.52,2.72,89.70,1.864,10500,0.108,0.112,3523,3663,2500,2383,2617,0,0,0,0,0,0,14.00,13.65,13.12
$GC,10951,0.42,162.6,3523,3664,2381,2614,988.9,4.8,401,11009,0.00,2.67,45.83,1.847,9222,0.000,0.099,3527,2238,2276,2141,2412,0,0,0,0,0,0,13.99,13.90,13.10
$GC,11325,0.42,162.6,3532,2235,2139,2411,956.0,9.0,419,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2235,2275,2139,2412,0,0,0,0,0,0,14.40,14.42,14.42
$GC,11625,0.42,162.6,3527,2235,2140,2411,930.4,8.4,424,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2235,2275,2140,2411,0,0,0,0,0,0,14.54,14.56,14.55
$GC,11925,0.42,162.6,3527,2235,2146,2410,904.7,8.6,429,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2235,2274,2140,2408,0,0,0,0,0,0,14.60,14.62,14.62
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$STATE,23578,end climb,SURFACE_DEPTH_REACHED
$STATE,23578,begin surface coast
$FINISH,1.2,1.023216
$STATE,23609,end surface coast,CONTROL_FINISHED_OK
$STATE,23613,begin surface
$SM_CCo,23645,24.73,0.086,0,0,1309,400.08
$SM_GC,0.94,9.80,0.68,24.73,0.041,0.096,0.086,95,1890,1309,-10.25,0.48,400.08,0,0,0,0,0,0,14.41,14.38,14.38
$IRIDIUM_FIX,4713.38,-12547.10,020815,055241
$TT8_MAMPS,0.020972,0.020972
$HUMID,48.85
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3862784
$24V_AH,13.09,52.051
$10V_AH,13.18,0.000
$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,24.875,169.525,333.375,24.725,0.000,0.000,0.000,621.375,0.000,0.000,8.327,2057.150,18285.424,577.862,2888.996,966.666,0.000,2828.322,0.000,1405.350,0.000,0.538,0.000
$DEVICE_MAMPS,358.020,114.750,1900.260,85.680,0.000,0.000,0.000,159.120,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23693.000,640.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.712,6.863,0.000,0.000
$MEM,286352
$DATA_FILE_SIZE,33367,948
$CAP_FILE_SIZE,227226,0
$CFSIZE,260034560,235257856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,59.77,1
$GPS,020815,123436,4733.526,-12550.606,72,1.4,76,16.5,0.3,239.7,7,8.2