version: 66.12
glider: 187
mission: 8
dive: 206
start: 8 5 115 14 30 41
data:
$ID,187
$MISSION,8
$DIVE,206
$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,19
$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
$GPS1,050815,141708,4730.8970,-12609.2744,40,1.0,40,16.6,0.3,0.6,8,8.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-77.0
$GPS2,050815,143009,4730.9082,-12609.2871,2,1.0,5,16.6,0.3,0.0,8,8.8
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,166.6,85904,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.39,-107.1,85,1880,1227,1412,0.0,0.0,0,106,0.00,0.00,-71.05,0.000,16390,0.000,0.000,83,1884,3378,3374,3382,0,0,0,0,0,0,14.50,13.04,14.49
$GC,113,-0.39,-107.1,85,1880,3376,3380,2.8,-5.2,2,134,14.07,2.58,0.00,0.000,2308,0.374,0.093,3244,3315,3381,3376,3386,0,0,0,0,0,0,14.04,14.26,14.21
$GC,367,-0.39,-107.1,3246,3316,3374,3394,65.4,-16.1,51,374,0.00,2.55,0.00,0.000,1030,0.000,0.093,3246,1893,3384,3374,3394,0,0,0,0,0,0,14.36,14.28,14.42
$GC,580,-0.39,-107.1,3251,1895,3373,3398,95.7,-13.8,62,584,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1895,3385,3372,3398,0,0,0,0,0,0,14.59,14.61,14.64
$GC,760,-0.39,-107.1,3246,1892,3372,3400,118.6,-12.5,68,763,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1895,3387,3372,3403,0,0,0,0,0,0,14.62,14.64,14.64
$GC,940,-0.39,-107.1,3246,1895,3372,3400,139.3,-11.7,74,943,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1894,3386,3372,3400,0,0,0,0,0,0,14.62,14.66,14.65
$GC,1120,-0.39,-107.1,3246,1895,3372,3400,159.2,-10.8,80,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1892,3385,3371,3400,0,0,0,0,0,0,14.67,14.68,14.67
$GC,1300,-0.39,-107.1,3246,1895,3373,3400,177.2,-9.8,86,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1895,3385,3370,3400,0,0,0,0,0,0,14.66,14.69,14.66
$GC,1481,-0.39,-107.1,3246,1895,3370,3400,193.9,-9.3,92,1489,0.00,2.53,0.00,0.000,516,0.000,0.109,3247,491,3385,3370,3400,0,0,0,0,0,0,14.67,14.34,14.69
$GC,1514,-0.39,-107.1,3246,488,3369,3401,197.3,-10.5,97,1523,0.00,2.50,0.00,0.000,1030,0.000,0.093,3246,1898,3384,3369,3400,0,0,0,0,0,0,14.49,14.37,14.52
$GC,1700,-0.39,-107.1,3246,1898,3368,3396,215.4,-9.8,104,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1897,3384,3368,3400,0,0,0,0,0,0,14.68,14.71,14.71
$GC,1880,-0.39,-107.1,3246,1897,3367,3401,233.2,-9.9,110,1889,0.00,2.55,0.00,0.000,260,0.000,0.107,3246,3322,3384,3367,3402,0,0,0,0,0,0,14.69,14.34,14.70
$GC,1909,-0.39,-107.1,3247,3322,3366,3400,236.2,-9.9,114,1918,0.00,2.53,0.00,0.000,1030,0.000,0.091,3248,1905,3383,3367,3400,0,0,0,0,0,0,14.51,14.39,14.54
$GC,2139,-0.39,-107.1,3248,1904,3364,3400,258.9,-9.9,122,2147,0.00,2.55,0.00,0.000,260,0.000,0.106,3248,3317,3381,3364,3399,0,0,0,0,0,0,14.69,14.35,14.71
$GC,2178,-0.39,-107.1,3246,3317,3364,3400,262.9,-10.3,128,2186,0.00,2.55,0.00,0.000,1030,0.000,0.093,3246,1888,3382,3364,3400,0,0,0,0,0,0,14.50,14.38,14.54
$GC,2517,-0.39,-107.1,3246,1888,3361,3400,295.4,-9.5,139,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1888,3380,3360,3400,0,0,0,0,0,0,14.70,14.72,14.72
$GC,2817,-0.39,-107.1,3246,1888,3359,3400,324.0,-9.5,144,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1885,3378,3355,3401,0,0,0,0,0,0,14.70,14.72,14.72
$GC,3117,-0.39,-107.1,3246,1888,3357,3399,352.3,-9.4,149,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3379,3357,3402,0,0,0,0,0,0,14.71,14.73,14.73
$GC,3417,-0.39,-107.1,3246,1888,3355,3400,380.3,-9.4,154,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1888,3377,3355,3400,0,0,0,0,0,0,14.71,14.71,14.73
$GC,3717,-0.39,-107.1,3246,1888,3359,3400,408.4,-9.4,159,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3376,3353,3400,0,0,0,0,0,0,14.72,14.73,14.73
$GC,4017,-0.39,-107.1,3246,1888,3352,3400,437.1,-9.6,164,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3375,3351,3400,0,0,0,0,0,0,14.71,14.72,14.73
$GC,4317,-0.39,-107.1,3247,1888,3350,3400,465.9,-9.6,169,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3375,3350,3400,0,0,0,0,0,0,14.71,14.71,14.73
$GC,4617,-0.39,-107.1,3246,1888,3347,3400,494.9,-9.7,174,4625,0.00,2.53,0.00,0.000,516,0.000,0.112,3251,476,3372,3348,3396,0,0,0,0,0,0,14.71,14.35,14.73
$GC,4696,-0.39,-107.1,3246,475,3347,3399,503.4,-10.5,188,4704,0.00,2.53,0.00,0.000,1030,0.000,0.093,3247,1900,3373,3347,3399,0,0,0,0,0,0,14.52,14.39,14.54
$GC,5055,-0.39,-107.1,3246,1902,3347,3400,537.3,-9.4,203,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1900,3371,3345,3398,0,0,0,0,0,0,14.70,14.72,14.71
$GC,5355,-0.39,-107.1,3246,1900,3343,3399,566.5,-9.7,208,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1900,3374,3344,3405,0,0,0,0,0,0,14.71,14.71,14.73
$GC,5655,-0.39,-107.1,3246,1900,3342,3399,594.8,-9.4,213,5662,0.00,2.58,0.00,0.000,260,0.000,0.111,3247,3322,3368,3341,3396,0,0,0,0,0,0,14.71,14.34,14.73
$GC,5683,-0.39,-107.1,3246,3322,3342,3398,597.4,-8.7,217,5691,0.00,2.55,0.00,0.000,1030,0.000,0.096,3247,1902,3370,3343,3397,0,0,0,0,0,0,14.52,14.40,14.54
$GC,6033,-0.39,-107.1,3246,1902,3341,3398,628.7,-9.1,230,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1902,3369,3341,3398,0,0,0,0,0,0,14.71,14.73,14.72
$GC,6333,-0.39,-107.1,3246,1902,3341,3397,655.5,-8.9,235,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1902,3368,3340,3397,0,0,0,0,0,0,14.71,14.73,14.72
$GC,6632,-0.39,-107.1,3246,1902,3339,3397,681.9,-8.8,240,6639,0.00,2.60,0.00,0.000,260,0.000,0.110,3244,3321,3365,3334,3397,0,0,0,0,0,0,14.70,14.29,14.71
$GC,6676,-0.39,-107.1,3246,3321,3340,3397,685.5,-7.7,247,6684,0.00,2.58,0.00,0.000,1030,0.000,0.098,3247,1890,3366,3335,3397,0,0,0,0,0,0,14.49,14.36,14.52
$GC,7010,-0.39,-107.1,3246,1889,3338,3397,714.3,-8.6,257,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1889,3367,3338,3397,0,0,0,0,0,0,14.73,14.71,14.72
$GC,7310,-0.39,-107.1,3246,1893,3338,3397,739.4,-8.4,262,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1889,3367,3338,3396,0,0,0,0,0,0,14.71,14.72,14.71
$GC,7611,-0.39,-107.1,3246,1889,3337,3396,763.8,-8.1,267,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1889,3366,3337,3396,0,0,0,0,0,0,14.69,14.72,14.75
$GC,7910,-0.39,-107.1,3246,1889,3335,3396,787.2,-7.8,272,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1889,3366,3336,3396,0,0,0,0,0,0,14.69,14.71,14.71
$GC,8211,-0.39,-107.1,3246,1890,3335,3392,809.9,-7.6,277,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1889,3365,3334,3396,0,0,0,0,0,0,14.69,14.69,14.71
$GC,8510,-0.39,-107.1,3246,1889,3334,3395,832.3,-7.4,282,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1889,3364,3334,3395,0,0,0,0,0,0,14.69,14.71,14.71
$GC,8810,-0.39,-107.1,3246,1889,3334,3395,854.2,-7.3,287,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1889,3362,3333,3391,0,0,0,0,0,0,14.69,14.71,14.71
$GC,9110,-0.39,-107.1,3246,1889,3333,3394,875.9,-7.2,292,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1886,3364,3333,3395,0,0,0,0,0,0,14.69,14.71,14.71
$GC,9410,-0.39,-107.1,3246,1889,3333,3395,897.6,-7.2,297,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1889,3364,3333,3395,0,0,0,0,0,0,14.69,14.72,14.69
$GC,9710,-0.39,-107.1,3246,1889,3332,3395,918.4,-6.9,302,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1889,3363,3332,3394,0,0,0,0,0,0,14.68,14.69,14.69
$GC,10010,-0.39,-107.1,3246,1889,3331,3394,939.6,-7.1,307,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1889,3363,3332,3394,0,0,0,0,0,0,14.68,14.70,14.70
$GC,10310,-0.39,-107.1,3246,1890,3331,3390,961.4,-7.3,312,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1886,3362,3330,3394,0,0,0,0,0,0,14.68,14.70,14.70
$GC,10610,-0.39,-107.1,3246,1886,3332,3393,983.6,-7.4,317,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1891,3362,3330,3394,0,0,0,0,0,0,14.68,14.70,14.69
$STATE,10725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10725,begin apogee
$GC,10737,-0.16,0.0,3247,2262,3329,3394,992.5,-7.4,319,10827,0.30,0.00,84.90,1.922,10246,0.174,0.000,3338,2262,2942,2881,3003,0,0,0,0,0,0,14.26,13.93,13.23
$STATE,10830,end apogee,CONTROL_FINISHED_OK
$STATE,10831,begin climb
$GC,10836,0.39,107.1,3338,2263,2877,3002,995.7,0.0,320,10945,0.50,2.75,90.03,1.865,10500,0.115,0.116,3514,3660,2500,2378,2623,0,0,0,0,0,0,13.95,13.68,13.07
$GC,10981,0.39,107.1,3514,3659,2377,2621,990.9,7.2,347,10992,0.00,2.65,0.00,0.000,1030,0.000,0.097,3515,2254,2499,2377,2621,0,0,0,0,0,0,13.98,13.88,14.00
$GC,11343,0.39,107.1,3514,2254,2377,2621,964.4,7.6,361,11354,0.00,2.60,0.00,0.000,516,0.000,0.111,3515,838,2499,2377,2621,0,0,0,0,0,0,14.45,14.14,14.47
$GC,11415,0.39,107.1,3514,838,2377,2621,958.3,7.9,373,11426,0.00,2.53,0.00,0.000,1030,0.000,0.096,3515,2244,2499,2377,2622,0,0,0,0,0,0,14.31,14.18,14.33
$GC,11788,0.39,107.1,3514,2245,2375,2621,928.7,8.0,390,11799,0.00,2.60,0.00,0.000,260,0.000,0.110,3514,3663,2498,2375,2621,0,0,0,0,0,0,14.59,14.27,14.59
$GC,11899,0.39,107.1,3514,3663,2374,2621,919.4,8.8,409,11910,0.00,2.58,0.00,0.000,1030,0.000,0.097,3520,2246,2497,2374,2620,0,0,0,0,0,0,14.42,14.31,14.45
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$FREEZE,18.87,17.464,-1.763,0,1,0
$STATE,24526,end climb,NO_VERTICAL_VELOCITY
$STATE,24526,begin surface
$SM_CCo,24533,174.73,0.150,0,0,470,606.14
$SM_GC,1.09,10.27,1.95,0.00,0.074,0.089,0.000,95,1900,477,-10.26,-0.59,604.17,0,0,0,0,0,0,14.29,14.29,14.40
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$TT8_MAMPS,0.020223,0.020223
$HUMID,46.41
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3858208
$24V_AH,13.04,55.262
$10V_AH,13.05,0.000
$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
$DEVICE_SECS,25.750,169.200,268.200,174.725,0.000,0.000,0.000,448.650,0.000,0.000,7.228,2419.572,18779.447,677.098,2739.422,976.623,0.000,2592.824,0.000,1694.726,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.690,8.932,0.000,0.000
$MEM,286400
$DATA_FILE_SIZE,39978,1143
$CAP_FILE_SIZE,225891,0
$CFSIZE,260034560,233877504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,346.42,1
$GPS,050815,212601,4730.416,-12610.211,35,1.0,35,16.6,0.1,0.0,10,7.1