version: 66.12
glider: 187
mission: 8
dive: 212
start: 8 7 115 10 34 31
data:
$ID,187
$MISSION,8
$DIVE,212
$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,18
$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
$GPS1,070815,101731,4728.3916,-12615.8867,61,0.9,61,16.6,0.6,24.5,8,4.5
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-77.0
$GPS2,070815,103402,4728.5483,-12615.9004,2,0.8,3,16.6,0.4,347.2,9,9.4
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,177.1,76798,-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,24,begin dive
$GC,30,-0.39,-107.1,82,1880,1220,1409,0.0,0.0,0,105,0.00,0.00,-71.20,0.000,16390,0.000,0.000,81,1880,3378,3370,3386,0,0,0,0,0,0,14.48,13.02,14.49
$GC,112,-0.39,-107.1,82,1877,3371,3386,2.7,-5.3,2,133,13.70,2.58,0.00,0.000,2308,0.356,0.089,3244,3319,3381,3374,3388,0,0,0,0,0,0,13.98,14.23,14.18
$GC,367,-0.39,-107.1,3244,3319,3373,3396,65.0,-14.2,51,375,0.00,2.55,0.00,0.000,1030,0.000,0.091,3244,1898,3384,3373,3396,0,0,0,0,0,0,14.35,14.25,14.38
$GC,581,-0.39,-107.1,3244,1897,3371,3400,93.9,-13.4,62,584,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1899,3386,3373,3400,0,0,0,0,0,0,14.59,14.62,14.61
$GC,761,-0.39,-107.1,3244,1897,3371,3401,117.0,-12.4,68,768,0.00,2.58,0.00,0.000,260,0.000,0.103,3242,3322,3384,3371,3398,0,0,0,0,0,0,14.62,14.30,14.64
$GC,778,-0.39,-107.1,3244,3322,3376,3401,119.3,-12.4,70,787,0.00,2.53,0.00,0.000,1030,0.000,0.090,3244,1902,3385,3370,3401,0,0,0,0,0,0,14.45,14.35,14.49
$GC,988,-0.39,-107.1,3242,1902,3370,3401,144.2,-12.0,80,992,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1902,3385,3370,3401,0,0,0,0,0,0,14.64,14.66,14.66
$GC,1168,-0.39,-107.1,3243,1903,3370,3401,163.9,-10.8,86,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1902,3385,3370,3401,0,0,0,0,0,0,14.65,14.69,14.67
$GC,1348,-0.39,-107.1,3243,1903,3369,3401,183.4,-10.7,92,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1899,3383,3369,3397,0,0,0,0,0,0,14.66,14.68,14.68
$GC,1528,-0.39,-107.1,3244,1902,3364,3401,203.2,-11.0,98,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1903,3385,3369,3402,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1708,-0.39,-107.1,3243,1902,3367,3397,222.3,-10.5,104,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1903,3384,3367,3401,0,0,0,0,0,0,14.69,14.71,14.70
$GC,1888,-0.39,-107.1,3248,1902,3369,3401,240.7,-10.2,110,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1907,3383,3365,3401,0,0,0,0,0,0,14.71,14.71,14.71
$GC,2069,-0.39,-107.1,3243,1902,3364,3401,259.0,-10.1,115,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1902,3383,3364,3402,0,0,0,0,0,0,14.70,14.71,14.71
$GC,2368,-0.39,-107.1,3243,1906,3361,3401,289.2,-10.0,120,2376,0.00,2.53,0.00,0.000,516,0.000,0.110,3243,482,3381,3361,3401,0,0,0,0,0,0,14.69,14.35,14.71
$GC,2416,-0.39,-107.1,3243,481,3360,3401,294.4,-10.9,128,2423,0.00,2.53,0.00,0.000,1030,0.000,0.095,3244,1903,3380,3360,3401,0,0,0,0,0,0,14.51,14.38,14.54
$GC,2745,-0.39,-107.1,3243,1903,3357,3401,323.7,-8.7,137,2753,0.00,2.55,0.00,0.000,260,0.000,0.109,3244,3319,3377,3353,3401,0,0,0,0,0,0,14.70,14.38,14.72
$GC,2778,-0.39,-107.1,3243,3316,3357,3400,326.6,-8.7,142,2787,0.00,2.55,0.00,0.000,1030,0.000,0.096,3244,1898,3379,3357,3401,0,0,0,0,0,0,14.52,14.40,14.54
$GC,3123,-0.39,-107.1,3243,1901,3354,3401,355.3,-8.3,154,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1898,3377,3354,3401,0,0,0,0,0,0,14.71,14.73,14.72
$GC,3424,-0.39,-107.1,3243,1899,3359,3401,380.6,-8.5,159,3431,0.00,2.58,0.00,0.000,260,0.000,0.108,3244,3323,3376,3352,3401,0,0,0,0,0,0,14.70,14.35,14.72
$GC,3466,-0.39,-107.1,3243,3323,3352,3401,384.3,-8.3,166,3475,0.00,2.55,0.00,0.000,1030,0.000,0.095,3244,1904,3376,3352,3401,0,0,0,0,0,0,14.52,14.40,14.54
$GC,3801,-0.39,-107.1,3243,1904,3350,3401,413.4,-8.8,176,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1908,3375,3350,3401,0,0,0,0,0,0,14.69,14.71,14.69
$GC,4102,-0.39,-107.1,3243,1903,3348,3401,440.4,-9.0,181,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1904,3374,3348,3401,0,0,0,0,0,0,14.68,14.72,14.71
$GC,4401,-0.39,-107.1,3239,1903,3341,3400,467.2,-8.9,186,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1903,3373,3345,3401,0,0,0,0,0,0,14.70,14.71,14.71
$GC,4702,-0.39,-107.1,3245,1903,3343,3400,492.9,-8.5,191,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1903,3371,3343,3400,0,0,0,0,0,0,14.73,14.73,14.72
$GC,5002,-0.39,-107.1,3243,1903,3337,3399,516.8,-7.9,196,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1899,3371,3342,3400,0,0,0,0,0,0,14.68,14.72,14.71
$GC,5301,-0.39,-107.1,3244,1903,3338,3398,540.9,-8.1,201,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1904,3369,3337,3402,0,0,0,0,0,0,14.70,14.71,14.71
$GC,5601,-0.39,-107.1,3243,1902,3340,3398,565.6,-8.3,206,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1903,3368,3340,3397,0,0,0,0,0,0,14.71,14.72,14.72
$GC,5902,-0.39,-107.1,3244,1903,3339,3397,590.8,-8.4,211,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1903,3368,3340,3397,0,0,0,0,0,0,14.71,14.72,14.72
$GC,6201,-0.39,-107.1,3244,1904,3338,3397,615.1,-8.1,216,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1904,3367,3338,3397,0,0,0,0,0,0,14.70,14.71,14.71
$GC,6501,-0.39,-107.1,3244,1903,3338,3403,637.5,-7.4,221,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1905,3367,3338,3397,0,0,0,0,0,0,14.69,14.72,14.71
$GC,6802,-0.39,-107.1,3244,1903,3336,3396,659.4,-7.3,226,6810,0.00,2.58,0.00,0.000,516,0.000,0.115,3243,474,3366,3336,3396,0,0,0,0,0,0,14.69,14.31,14.71
$GC,6840,-0.39,-107.1,3249,475,3331,3396,662.6,-8.0,232,6849,0.00,2.55,0.00,0.000,1030,0.000,0.098,3244,1896,3366,3336,3396,0,0,0,0,0,0,14.48,14.35,14.54
$GC,7180,-0.39,-107.1,3243,1899,3334,3393,686.2,-6.9,243,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1899,3364,3334,3395,0,0,0,0,0,0,14.71,14.71,14.71
$GC,7480,-0.39,-107.1,3243,1899,3334,3393,708.5,-7.5,248,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1899,3363,3333,3394,0,0,0,0,0,0,14.70,14.71,14.73
$GC,7780,-0.39,-107.1,3243,1899,3329,3395,731.8,-7.8,253,7787,0.00,2.60,0.00,0.000,260,0.000,0.112,3244,3324,3364,3333,3395,0,0,0,0,0,0,14.69,14.33,14.70
$GC,7818,-0.39,-107.1,3243,3324,3333,3394,735.0,-7.9,259,7826,0.00,2.60,0.00,0.000,1030,0.000,0.099,3244,1890,3361,3328,3395,0,0,0,0,0,0,14.48,14.35,14.51
$GC,8157,-0.39,-107.1,3244,1890,3332,3394,762.6,-8.3,270,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1890,3363,3332,3394,0,0,0,0,0,0,14.68,14.70,14.69
$GC,8457,-0.39,-107.1,3244,1890,3332,3394,788.2,-8.6,275,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1886,3361,3332,3391,0,0,0,0,0,0,14.69,14.70,14.69
$GC,8757,-0.39,-107.1,3244,1890,3331,3394,812.9,-8.2,280,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1890,3362,3331,3394,0,0,0,0,0,0,14.68,14.69,14.69
$GC,9057,-0.39,-107.1,3244,1889,3330,3399,835.7,-7.5,285,9065,0.00,2.62,0.00,0.000,260,0.000,0.113,3244,3323,3362,3332,3393,0,0,0,0,0,0,14.67,14.28,14.69
$GC,9090,-0.39,-107.1,3243,3322,3330,3393,837.9,-7.9,290,9100,0.00,2.58,0.00,0.000,1030,0.000,0.096,3244,1900,3364,3336,3393,0,0,0,0,0,0,14.50,14.35,14.50
$GC,9436,-0.39,-107.1,3244,1902,3330,3389,862.2,-6.9,302,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1902,3361,3329,3394,0,0,0,0,0,0,14.68,14.69,14.69
$GC,9736,-0.39,-107.1,3243,1902,3328,3393,882.7,-6.8,307,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1902,3361,3329,3393,0,0,0,0,0,0,14.67,14.69,14.69
$GC,10036,-0.39,-107.1,3243,1902,3329,3393,902.4,-6.5,312,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1902,3360,3329,3392,0,0,0,0,0,0,14.71,14.70,14.70
$GC,10336,-0.39,-107.1,3244,1901,3328,3392,921.2,-6.3,317,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1902,3361,3331,3392,0,0,0,0,0,0,14.67,14.69,14.67
$GC,10636,-0.39,-107.1,3244,1898,3332,3392,939.6,-6.1,322,10644,0.00,2.62,0.00,0.000,260,0.000,0.112,3244,3323,3359,3326,3392,0,0,0,0,0,0,14.68,14.24,14.68
$GC,10681,-0.39,-107.1,3243,3322,3328,3392,942.4,-6.3,329,10689,0.00,2.58,0.00,0.000,1030,0.000,0.098,3244,1894,3362,3334,3391,0,0,0,0,0,0,14.45,14.33,14.50
$GC,11016,-0.39,-107.1,3243,1894,3328,3391,962.7,-6.0,339,11020,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1894,3361,3330,3392,0,0,0,0,0,0,14.66,14.69,14.68
$GC,11315,-0.39,-107.1,3243,1897,3327,3391,980.2,-5.8,344,11318,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1894,3359,3328,3391,0,0,0,0,0,0,14.67,14.69,14.69
$STATE,11491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11491,begin apogee
$GC,11502,-0.16,0.0,3244,2267,3327,3392,990.6,-5.8,347,11592,0.35,0.00,84.43,1.917,10246,0.174,0.000,3349,2267,2941,2882,3001,0,0,0,0,0,0,14.23,13.93,13.21
$STATE,11595,end apogee,CONTROL_FINISHED_OK
$STATE,11595,begin climb
$GC,11601,0.39,107.1,3344,2267,2877,2999,992.7,0.0,348,11699,0.52,0.00,89.53,1.873,10246,0.109,0.000,3522,2267,2504,2383,2626,0,0,0,0,0,0,13.95,13.72,13.05
$GC,11981,0.39,107.1,3522,2266,2377,2624,966.0,8.4,355,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2266,2503,2382,2624,0,0,0,0,0,0,14.39,14.38,14.37
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$STATE,24830,end climb,SURFACE_DEPTH_REACHED
$STATE,24830,begin surface coast
$FINISH,-0.1,1.010956
$STATE,24907,end surface coast,CONTROL_FINISHED_OK
$STATE,24907,begin surface
$SM_CCo,24938,26.35,0.087,0,0,1310,400.08
$SM_GC,0.61,9.85,0.68,26.35,0.047,0.093,0.087,90,1888,1310,-10.26,0.37,400.08,0,0,0,0,0,0,14.41,14.39,14.38
$IRIDIUM_FIX,4710.21,-12615.23,070815,102256
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.59
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,20.20
$XPDR_PINGS,0
$SC_FREEKB,3855712
$24V_AH,13.02,56.982
$10V_AH,13.03,0.000
$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,24.850,180.200,335.575,26.350,0.000,0.000,0.000,595.900,0.000,0.000,4.584,2377.975,19107.635,607.085,2824.704,1014.933,0.000,2662.404,0.000,1648.441,0.000,0.537,0.000
$DEVICE_MAMPS,355.725,114.750,1917.090,87.210,0.000,0.000,0.000,161.415,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24987.000,11879.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.666,8.924,0.000,0.000
$MEM,286384
$DATA_FILE_SIZE,39958,1116
$CAP_FILE_SIZE,228773,0
$CFSIZE,260034560,233103360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,348.32,1
$GPS,070815,173201,4727.701,-12617.568,28,1.0,28,16.6,0.2,0.0,7,5.4