version: 66.12
glider: 187
mission: 8
dive: 232
start: 8 13 115 15 21 56
data:
$ID,187
$MISSION,8
$DIVE,232
$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,13
$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
$GPS1,130815,150839,4708.2422,-12644.8076,50,1.0,50,16.5,0.3,21.9,7,8.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-78.4
$GPS2,130815,152124,4708.1562,-12644.6807,5,1.3,6,16.5,0.1,0.0,6,8.7
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,242.4,24547,-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,-107.1,83,1880,1209,1419,0.0,0.0,0,105,0.00,0.00,-70.55,0.000,16390,0.000,0.000,83,1881,3379,3375,3383,0,0,0,0,0,0,14.48,12.99,14.48
$GC,112,-0.39,-107.1,83,1881,3375,3383,3.0,-5.8,2,133,13.65,2.60,0.00,0.000,2308,0.352,0.093,3240,3322,3381,3376,3387,0,0,0,0,0,0,13.96,14.21,14.16
$GC,306,-0.39,-107.1,3245,3322,3375,3395,56.5,-16.0,39,314,0.00,2.55,0.00,0.000,1030,0.000,0.094,3245,1908,3385,3376,3394,0,0,0,0,0,0,14.34,14.21,14.38
$GC,521,-0.39,-107.1,3244,1907,3375,3398,87.6,-13.7,50,525,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1907,3386,3374,3399,0,0,0,0,0,0,14.57,14.59,14.59
$GC,700,-0.39,-107.1,3244,1907,3375,3400,110.3,-12.0,56,703,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1909,3386,3374,3398,0,0,0,0,0,0,14.59,14.60,14.61
$GC,881,-0.39,-107.1,3244,1907,3374,3401,132.6,-12.4,62,884,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1906,3387,3374,3401,0,0,0,0,0,0,14.62,14.64,14.63
$GC,1061,-0.39,-107.1,3245,1907,3375,3401,152.8,-10.6,68,1068,0.00,2.55,0.00,0.000,516,0.000,0.106,3245,473,3390,3380,3401,0,0,0,0,0,0,14.63,14.26,14.64
$GC,1149,-0.39,-107.1,3245,473,3373,3401,162.4,-10.3,84,1156,0.00,2.53,0.00,0.000,1030,0.000,0.087,3245,1916,3387,3373,3401,0,0,0,0,0,0,14.45,14.33,14.47
$GC,1348,-0.39,-107.1,3244,1911,3371,3401,181.2,-9.6,92,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1912,3386,3372,3401,0,0,0,0,0,0,14.64,14.65,14.65
$GC,1528,-0.39,-107.1,3244,1912,3370,3401,199.4,-10.2,98,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1912,3385,3370,3401,0,0,0,0,0,0,14.64,14.66,14.66
$GC,1707,-0.39,-107.1,3244,1911,3369,3401,218.9,-10.8,104,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1912,3385,3369,3401,0,0,0,0,0,0,14.66,14.67,14.67
$GC,1888,-0.39,-107.1,3244,1912,3366,3401,238.0,-10.6,110,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1912,3385,3369,3401,0,0,0,0,0,0,14.66,14.68,14.68
$GC,2067,-0.39,-107.1,3244,1912,3367,3399,256.2,-10.1,115,2075,0.00,2.50,0.00,0.000,260,0.000,0.106,3244,3302,3384,3367,3401,0,0,0,0,0,0,14.66,14.28,14.67
$GC,2125,-0.39,-107.1,3247,3302,3369,3400,261.9,-9.8,125,2133,0.00,2.53,0.00,0.000,1030,0.000,0.096,3244,1891,3384,3367,3401,0,0,0,0,0,0,14.47,14.35,14.50
$GC,2445,-0.39,-107.1,3244,1888,3365,3401,294.7,-10.4,132,2453,0.00,2.58,0.00,0.000,260,0.000,0.104,3244,3306,3384,3362,3407,0,0,0,0,0,0,14.67,14.32,14.69
$GC,2487,-0.39,-107.1,3244,3305,3364,3406,299.0,-9.9,139,2495,0.00,2.53,0.00,0.000,1030,0.000,0.095,3244,1904,3381,3363,3400,0,0,0,0,0,0,14.43,14.34,14.47
$GC,2821,-0.39,-107.1,3244,1905,3360,3401,331.2,-9.6,149,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1905,3381,3361,3401,0,0,0,0,0,0,14.69,14.70,14.70
$GC,3122,-0.39,-107.1,3244,1904,3358,3401,357.5,-8.7,154,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1904,3379,3358,3401,0,0,0,0,0,0,14.69,14.71,14.69
$GC,3421,-0.39,-107.1,3244,1904,3357,3400,383.1,-8.5,159,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1904,3379,3357,3401,0,0,0,0,0,0,14.66,14.70,14.71
$GC,3721,-0.39,-107.1,3244,1904,3362,3401,409.1,-8.6,164,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1904,3377,3354,3401,0,0,0,0,0,0,14.69,14.70,14.70
$GC,4022,-0.39,-107.1,3244,1904,3355,3401,434.6,-8.4,169,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1909,3377,3353,3401,0,0,0,0,0,0,14.69,14.71,14.71
$GC,4322,-0.39,-107.1,3244,1904,3348,3401,460.9,-8.8,174,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1905,3375,3350,3400,0,0,0,0,0,0,14.69,14.69,14.70
$GC,4621,-0.39,-107.1,3240,1904,3350,3400,487.1,-8.7,179,4629,0.00,2.58,0.00,0.000,260,0.000,0.107,3244,3307,3375,3349,3401,0,0,0,0,0,0,14.68,14.31,14.70
$GC,4691,-0.39,-107.1,3245,3306,3349,3400,492.8,-8.1,191,4699,0.00,2.58,0.00,0.000,1030,0.000,0.100,3244,1888,3374,3349,3400,0,0,0,0,0,0,14.45,14.31,14.47
$GC,5065,-0.39,-107.1,3244,1888,3346,3400,523.4,-8.3,208,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1888,3373,3346,3400,0,0,0,0,0,0,14.69,14.70,14.70
$GC,5360,-0.39,-107.1,3244,1888,3344,3400,547.9,-8.2,213,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1888,3372,3345,3400,0,0,0,0,0,0,14.67,14.69,14.69
$GC,5660,-0.39,-107.1,3244,1887,3343,3400,571.9,-7.9,218,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1888,3371,3343,3399,0,0,0,0,0,0,14.69,14.69,14.71
$GC,5960,-0.39,-107.1,3244,1892,3342,3400,595.7,-7.9,223,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1888,3371,3343,3399,0,0,0,0,0,0,14.68,14.69,14.69
$GC,6261,-0.39,-107.1,3244,1888,3341,3398,619.3,-7.8,228,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1888,3368,3342,3395,0,0,0,0,0,0,14.67,14.69,14.69
$GC,6560,-0.39,-107.1,3248,1888,3341,3397,642.9,-7.9,233,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1888,3369,3341,3397,0,0,0,0,0,0,14.67,14.69,14.69
$GC,6861,-0.39,-107.1,3244,1888,3340,3397,667.1,-8.2,238,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1888,3368,3340,3397,0,0,0,0,0,0,14.67,14.69,14.69
$GC,7160,-0.39,-107.1,3244,1887,3335,3397,691.2,-8.0,243,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1888,3368,3339,3397,0,0,0,0,0,0,14.66,14.69,14.69
$GC,7460,-0.39,-107.1,3244,1888,3334,3397,714.3,-7.7,248,7469,0.00,2.62,0.00,0.000,260,0.000,0.109,3244,3305,3367,3339,3396,0,0,0,0,0,0,14.66,14.28,14.68
$GC,7549,-0.39,-107.1,3244,3305,3338,3396,721.0,-7.3,264,7557,0.00,2.55,0.00,0.000,1030,0.000,0.099,3244,1903,3365,3338,3392,0,0,0,0,0,0,14.43,14.31,14.47
$GC,7899,-0.39,-107.1,3244,1903,3338,3396,746.4,-7.2,277,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1904,3367,3338,3396,0,0,0,0,0,0,14.66,14.67,14.68
$GC,8199,-0.39,-107.1,3241,1903,3334,3396,766.7,-6.7,282,8206,0.00,2.60,0.00,0.000,516,0.000,0.116,3244,475,3366,3337,3396,0,0,0,0,0,0,14.66,14.23,14.67
$GC,8262,-0.39,-107.1,3250,474,3337,3395,771.7,-7.9,293,8272,0.00,2.55,0.00,0.000,1030,0.000,0.094,3244,1896,3366,3337,3395,0,0,0,0,0,0,14.43,14.31,14.47
$GC,8568,-0.39,-107.1,3244,1895,3342,3395,793.0,-7.0,299,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1895,3365,3336,3395,0,0,0,0,0,0,14.65,14.67,14.67
$GC,8868,-0.39,-107.1,3244,1895,3335,3395,813.2,-6.9,304,8875,0.00,2.58,0.00,0.000,260,0.000,0.109,3244,3302,3365,3336,3395,0,0,0,0,0,0,14.66,14.29,14.66
$GC,8956,-0.39,-107.1,3244,3306,3334,3395,819.3,-6.9,320,8963,0.00,2.58,0.00,0.000,1030,0.000,0.101,3244,1889,3368,3335,3401,0,0,0,0,0,0,14.40,14.26,14.45
$GC,9304,-0.39,-107.1,3245,1887,3334,3394,844.9,-7.3,333,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1889,3365,3334,3396,0,0,0,0,0,0,14.64,14.66,14.66
$GC,9605,-0.39,-107.1,3244,1889,3333,3394,866.7,-7.2,338,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1889,3364,3334,3394,0,0,0,0,0,0,14.65,14.67,14.69
$GC,9905,-0.39,-107.1,3245,1889,3333,3394,886.8,-6.7,343,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1889,3363,3333,3394,0,0,0,0,0,0,14.65,14.67,14.67
$GC,10204,-0.39,-107.1,3244,1889,3333,3394,906.9,-6.7,348,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1889,3363,3333,3394,0,0,0,0,0,0,14.64,14.66,14.66
$GC,10504,-0.39,-107.1,3245,1889,3332,3394,926.4,-6.5,353,10513,0.00,2.62,0.00,0.000,260,0.000,0.110,3244,3309,3362,3332,3393,0,0,0,0,0,0,14.65,14.26,14.66
$GC,10564,-0.39,-107.1,3244,3312,3332,3393,929.9,-6.2,363,10571,0.00,2.58,0.00,0.000,1030,0.000,0.099,3244,1902,3363,3333,3393,0,0,0,0,0,0,14.42,14.29,14.46
$GC,10884,-0.39,-107.1,3244,1901,3332,3393,950.0,-6.2,370,10886,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1905,3362,3332,3393,0,0,0,0,0,0,14.65,14.67,14.66
$GC,11183,-0.39,-107.1,3244,1901,3331,3394,968.9,-6.4,375,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1901,3358,3327,3389,0,0,0,0,0,0,14.64,14.66,14.66
$GC,11483,-0.39,-107.1,3244,1898,3335,3392,989.0,-6.7,380,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1901,3359,3326,3393,0,0,0,0,0,0,14.64,14.65,14.65
$STATE,11538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11538,begin apogee
$GC,11550,-0.16,0.0,3244,2249,3326,3396,993.2,-6.8,381,11639,0.32,0.00,84.90,1.919,10246,0.171,0.000,3337,2249,2942,2882,3002,0,0,0,0,0,0,14.16,13.92,13.19
$STATE,11643,end apogee,CONTROL_FINISHED_OK
$STATE,11643,begin climb
$GC,11648,0.39,107.1,3337,2248,2879,3000,996.2,0.0,382,11757,0.55,2.75,89.18,1.883,10500,0.111,0.112,3522,3662,2501,2380,2622,0,0,0,0,0,0,13.93,13.66,13.01
$GC,11772,0.39,107.1,3521,3662,2379,2617,993.1,7.9,403,11783,0.00,2.70,0.00,0.000,1030,0.000,0.098,3525,2236,2498,2379,2618,0,0,0,0,0,0,13.88,13.78,13.90
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$STATE,25450,end climb,SURFACE_DEPTH_REACHED
$STATE,25450,begin surface coast
$FINISH,-0.2,1.011194
$STATE,25514,end surface coast,CONTROL_FINISHED_OK
$STATE,25514,begin surface
$SM_CCo,25548,18.27,0.085,0,0,1309,400.08
$SM_GC,0.90,9.82,3.22,18.27,0.041,0.090,0.085,93,1905,1309,-10.25,0.59,400.08,0,0,0,0,0,0,14.35,14.28,14.31
$IRIDIUM_FIX,4654.38,-12640.79,130815,080511
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.13
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,20.60
$XPDR_PINGS,0
$SC_FREEKB,3847392
$24V_AH,12.99,62.609
$10V_AH,12.98,0.000
$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,24.950,151.575,343.750,18.275,0.000,0.000,0.000,436.500,0.000,0.000,7.506,2291.418,19858.061,561.780,2633.289,970.644,0.000,2447.590,0.000,1565.323,0.000,0.537,0.000
$DEVICE_MAMPS,351.900,115.515,1919.385,84.915,0.000,0.000,0.000,162.180,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25590.000,11962.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.639,8.937,0.000,0.000
$MEM,286392
$DATA_FILE_SIZE,36713,1059
$CAP_FILE_SIZE,219976,0
$CFSIZE,260034560,230555648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,73.68,1
$GPS,130815,223001,4707.836,-12647.378,61,0.9,61,16.5,0.2,0.0,9,5.4