version: 66.12
glider: 187
mission: 8
dive: 302
start: 9 1 115 16 19 19
data:
$ID,187
$MISSION,8
$DIVE,302
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,15
$R_STBD_OVSHOOT,22
$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,48
$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
$GPS1,010915,160510,4746.7026,-12519.4932,26,1.6,27,16.5,0.2,0.0,4,9.3
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-76.0
$GPS2,010915,161846,4746.6387,-12519.3789,4,1.6,7,16.5,0.4,302.3,4,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,220.3,153664,-14.8,-7.333,-19.49,2243
$D_GRID,809
$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,31,-0.39,-107.1,88,1884,1222,1403,0.0,0.0,0,109,0.00,0.00,-73.55,0.000,16390,0.000,0.000,82,1882,3381,3382,3381,0,0,0,0,0,0,14.46,12.87,14.46
$GC,116,-0.39,-107.1,82,1879,3383,3382,2.1,-3.3,2,138,13.85,2.62,0.00,0.000,2308,0.356,0.106,3246,3301,3384,3383,3385,0,0,0,0,0,0,13.91,14.19,14.11
$GC,287,-0.39,-107.1,3246,3304,3382,3393,47.7,-13.3,34,295,0.00,2.55,0.00,0.000,1030,0.000,0.093,3245,1900,3386,3382,3391,0,0,0,0,0,0,14.24,14.12,14.26
$GC,496,-0.39,-107.1,3246,1900,3380,3396,75.5,-12.8,44,503,0.00,2.55,0.00,0.000,516,0.000,0.106,3245,492,3385,3379,3392,0,0,0,0,0,0,14.55,14.17,14.57
$GC,518,-0.39,-107.1,3245,492,3380,3396,78.6,-12.6,47,526,0.00,2.50,0.00,0.000,1030,0.000,0.090,3244,1896,3387,3383,3392,0,0,0,0,0,0,14.33,14.21,14.38
$GC,723,-0.39,-107.1,3245,1898,3378,3397,101.9,-11.4,56,726,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1893,3386,3376,3397,0,0,0,0,0,0,14.57,14.59,14.58
$GC,903,-0.39,-107.1,3251,1897,3379,3398,122.3,-11.3,62,911,0.00,2.58,0.00,0.000,260,0.000,0.103,3246,3321,3388,3378,3398,0,0,0,0,0,0,14.59,14.18,14.61
$GC,961,-0.39,-107.1,3245,3321,3378,3398,128.6,-10.4,72,969,0.00,2.55,0.00,0.000,1030,0.000,0.089,3246,1903,3387,3378,3397,0,0,0,0,0,0,14.37,14.24,14.41
$GC,1161,-0.39,-107.1,3246,1902,3378,3394,148.4,-9.8,80,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1902,3387,3377,3397,0,0,0,0,0,0,14.59,14.62,14.62
$GC,1340,-0.39,-107.1,3246,1902,3377,3397,167.1,-10.5,86,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1902,3387,3377,3397,0,0,0,0,0,0,14.62,14.64,14.64
$GC,1520,-0.39,-107.1,3245,1902,3377,3397,185.4,-10.0,92,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1902,3386,3376,3397,0,0,0,0,0,0,14.62,14.64,14.64
$GC,1701,-0.39,-107.1,3245,1900,3376,3397,201.5,-8.9,98,1709,0.00,2.58,0.00,0.000,516,0.000,0.106,3246,474,3386,3375,3397,0,0,0,0,0,0,14.62,14.18,14.63
$GC,1740,-0.39,-107.1,3241,474,3375,3398,205.5,-10.8,104,1748,0.00,2.53,0.00,0.000,1030,0.000,0.090,3246,1898,3390,3383,3398,0,0,0,0,0,0,14.37,14.23,14.41
$GC,1960,-0.39,-107.1,3246,1898,3375,3398,226.6,-9.5,116,1967,0.00,2.58,0.00,0.000,260,0.000,0.104,3246,3317,3385,3374,3397,0,0,0,0,0,0,14.62,14.21,14.64
$GC,2002,-0.39,-107.1,3246,3317,3374,3397,230.7,-9.5,123,2010,0.00,2.58,0.00,0.000,1030,0.000,0.091,3246,1886,3384,3375,3394,0,0,0,0,0,0,14.38,14.25,14.41
$GC,2216,-0.39,-107.1,3246,1886,3369,3398,249.3,-8.5,134,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1886,3385,3373,3397,0,0,0,0,0,0,14.62,14.64,14.63
$GC,2427,-0.39,-107.1,3246,1886,3372,3397,268.3,-9.1,138,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1890,3384,3372,3397,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2726,-0.39,-107.1,3245,1886,3370,3397,297.8,-9.9,143,2734,0.00,2.53,0.00,0.000,516,0.000,0.107,3242,493,3383,3370,3397,0,0,0,0,0,0,14.63,14.20,14.65
$GC,2799,-0.39,-107.1,3246,493,3369,3397,306.0,-11.3,156,2807,0.00,2.53,0.00,0.000,1030,0.000,0.092,3246,1901,3383,3369,3397,0,0,0,0,0,0,14.38,14.24,14.42
$GC,3168,-0.39,-107.1,3246,1901,3368,3398,343.9,-10.4,172,3175,0.00,2.60,0.00,0.000,260,0.000,0.106,3246,3323,3381,3363,3399,0,0,0,0,0,0,14.62,14.19,14.64
$GC,3206,-0.39,-107.1,3246,3323,3368,3397,348.2,-9.5,178,3214,0.00,2.58,0.00,0.000,1030,0.000,0.091,3246,1896,3384,3368,3401,0,0,0,0,0,0,14.38,14.23,14.41
$GC,3546,-0.39,-107.1,3246,1895,3365,3397,379.8,-9.2,189,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1895,3382,3367,3397,0,0,0,0,0,0,14.64,14.66,14.66
$GC,3846,-0.39,-107.1,3246,1895,3364,3397,406.3,-8.8,194,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1895,3381,3364,3399,0,0,0,0,0,0,14.63,14.67,14.65
$GC,4145,-0.39,-107.1,3245,1895,3362,3397,431.9,-8.5,199,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1895,3379,3362,3397,0,0,0,0,0,0,14.67,14.67,14.67
$GC,4446,-0.39,-107.1,3245,1895,3360,3397,456.1,-8.1,204,4453,0.00,2.58,0.00,0.000,516,0.000,0.109,3246,493,3376,3355,3397,0,0,0,0,0,0,14.63,14.16,14.64
$GC,4479,-0.39,-107.1,3245,493,3360,3399,459.0,-8.9,209,4487,0.00,2.55,0.00,0.000,1030,0.000,0.093,3246,1903,3378,3360,3397,0,0,0,0,0,0,14.38,14.25,14.42
$GC,4823,-0.39,-107.1,3245,1903,3358,3397,486.5,-8.2,221,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1906,3377,3358,3397,0,0,0,0,0,0,14.63,14.65,14.64
$GC,5124,-0.39,-107.1,3245,1901,3357,3397,511.2,-8.2,226,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1903,3377,3358,3397,0,0,0,0,0,0,14.64,14.65,14.65
$GC,5423,-0.39,-107.1,3245,1902,3357,3395,534.8,-7.8,231,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1902,3376,3356,3397,0,0,0,0,0,0,14.64,14.66,14.66
$GC,5723,-0.39,-107.1,3246,1903,3361,3397,558.1,-7.7,236,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1903,3374,3351,3397,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6024,-0.39,-107.1,3245,1902,3354,3397,583.5,-8.6,241,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1903,3375,3354,3397,0,0,0,0,0,0,14.64,14.65,14.66
$GC,6324,-0.39,-107.1,3245,1907,3353,3396,610.5,-9.0,246,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1902,3376,3356,3397,0,0,0,0,0,0,14.62,14.64,14.62
$GC,6623,-0.39,-107.1,3251,1903,3352,3397,636.6,-8.7,251,6631,0.00,2.62,0.00,0.000,260,0.000,0.109,3246,3323,3372,3347,3397,0,0,0,0,0,0,14.62,14.13,14.64
$GC,6661,-0.39,-107.1,3246,3323,3351,3403,640.0,-8.4,257,6670,0.00,2.60,0.00,0.000,1030,0.000,0.095,3246,1906,3374,3351,3397,0,0,0,0,0,0,14.35,14.24,14.40
$GC,7001,-0.39,-107.1,3246,1906,3350,3397,668.8,-8.4,268,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1906,3373,3350,3397,0,0,0,0,0,0,14.62,14.62,14.65
$GC,7301,-0.39,-107.1,3245,1906,3350,3397,691.6,-7.5,273,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1905,3373,3350,3397,0,0,0,0,0,0,14.62,14.64,14.64
$GC,7602,-0.39,-107.1,3245,1906,3349,3397,716.3,-8.4,278,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1906,3373,3349,3397,0,0,0,0,0,0,14.62,14.64,14.64
$GC,7901,-0.39,-107.1,3246,1905,3347,3398,738.3,-7.2,283,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1906,3372,3347,3397,0,0,0,0,0,0,14.62,14.63,14.64
$GC,8201,-0.39,-107.1,3245,1906,3347,3401,758.8,-6.7,288,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1906,3371,3346,3397,0,0,0,0,0,0,14.62,14.64,14.63
$GC,8502,-0.39,-107.1,3245,1906,3345,3397,777.6,-6.2,293,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1906,3367,3345,3390,0,0,0,0,0,0,14.62,14.63,14.63
$GC,8802,-0.39,-107.1,3246,1906,3344,3396,797.1,-6.6,298,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1906,3369,3343,3396,0,0,0,0,0,0,14.62,14.64,14.64
$STATE,8976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8976,begin apogee
$GC,8988,-0.16,0.0,3246,2263,3343,3396,809.3,-6.7,301,9082,0.30,0.00,88.97,1.678,10246,0.166,0.000,3340,2259,2942,2886,2999,0,0,0,0,0,0,14.12,13.95,13.26
$STATE,9085,end apogee,CONTROL_FINISHED_OK
$STATE,9085,begin climb
$GC,9091,0.39,107.1,3338,2259,2883,2997,811.3,0.0,302,9193,0.52,0.00,94.28,1.645,10246,0.115,0.000,3518,2262,2503,2383,2624,0,0,0,0,0,0,13.95,13.73,13.07
$GC,9467,0.41,107.1,3517,2259,2377,2621,793.3,6.4,309,9479,0.00,2.65,0.00,0.000,260,0.000,0.114,3518,3662,2499,2376,2622,0,0,0,0,0,0,14.35,13.99,14.36
$GC,9550,0.41,107.1,3516,3662,2376,2620,786.5,8.1,323,9561,0.00,2.62,0.00,0.000,1030,0.000,0.096,3518,2243,2498,2377,2620,0,0,0,0,0,0,14.20,14.07,14.23
$GC,9917,0.41,107.1,3517,2242,2376,2620,760.9,7.1,338,9927,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2243,2497,2374,2620,0,0,0,0,0,0,14.53,14.54,14.54
$GC,10213,0.41,107.1,3517,2248,2375,2620,738.5,7.5,343,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2243,2495,2370,2620,0,0,0,0,0,0,14.59,14.60,14.60
$GC,10512,0.41,107.1,3523,2243,2374,2620,716.7,7.2,348,10523,0.00,2.67,0.00,0.000,260,0.000,0.113,3518,3662,2496,2373,2620,0,0,0,0,0,0,14.59,14.16,14.62
$GC,10624,0.41,107.1,3517,3662,2373,2619,708.4,7.9,367,10636,0.00,2.58,0.00,0.000,1030,0.000,0.097,3518,2253,2499,2380,2618,0,0,0,0,0,0,14.21,14.12,14.27
$GC,10967,0.42,107.1,3519,2251,2373,2618,685.3,6.6,377,10978,0.00,2.60,0.00,0.000,516,0.000,0.106,3527,821,2495,2373,2618,0,0,0,0,0,0,14.62,14.17,14.64
$GC,11059,0.42,107.1,3526,821,2374,2619,678.3,7.5,393,11071,0.00,2.58,0.00,0.000,1030,0.000,0.097,3527,2247,2496,2374,2619,0,0,0,0,0,0,14.38,14.21,14.43
$GC,11417,0.44,107.1,3526,2247,2373,2619,654.4,6.6,406,11428,0.00,2.65,0.00,0.000,260,0.000,0.109,3527,3664,2496,2373,2619,0,0,0,0,0,0,14.62,14.19,14.64
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$STATE,19441,end climb,SURFACE_DEPTH_REACHED
$STATE,19445,begin surface coast
$FINISH,0.8,1.023585
$STATE,19476,end surface coast,CONTROL_FINISHED_OK
$STATE,19476,begin surface
$SM_CCo,19509,17.42,0.086,0,0,1309,400.08
$SM_GC,1.09,9.90,1.95,17.42,0.032,0.089,0.086,95,1905,1309,-10.25,-0.62,400.08,0,0,0,0,0,0,14.28,14.20,14.22
$IRIDIUM_FIX,4732.49,-12516.60,010915,114507
$TT8_MAMPS,0.020223,0.020223
$HUMID,49.96
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3818752
$24V_AH,12.87,81.320
$10V_AH,13.47,0.000
$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,24.800,134.625,368.700,17.425,0.000,0.000,0.000,479.800,0.000,0.000,8.769,1860.743,14803.093,587.314,2233.632,853.055,0.000,2222.963,0.000,1269.147,0.000,0.537,0.000
$DEVICE_MAMPS,356.490,113.985,1677.645,86.445,0.000,0.000,0.000,156.060,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19542.000,9312.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.900,8.959,0.000,0.000
$MEM,286380
$DATA_FILE_SIZE,30040,857
$CAP_FILE_SIZE,181451,0
$CFSIZE,260034560,222011392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.009,90.66,1
$GPS,010915,214650,4745.447,-12521.937,48,0.9,66,16.5,0.4,221.2,10,4.6