version: 66.12
glider: 187
mission: 8
dive: 390
start: 9 27 115 9 33 35
data:
$ID,187
$MISSION,8
$DIVE,390
$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,14
$R_STBD_OVSHOOT,18
$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
$GPS1,270915,091909,4748.4199,-12519.8086,46,1.1,54,16.5,0.7,292.5,10,7.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-72.8
$GPS2,270915,093302,4748.4023,-12519.7100,2,1.0,5,16.5,0.2,0.0,10,8.9
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,193.1,155182,-14.8,-7.333,-19.49,2243
$D_GRID,648
$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,-107.1,69,1900,1214,1405,0.0,0.0,0,108,0.00,0.00,-71.95,0.000,16390,0.000,0.000,75,1900,3380,3379,3382,0,0,0,0,0,0,14.47,12.56,14.45
$GC,115,-0.39,-107.1,69,1906,3380,3383,2.6,-4.4,2,136,14.20,2.55,0.00,0.000,2564,0.362,0.089,3260,474,3383,3381,3385,0,0,0,0,0,0,13.83,14.15,14.03
$GC,370,-0.39,-107.1,3259,474,3377,3395,63.7,-13.4,51,378,0.00,2.55,0.00,0.000,1030,0.000,0.086,3259,1895,3387,3376,3398,0,0,0,0,0,0,14.25,14.12,14.30
$GC,584,-0.39,-107.1,3259,1897,3375,3397,86.4,-10.2,62,593,0.00,2.58,0.00,0.000,516,0.000,0.099,3259,481,3386,3375,3397,0,0,0,0,0,0,14.56,14.12,14.57
$GC,714,-0.39,-107.1,3259,481,3371,3398,99.7,-10.4,85,723,0.00,2.55,0.00,0.000,1030,0.000,0.086,3259,1901,3387,3376,3399,0,0,0,0,0,0,14.31,14.15,14.33
$GC,895,-0.39,-107.1,3259,1902,3376,3398,117.5,-9.5,92,903,0.00,2.60,0.00,0.000,260,0.000,0.103,3259,3322,3387,3376,3398,0,0,0,0,0,0,14.57,14.13,14.57
$GC,963,-0.39,-107.1,3259,3322,3376,3398,123.3,-7.9,104,971,0.00,2.58,0.00,0.000,1030,0.000,0.086,3259,1891,3387,3375,3399,0,0,0,0,0,0,14.29,14.18,14.33
$GC,1183,-0.39,-107.1,3259,1890,3376,3398,142.7,-8.8,116,1191,0.00,2.65,0.00,0.000,260,0.000,0.099,3259,3323,3386,3375,3398,0,0,0,0,0,0,14.57,14.11,14.60
$GC,1231,-0.39,-107.1,3259,3322,3376,3398,146.7,-7.8,124,1239,0.00,2.55,0.00,0.000,1030,0.000,0.085,3259,1905,3386,3375,3398,0,0,0,0,0,0,14.28,14.17,14.33
$GC,1441,-0.39,-107.1,3259,1905,3374,3398,162.4,-7.4,134,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1905,3389,3381,3398,0,0,0,0,0,0,14.58,14.60,14.59
$GC,1620,-0.39,-107.1,3259,1905,3374,3399,176.9,-8.2,140,1628,0.00,2.58,0.00,0.000,516,0.000,0.101,3259,478,3385,3373,3398,0,0,0,0,0,0,14.62,14.12,14.62
$GC,1653,-0.39,-107.1,3259,478,3374,3399,180.3,-10.6,145,1662,0.00,2.55,0.00,0.000,1030,0.000,0.086,3259,1898,3386,3373,3399,0,0,0,0,0,0,14.30,14.16,14.35
$GC,1840,-0.39,-107.1,3259,1898,3371,3398,195.4,-7.8,152,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1897,3385,3371,3399,0,0,0,0,0,0,14.61,14.62,14.63
$GC,2019,-0.39,-107.1,3263,1899,3370,3399,209.2,-7.6,158,2028,0.00,2.62,0.00,0.000,260,0.000,0.102,3259,3323,3385,3371,3399,0,0,0,0,0,0,14.62,14.13,14.63
$GC,2064,-0.39,-107.1,3259,3323,3370,3398,212.7,-7.7,165,2072,0.00,2.58,0.00,0.000,1030,0.000,0.088,3259,1891,3384,3370,3398,0,0,0,0,0,0,14.31,14.16,14.35
$GC,2279,-0.39,-107.1,3264,1890,3369,3398,229.6,-7.9,176,2287,0.00,2.55,0.00,0.000,516,0.000,0.102,3259,493,3383,3368,3399,0,0,0,0,0,0,14.60,14.12,14.62
$GC,2325,-0.39,-107.1,3259,492,3369,3399,233.5,-9.0,183,2333,0.00,2.55,0.00,0.000,1030,0.000,0.088,3259,1918,3381,3369,3394,0,0,0,0,0,0,14.28,14.15,14.34
$GC,2540,-0.39,-107.1,3259,1918,3368,3399,250.7,-7.9,194,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1919,3383,3368,3398,0,0,0,0,0,0,14.62,14.63,14.63
$GC,2840,-0.39,-107.1,3259,1918,3366,3399,274.9,-8.1,199,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1918,3382,3366,3398,0,0,0,0,0,0,14.64,14.68,14.64
$GC,3139,-0.39,-107.1,3259,1918,3368,3398,299.1,-8.0,204,3147,0.00,2.55,0.00,0.000,260,0.000,0.103,3259,3317,3381,3364,3398,0,0,0,0,0,0,14.62,14.12,14.64
$GC,3173,-0.39,-107.1,3259,3316,3363,3398,301.7,-7.6,209,3181,0.00,2.58,0.00,0.000,1030,0.000,0.088,3259,1907,3380,3363,3398,0,0,0,0,0,0,14.31,14.16,14.34
$GC,3517,-0.39,-107.1,3259,1902,3362,3398,327.9,-7.6,221,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1900,3381,3362,3400,0,0,0,0,0,0,14.61,14.63,14.62
$GC,3817,-0.39,-107.1,3259,1903,3360,3398,349.4,-7.1,226,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1902,3379,3360,3398,0,0,0,0,0,0,14.64,14.64,14.64
$GC,4119,-0.39,-107.1,3259,1904,3358,3398,370.9,-7.1,231,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1902,3378,3359,3398,0,0,0,0,0,0,14.62,14.64,14.64
$GC,4417,-0.39,-107.1,3259,1902,3361,3398,392.4,-7.2,236,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1903,3378,3358,3398,0,0,0,0,0,0,14.63,14.64,14.64
$GC,4717,-0.39,-107.1,3259,1902,3356,3398,414.9,-7.6,241,4725,0.00,2.62,0.00,0.000,260,0.000,0.106,3259,3302,3377,3356,3398,0,0,0,0,0,0,14.64,14.09,14.65
$GC,4761,-0.39,-107.1,3259,3302,3356,3398,418.1,-7.5,248,4769,0.00,2.58,0.00,0.000,1030,0.000,0.093,3259,1889,3377,3356,3398,0,0,0,0,0,0,14.26,14.12,14.31
$GC,5096,-0.39,-107.1,3259,1892,3354,3398,443.6,-7.4,258,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1889,3376,3354,3398,0,0,0,0,0,0,14.62,14.63,14.62
$GC,5397,-0.39,-107.1,3259,1889,3354,3398,463.9,-6.7,263,5405,0.00,2.67,0.00,0.000,260,0.000,0.104,3259,3312,3375,3353,3398,0,0,0,0,0,0,14.61,14.07,14.62
$GC,5431,-0.39,-107.1,3259,3312,3353,3398,466.3,-7.2,268,5439,0.00,2.60,0.00,0.000,1030,0.000,0.091,3259,1889,3375,3353,3398,0,0,0,0,0,0,14.26,14.12,14.31
$GC,5775,-0.39,-107.1,3259,1888,3349,3399,489.7,-6.8,280,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1885,3375,3353,3398,0,0,0,0,0,0,14.62,14.64,14.63
$GC,6075,-0.39,-107.1,3259,1888,3350,3399,512.8,-7.8,285,6083,0.00,2.58,0.00,0.000,516,0.000,0.105,3260,493,3374,3350,3398,0,0,0,0,0,0,14.59,14.04,14.62
$GC,6119,-0.39,-107.1,3259,493,3350,3394,516.4,-8.2,292,6127,0.00,2.55,0.00,0.000,1030,0.000,0.090,3259,1898,3375,3350,3401,0,0,0,0,0,0,14.25,14.10,14.29
$GC,6453,-0.39,-107.1,3259,1897,3349,3398,541.3,-7.5,302,6462,0.00,2.60,0.00,0.000,260,0.000,0.103,3259,3307,3373,3349,3398,0,0,0,0,0,0,14.60,14.07,14.62
$GC,6549,-0.39,-107.1,3259,3310,3349,3397,548.0,-7.1,319,6556,0.00,2.58,0.00,0.000,1030,0.000,0.092,3259,1892,3374,3349,3399,0,0,0,0,0,0,14.25,14.12,14.30
$GC,6893,-0.39,-107.1,3259,1892,3348,3397,572.8,-7.3,331,6900,0.00,2.65,0.00,0.000,260,0.000,0.104,3259,3303,3372,3347,3397,0,0,0,0,0,0,14.59,14.04,14.61
$GC,6941,-0.39,-107.1,3259,3304,3348,3397,576.3,-7.0,339,6949,0.00,2.55,0.00,0.000,1030,0.000,0.093,3258,1908,3372,3348,3397,0,0,0,0,0,0,14.23,14.07,14.28
$GC,7271,-0.39,-107.1,3259,1908,3346,3397,597.7,-6.5,348,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1908,3371,3346,3397,0,0,0,0,0,0,14.58,14.59,14.59
$GC,7570,-0.39,-107.1,3259,1908,3345,3397,616.9,-6.3,353,7578,0.00,2.62,0.00,0.000,260,0.000,0.105,3259,3308,3371,3345,3397,0,0,0,0,0,0,14.60,14.05,14.62
$GC,7712,-0.39,-107.1,3259,3308,3345,3397,625.8,-6.0,379,7719,0.00,2.58,0.00,0.000,1030,0.000,0.093,3259,1901,3371,3345,3397,0,0,0,0,0,0,14.23,14.09,14.27
$GC,8070,-0.39,-107.1,3259,1901,3344,3397,647.0,-5.8,394,8079,0.00,2.65,0.00,0.000,260,0.000,0.106,3260,3309,3370,3344,3397,0,0,0,0,0,0,14.59,14.04,14.61
$STATE,8084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8084,begin apogee
$GC,8098,-0.16,0.0,3259,2251,3344,3396,648.1,-5.7,396,8186,0.28,0.00,83.50,1.484,10246,0.163,0.000,3339,2248,2941,2885,2997,0,0,0,0,0,0,14.06,13.99,13.26
$STATE,8190,end apogee,CONTROL_FINISHED_OK
$STATE,8190,begin climb
$GC,8195,0.39,107.1,3339,2248,2881,2995,650.2,0.0,397,8289,0.52,0.00,85.30,1.464,10246,0.109,0.000,3518,2247,2506,2385,2627,0,0,0,0,0,0,13.99,13.78,13.09
$GC,8577,0.42,163.0,3518,2247,2375,2625,637.0,4.8,404,8633,0.00,2.75,44.00,1.448,8452,0.000,0.111,3518,3663,2276,2136,2416,0,0,0,0,0,0,14.42,13.98,13.29
$GC,8751,0.42,163.0,3518,3663,2128,2413,624.6,8.5,437,8762,0.00,2.62,0.00,0.000,1030,0.000,0.095,3518,2235,2270,2128,2413,0,0,0,0,0,0,14.17,14.05,14.21
$GC,9080,0.42,163.0,3518,2235,2134,2413,600.5,7.2,445,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2235,2272,2131,2413,0,0,0,0,0,0,14.53,14.57,14.54
$GC,9379,0.43,163.0,3518,2235,2131,2413,580.2,6.7,450,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2240,2271,2130,2413,0,0,0,0,0,0,14.59,14.61,14.59
$GC,9680,0.44,163.0,3518,2232,2131,2413,559.8,6.7,455,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2235,2272,2131,2413,0,0,0,0,0,0,14.62,14.64,14.64
$GC,9979,0.47,163.0,3517,2235,2131,2413,541.8,5.9,460,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2235,2272,2131,2413,0,0,0,0,0,0,14.63,14.65,14.64
$GC,10280,0.50,207.3,3518,2235,2131,2413,525.8,5.3,465,10327,0.08,2.50,35.40,1.327,10756,0.153,0.104,3599,842,2092,1944,2240,0,0,0,0,0,0,14.35,14.12,13.57
$GC,10412,0.50,207.3,3599,842,1939,2239,514.6,9.9,489,10424,0.17,2.55,0.00,0.000,5126,0.190,0.092,3548,2249,2091,1944,2239,0,0,0,0,0,0,14.03,14.15,14.23
$GC,10785,0.50,207.3,3547,2250,1943,2239,479.8,9.2,506,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2250,2091,1944,2239,0,0,0,0,0,0,14.57,14.59,14.59
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$STATE,16813,end climb,SURFACE_DEPTH_REACHED
$STATE,16814,begin surface coast
$FINISH,2.0,1.023598
$STATE,16844,end surface coast,CONTROL_FINISHED_OK
$STATE,16844,begin surface
$SM_CCo,16877,18.20,0.083,0,0,1309,400.08
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$TT8_MAMPS,0.020223,0.020223
$HUMID,51.33
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3782464
$24V_AH,12.56,106.369
$10V_AH,12.92,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.725,155.300,357.600,18.200,0.000,0.000,0.000,490.875,0.000,0.000,7.402,1787.980,12329.131,584.165,2184.817,836.063,0.000,2194.135,0.000,1241.251,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.203,9.080,0.000,0.000
$MEM,286364
$DATA_FILE_SIZE,30033,841
$CAP_FILE_SIZE,174173,0
$CFSIZE,260034560,210771968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,254.48,1
$GPS,270915,141701,4746.796,-12521.237,53,0.8,53,16.5,0.4,146.6,10,4.0