version: 66.12
glider: 187
mission: 8
dive: 626
start: 12 10 115 12 55 44
data:
$ID,187
$MISSION,8
$DIVE,626
$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,570
$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,2
$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,1970
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,12
$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
$GPS1,101215,123834,4753.7432,-12522.7246,51,1.3,53,16.5,1.3,248.1,5,10.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-69.9
$GPS2,101215,125510,4754.0415,-12522.8447,3,1.0,6,16.5,0.9,350.0,6,9.2
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,180.9,158352,-14.8,-7.333,-19.49,2243
$D_GRID,687
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,32,-0.39,-107.1,83,1951,1220,1405,0.0,0.0,0,114,0.00,0.00,-78.03,0.000,16390,0.000,0.000,83,1951,3379,3369,3390,0,0,0,0,0,0,14.49,12.50,14.38
$GC,121,-0.39,-107.1,83,1951,3369,3395,1.5,-3.1,2,143,14.32,2.58,0.00,0.000,2820,0.360,0.099,3258,561,3382,3370,3394,0,0,0,0,0,0,13.72,14.09,14.09
$GC,244,-0.39,-107.1,3257,561,3369,3398,36.0,-10.0,24,251,0.00,2.60,0.00,0.000,1030,0.000,0.090,3258,1982,3383,3369,3398,0,0,0,0,0,0,14.09,13.95,14.14
$GC,562,-0.39,-107.1,3257,1980,3374,3402,68.6,-10.0,33,571,0.00,2.60,0.00,0.000,260,0.000,0.103,3258,3374,3384,3367,3401,0,0,0,0,0,0,14.49,13.79,14.50
$GC,641,-0.39,-107.1,3257,3374,3363,3402,75.3,-8.5,47,648,0.00,2.55,0.00,0.000,1030,0.000,0.085,3257,1976,3381,3362,3401,0,0,0,0,0,0,14.04,13.90,14.09
$GC,1001,-0.39,-107.1,3257,1975,3371,3402,107.7,-9.2,62,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1976,3384,3367,3402,0,0,0,0,0,0,14.50,14.52,14.50
$GC,1300,-0.39,-107.1,3257,1975,3366,3403,132.8,-8.3,67,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1979,3384,3366,3403,0,0,0,0,0,0,14.49,14.50,14.50
$GC,1601,-0.39,-107.1,3260,1975,3365,3407,157.9,-8.4,72,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1976,3384,3366,3403,0,0,0,0,0,0,14.49,14.50,14.50
$GC,1900,-0.39,-107.1,3257,1975,3366,3403,181.9,-8.0,77,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1975,3384,3366,3402,0,0,0,0,0,0,14.50,14.52,14.52
$GC,2200,-0.39,-107.1,3258,1975,3366,3402,203.9,-7.3,82,2208,0.00,2.62,0.00,0.000,516,0.000,0.096,3257,561,3385,3364,3406,0,0,0,0,0,0,14.48,13.79,14.50
$GC,2238,-0.39,-107.1,3257,561,3361,3402,206.8,-8.1,88,2246,0.00,2.58,0.00,0.000,1030,0.000,0.083,3256,1966,3384,3365,3403,0,0,0,0,0,0,14.00,13.85,14.06
$GC,2578,-0.39,-107.1,3257,1966,3365,3399,229.2,-6.5,99,2586,0.00,2.65,0.00,0.000,260,0.000,0.101,3258,3389,3384,3365,3403,0,0,0,0,0,0,14.47,13.72,14.49
$GC,2701,-0.39,-107.1,3257,3386,3366,3402,236.2,-4.8,121,2710,0.00,2.60,0.00,0.000,1030,0.000,0.083,3258,1972,3384,3365,3403,0,0,0,0,0,0,14.02,13.84,14.05
$GC,3022,-0.39,-107.1,3257,1964,3364,3402,257.4,-6.7,128,3030,0.00,2.67,0.00,0.000,260,0.000,0.100,3262,3395,3383,3365,3402,0,0,0,0,0,0,14.47,13.71,14.48
$GC,3055,-0.39,-107.1,3257,3390,3364,3403,259.5,-5.9,133,3064,0.00,2.60,0.00,0.000,1030,0.000,0.081,3258,1971,3384,3365,3404,0,0,0,0,0,0,13.99,13.85,14.04
$GC,3402,-0.39,-107.1,3257,1970,3363,3402,283.0,-7.2,145,3410,0.00,2.62,0.00,0.000,516,0.000,0.098,3258,556,3383,3363,3403,0,0,0,0,0,0,14.47,13.74,14.48
$GC,3430,-0.39,-107.1,3257,554,3363,3403,285.3,-7.6,149,3439,0.00,2.60,0.00,0.000,1030,0.000,0.086,3258,1982,3383,3363,3403,0,0,0,0,0,0,13.97,13.82,14.02
$GC,3780,-0.39,-107.1,3257,1980,3363,3406,308.0,-6.5,162,3788,0.00,2.62,0.00,0.000,260,0.000,0.103,3259,3388,3380,3362,3399,0,0,0,0,0,0,14.50,13.69,14.52
$GC,3810,-0.39,-107.1,3257,3388,3361,3403,309.9,-6.8,166,3818,0.00,2.60,0.00,0.000,1030,0.000,0.082,3258,1964,3382,3361,3403,0,0,0,0,0,0,13.99,13.83,14.04
$GC,4159,-0.39,-107.1,3257,1967,3361,3402,333.6,-6.8,179,4166,0.00,2.60,0.00,0.000,516,0.000,0.096,3258,563,3381,3360,3403,0,0,0,0,0,0,14.50,13.73,14.50
$GC,4207,-0.39,-107.1,3257,563,3360,3403,337.3,-7.9,187,4214,0.00,2.58,0.00,0.000,1030,0.000,0.087,3257,1965,3381,3360,3403,0,0,0,0,0,0,13.95,13.79,14.01
$GC,4537,-0.39,-107.1,3257,1970,3366,3403,359.5,-6.7,196,4544,0.00,2.65,0.00,0.000,260,0.000,0.101,3258,3387,3381,3360,3403,0,0,0,0,0,0,14.48,13.69,14.50
$GC,4565,-0.39,-107.1,3257,3388,3359,3409,361.4,-6.4,200,4572,0.00,2.60,0.00,0.000,1030,0.000,0.084,3258,1972,3381,3359,3404,0,0,0,0,0,0,13.97,13.82,14.04
$GC,4914,-0.39,-107.1,3257,1969,3358,3398,382.2,-5.9,213,4923,0.00,2.62,0.00,0.000,516,0.000,0.096,3257,561,3381,3359,3403,0,0,0,0,0,0,14.47,13.71,14.49
$GC,4949,-0.39,-107.1,3257,561,3358,3403,384.4,-6.4,218,4956,0.00,2.60,0.00,0.000,1030,0.000,0.086,3258,1979,3381,3358,3404,0,0,0,0,0,0,13.94,13.79,13.99
$GC,5293,-0.39,-107.1,3258,1979,3357,3403,404.9,-6.0,230,5301,0.00,2.65,0.00,0.000,260,0.000,0.103,3257,3384,3383,3357,3409,0,0,0,0,0,0,14.50,13.70,14.52
$GC,5327,-0.39,-107.1,3257,3384,3357,3402,406.9,-6.1,235,5335,0.00,2.62,0.00,0.000,1030,0.000,0.086,3258,1957,3380,3357,3403,0,0,0,0,0,0,13.95,13.81,14.00
$GC,5672,-0.39,-107.1,3257,1957,3356,3403,429.1,-6.5,247,5680,0.00,2.62,0.00,0.000,516,0.000,0.100,3258,558,3379,3356,3402,0,0,0,0,0,0,14.48,13.71,14.50
$GC,5725,-0.39,-107.1,3254,554,3356,3402,433.0,-7.4,256,5733,0.00,2.60,0.00,0.000,1030,0.000,0.090,3258,1965,3382,3356,3408,0,0,0,0,0,0,13.93,13.76,13.98
$GC,6051,-0.39,-107.1,3255,1965,3355,3403,454.1,-6.6,264,6058,0.00,2.67,0.00,0.000,260,0.000,0.103,3258,3388,3379,3355,3403,0,0,0,0,0,0,14.46,13.65,14.47
$GC,6111,-0.39,-107.1,3257,3388,3355,3403,458.0,-6.7,274,6119,0.00,2.62,0.00,0.000,1030,0.000,0.086,3258,1974,3378,3355,3402,0,0,0,0,0,0,13.92,13.76,13.97
$GC,6432,-0.39,-107.1,3257,1973,3354,3403,477.8,-6.1,281,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1973,3378,3354,3403,0,0,0,0,0,0,14.45,14.46,14.46
$GC,6731,-0.39,-107.1,3257,1974,3353,3403,497.0,-6.5,286,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1974,3378,3353,3403,0,0,0,0,0,0,14.50,14.49,14.49
$GC,7030,-0.39,-107.1,3258,1974,3353,3402,519.3,-7.5,291,7038,0.00,2.70,0.00,0.000,260,0.000,0.103,3257,3387,3378,3353,3403,0,0,0,0,0,0,14.50,13.65,14.49
$GC,7089,-0.39,-107.1,3261,3386,3352,3402,523.2,-6.3,301,7098,0.00,2.62,0.00,0.000,1030,0.000,0.085,3258,1972,3377,3353,3402,0,0,0,0,0,0,13.90,13.77,13.97
$GC,7409,-0.39,-107.1,3258,1971,3351,3402,541.9,-5.7,308,7417,0.00,2.65,0.00,0.000,516,0.000,0.098,3259,553,3377,3351,3403,0,0,0,0,0,0,14.47,13.69,14.48
$GC,7448,-0.39,-107.1,3257,554,3351,3403,544.3,-6.6,314,7456,0.00,2.62,0.00,0.000,1030,0.000,0.088,3258,1972,3378,3352,3405,0,0,0,0,0,0,13.92,13.76,13.97
$GC,7788,-0.39,-107.1,3258,1971,3350,3403,563.5,-5.6,325,7796,0.00,2.70,0.00,0.000,260,0.000,0.104,3257,3389,3376,3350,3402,0,0,0,0,0,0,14.46,13.64,14.47
$GC,7817,-0.39,-107.1,3255,3389,3346,3402,565.1,-5.2,329,7826,0.00,2.65,0.00,0.000,1030,0.000,0.086,3258,1964,3376,3350,3402,0,0,0,0,0,0,13.92,13.77,13.97
$GC,8169,-0.39,-107.1,3257,1964,3349,3403,584.9,-5.9,342,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1964,3375,3349,3402,0,0,0,0,0,0,14.47,14.48,14.47
$GC,8467,-0.39,-107.1,3257,1963,3348,3409,601.9,-5.5,347,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1964,3375,3348,3403,0,0,0,0,0,0,14.45,14.47,14.47
$GC,8767,-0.39,-107.1,3257,1963,3347,3402,618.0,-5.4,352,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1964,3373,3345,3402,0,0,0,0,0,0,14.45,14.47,14.47
$GC,9069,-0.39,-107.1,3257,1963,3346,3402,632.8,-4.8,357,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1964,3374,3345,3403,0,0,0,0,0,0,14.44,14.46,14.45
$GC,9368,-0.39,-107.1,3257,1964,3345,3403,649.0,-5.4,362,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1963,3373,3344,3402,0,0,0,0,0,0,14.48,14.47,14.47
$GC,9668,-0.39,-107.1,3263,1964,3344,3402,664.0,-5.0,367,9676,0.00,2.78,0.00,0.000,260,0.000,0.106,3258,3390,3373,3344,3402,0,0,0,0,0,0,14.46,13.64,14.47
$GC,9717,-0.39,-107.1,3257,3389,3344,3403,666.7,-5.5,375,9725,0.00,2.65,0.00,0.000,1030,0.000,0.088,3258,1976,3372,3343,3402,0,0,0,0,0,0,13.87,13.71,13.93
$GC,10047,-0.39,-107.1,3257,1973,3343,3402,683.7,-5.1,384,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1974,3373,3343,3403,0,0,0,0,0,0,14.44,14.46,14.48
$STATE,10161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10161,begin apogee
$GC,10173,-0.16,0.0,3258,2251,3343,3403,689.2,-4.7,386,10270,0.25,0.00,92.18,1.561,10246,0.145,0.000,3338,2251,2941,2877,3006,0,0,0,0,0,0,13.66,13.82,12.90
$STATE,10274,end apogee,CONTROL_FINISHED_OK
$STATE,10274,begin climb
$GC,10280,0.39,107.1,3338,2251,2872,3004,690.7,0.0,387,10391,0.50,2.70,94.05,1.545,10500,0.099,0.105,3517,3664,2501,2374,2629,0,0,0,0,0,0,13.93,13.50,12.80
$GC,10409,0.42,165.2,3517,3664,2373,2626,688.1,4.7,410,10475,0.00,2.65,50.58,1.546,9222,0.000,0.090,3517,2235,2265,2105,2426,0,0,0,0,0,0,14.00,13.88,12.88
$GC,10773,0.44,165.2,3517,2234,2107,2426,665.4,6.4,428,10784,0.00,2.58,0.00,0.000,516,0.000,0.102,3517,843,2267,2108,2426,0,0,0,0,0,0,14.47,13.93,14.49
$GC,10831,0.44,165.2,3517,843,2109,2426,661.0,7.7,437,10843,0.00,2.58,0.00,0.000,1030,0.000,0.090,3518,2259,2267,2108,2426,0,0,0,0,0,0,14.14,14.00,14.18
$GC,11159,0.44,165.2,3517,2258,2108,2424,637.5,7.2,445,11170,0.00,2.62,0.00,0.000,260,0.000,0.107,3518,3662,2266,2108,2425,0,0,0,0,0,0,14.56,13.90,14.57
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$STATE,19872,end climb,SURFACE_DEPTH_REACHED
$STATE,19872,begin surface coast
$FINISH,-0.1,1.024481
$STATE,19902,end surface coast,CONTROL_FINISHED_OK
$STATE,19903,begin surface
$SM_CCo,19935,51.78,0.081,0,0,1309,400.08
$SM_GC,0.59,10.15,0.52,51.78,0.040,0.098,0.081,90,1962,1309,-10.28,0.54,400.08,0,0,0,0,0,0,14.10,14.04,14.11
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$TT8_MAMPS,0.020972,0.020972
$HUMID,50.00
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3680192
$24V_AH,12.50,178.742
$10V_AH,12.46,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,359.550,107.100,1561.365,81.090,0.000,0.000,0.000,156.825,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19987.000,10447.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.028,9.158,0.000,0.000
$MEM,286372
$DATA_FILE_SIZE,33402,940
$CAP_FILE_SIZE,186720,0
$CFSIZE,260034560,179404800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,342.74,1
$GPS,101215,183101,4753.211,-12524.296,72,0.9,72,16.5,0.7,34.7,10,6.5