version: 66.12
glider: 187
mission: 8
dive: 62
start: 6 28 115 0 47 32
data:
$ID,187
$MISSION,8
$DIVE,62
$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,375
$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,3392
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$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,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,15
$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,0.001
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,280615,003720,4704.1606,-12650.0547,49,0.9,49,16.5,1.4,165.4,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.9
$GPS2,280615,004704,4704.0986,-12650.1133,2,0.9,4,16.5,0.8,179.3,9,8.1
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,29.7,152433,-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,29,-0.48,-107.1,73,1900,1295,1528,0.0,0.0,0,101,0.00,0.00,-67.72,0.000,16386,0.000,0.000,74,1896,3260,3244,3276,0,0,0,0,0,0,14.57,28.83,14.59
$GC,108,-0.48,-107.1,71,1896,3245,3276,4.3,-6.8,7,134,13.38,2.72,-1.85,0.000,18948,0.361,2.219,3230,489,3380,3363,3398,0,0,0,0,0,0,14.21,13.58,14.43
$GC,351,-0.48,-107.1,3226,489,3363,3404,67.0,-20.8,52,360,0.00,2.50,0.00,0.000,1030,0.000,0.095,3230,1902,3385,3365,3406,0,0,0,0,0,0,14.47,14.39,14.47
$GC,541,-0.48,-107.1,3229,1902,3363,3407,100.4,-16.2,71,549,0.00,2.53,0.00,0.000,260,0.000,0.105,3230,3317,3385,3363,3407,0,0,0,0,0,0,14.62,14.40,14.63
$GC,788,-0.48,-107.1,3230,3317,3365,3408,134.7,-14.2,117,796,0.00,2.53,0.00,0.000,1030,0.000,0.096,3230,1901,3386,3363,3409,0,0,0,0,0,0,14.53,14.45,14.55
$GC,987,-0.48,-107.1,3229,1901,3363,3408,162.6,-13.1,137,995,0.00,2.53,0.00,0.000,516,0.000,0.109,3236,482,3386,3363,3409,0,0,0,0,0,0,14.67,14.45,14.69
$GC,1049,-0.48,-107.1,3230,482,3363,3409,171.4,-14.2,148,1058,0.00,2.47,0.00,0.000,1030,0.000,0.091,3230,1903,3386,3363,3409,0,0,0,0,0,0,14.56,14.52,14.58
$GC,1239,-0.48,-107.1,3230,1903,3363,3409,194.8,-12.1,167,1247,0.00,2.50,0.00,0.000,260,0.000,0.105,3230,3314,3386,3363,3409,0,0,0,0,0,0,14.69,14.48,14.70
$GC,1292,-0.48,-107.1,3230,3314,3363,3409,201.0,-11.2,176,1302,0.00,2.53,0.00,0.000,1030,0.000,0.097,3232,1883,3386,3363,3409,0,0,0,0,0,0,14.57,14.47,14.59
$GC,1483,-0.48,-107.1,3229,1883,3363,3412,223.2,-11.6,195,1491,0.00,2.47,0.00,0.000,516,0.000,0.110,3230,489,3386,3363,3409,0,0,0,0,0,0,14.70,14.50,14.71
$GC,1579,-0.48,-107.1,3230,490,3363,3409,234.6,-12.0,212,1588,0.00,2.47,0.00,0.000,1030,0.000,0.094,3230,1893,3386,3363,3409,0,0,0,0,0,0,14.61,14.53,14.61
$GC,1779,-0.48,-107.1,3230,1896,3361,3409,257.1,-11.0,228,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1896,3384,3360,3409,0,0,0,0,0,0,14.71,14.73,14.71
$GC,2079,-0.48,-107.1,3229,1896,3361,3409,289.8,-11.0,238,2087,0.00,2.53,0.00,0.000,260,0.000,0.106,3229,3320,3385,3361,3409,0,0,0,0,0,0,14.73,14.52,14.75
$GC,2133,-0.48,-107.1,3228,3321,3358,3409,295.6,-10.6,247,2141,0.00,2.50,0.00,0.000,1030,0.000,0.097,3230,1903,3387,3366,3409,0,0,0,0,0,0,14.59,14.52,14.64
$GC,2461,-0.48,-107.1,3229,1902,3359,3409,330.7,-11.0,260,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1902,3384,3359,3409,0,0,0,0,0,0,14.73,14.75,14.78
$GC,2756,-0.48,-107.1,3229,1902,3358,3408,364.0,-11.1,270,2765,0.00,2.53,0.00,0.000,516,0.000,0.114,3230,475,3383,3358,3409,0,0,0,0,0,0,14.76,14.53,14.77
$GC,2826,-0.48,-107.1,3230,475,3358,3409,372.1,-12.3,282,2834,0.00,2.50,0.00,0.000,1030,0.000,0.093,3230,1911,3383,3358,3409,0,0,0,0,0,0,14.64,14.56,14.65
$GC,3169,-0.48,-107.1,3231,1908,3356,3408,409.5,-10.8,298,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1911,3380,3356,3404,0,0,0,0,0,0,14.75,14.77,14.76
$GC,3466,-0.48,-107.1,3229,1911,3355,3405,440.2,-10.0,308,3473,0.00,2.47,0.00,0.000,260,0.000,0.109,3230,3307,3381,3354,3409,0,0,0,0,0,0,14.76,14.56,14.77
$GC,3538,-0.48,-107.1,3229,3304,3360,3409,447.1,-8.9,321,3546,0.00,2.50,0.00,0.000,1030,0.000,0.099,3235,1890,3379,3349,3409,0,0,0,0,0,0,14.64,14.56,14.66
$GC,3875,-0.48,-107.1,3230,1889,3352,3409,477.4,-9.0,336,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1890,3381,3353,3409,0,0,0,0,0,0,14.76,14.78,14.77
$GC,4172,-0.48,-107.1,3229,1889,3351,3413,505.0,-9.5,346,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1887,3380,3351,3409,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4472,-0.48,-107.1,3229,1889,3353,3409,534.6,-9.9,356,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1889,3382,3350,3414,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4772,-0.48,-107.1,3230,1889,3349,3409,564.8,-10.0,366,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1889,3379,3349,3409,0,0,0,0,0,0,14.75,14.78,14.78
$GC,5071,-0.48,-107.1,3230,1888,3346,3408,593.2,-9.3,376,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1889,3374,3341,3408,0,0,0,0,0,0,14.76,14.78,14.76
$GC,5372,-0.48,-107.1,3233,1889,3345,3408,619.9,-8.8,386,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1889,3376,3345,3408,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5671,-0.48,-107.1,3229,1889,3343,3408,645.6,-8.4,396,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1889,3378,3344,3412,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5972,-0.48,-107.1,3225,1889,3342,3408,670.4,-8.3,406,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1889,3378,3343,3414,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6272,-0.48,-107.1,3229,1889,3341,3407,694.9,-8.1,416,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1888,3374,3342,3407,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6571,-0.48,-107.1,3230,1889,3341,3408,719.9,-8.5,426,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1889,3377,3348,3407,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6872,-0.48,-107.1,3230,1889,3341,3406,745.7,-8.7,436,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1889,3374,3341,3407,0,0,0,0,0,0,14.74,14.78,14.78
$GC,7172,-0.48,-107.1,3229,1888,3340,3406,772.1,-8.9,446,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1889,3373,3340,3406,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7472,-0.48,-107.1,3230,1889,3338,3406,799.4,-9.1,456,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1889,3372,3339,3406,0,0,0,0,0,0,14.75,14.78,14.77
$GC,7773,-0.48,-107.1,3230,1889,3339,3405,826.2,-8.7,466,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1888,3372,3339,3405,0,0,0,0,0,0,14.76,14.78,14.78
$GC,8072,-0.48,-107.1,3233,1889,3338,3405,852.0,-8.5,476,8079,0.00,2.58,0.00,0.000,260,0.000,0.115,3230,3310,3371,3338,3405,0,0,0,0,0,0,14.76,14.55,14.78
$GC,8155,-0.48,-107.1,3230,3310,3338,3405,859.5,-8.2,491,8163,0.00,2.50,0.00,0.000,1030,0.000,0.103,3229,1906,3368,3333,3404,0,0,0,0,0,0,14.64,14.54,14.65
$GC,8483,-0.48,-107.1,3230,1903,3338,3404,885.5,-8.2,504,8491,0.00,2.53,0.00,0.000,516,0.000,0.116,3230,482,3371,3338,3404,0,0,0,0,0,0,14.74,14.53,14.76
$GC,8552,-0.48,-107.1,3229,482,3339,3403,892.1,-9.4,516,8560,0.00,2.53,0.00,0.000,1030,0.000,0.096,3230,1896,3370,3338,3403,0,0,0,0,0,0,14.63,14.54,14.65
$GC,8895,-0.48,-107.1,3229,1894,3334,3403,920.0,-8.2,532,8902,0.00,2.55,0.00,0.000,260,0.000,0.112,3230,3317,3370,3337,3403,0,0,0,0,0,0,14.74,14.53,14.78
$GC,8963,-0.48,-107.1,3230,3321,3337,3402,926.0,-8.0,544,8971,0.00,2.55,0.00,0.000,1030,0.000,0.102,3227,1885,3370,3337,3403,0,0,0,0,0,0,14.62,14.54,14.64
$GC,9307,-0.48,-107.1,3229,1885,3337,3403,953.1,-7.9,560,9315,0.00,2.50,0.00,0.000,516,0.000,0.117,3230,488,3369,3336,3402,0,0,0,0,0,0,14.73,14.53,14.76
$GC,9360,-0.48,-107.1,3230,484,3336,3406,958.4,-9.1,569,9367,0.00,2.50,0.00,0.000,1030,0.000,0.097,3230,1912,3369,3336,3402,0,0,0,0,0,0,14.62,14.52,14.64
$GC,9687,-0.48,-107.1,3230,1916,3335,3406,983.4,-7.6,582,9696,0.00,2.50,0.00,0.000,260,0.000,0.112,3230,3304,3366,3330,3402,0,0,0,0,0,0,14.73,14.54,14.76
$STATE,9761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9761,begin apogee
$GC,9774,-0.17,0.0,3229,2355,3335,3402,990.2,-7.3,596,9864,0.32,0.00,85.12,1.895,10246,0.181,0.000,3327,2351,2941,2882,3000,0,0,0,0,0,0,14.48,13.90,13.24
$STATE,9868,end apogee,CONTROL_FINISHED_OK
$STATE,9868,begin climb
$GC,9873,0.48,107.1,3331,2352,2877,2998,993.4,0.0,599,9979,0.62,2.72,88.03,1.883,10500,0.125,0.112,3542,3754,2502,2388,2617,0,0,0,0,0,0,13.90,13.60,13.07
$GC,9999,0.48,107.1,3539,3753,2383,2616,986.7,10.3,622,10012,0.00,2.65,0.00,0.000,1030,0.000,0.101,3543,2344,2499,2383,2616,0,0,0,0,0,0,13.95,13.85,13.96
$GC,10310,0.48,107.1,3544,2343,2383,2616,958.8,9.1,633,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2344,2500,2383,2618,0,0,0,0,0,0,14.45,14.47,14.47
$GC,10610,0.48,107.1,3543,2344,2383,2616,932.8,8.3,643,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2348,2501,2382,2620,0,0,0,0,0,0,14.57,14.59,14.59
$GC,10910,0.48,107.1,3543,2344,2381,2616,908.0,8.3,653,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2344,2498,2381,2616,0,0,0,0,0,0,14.64,14.66,14.65
$GC,11210,0.48,107.1,3544,2344,2381,2615,882.8,8.4,663,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2344,2496,2377,2616,0,0,0,0,0,0,14.68,14.69,14.69
$GC,11510,0.48,107.1,3543,2344,2387,2619,857.9,8.3,673,11521,0.00,2.53,0.00,0.000,516,0.000,0.114,3544,938,2498,2380,2616,0,0,0,0,0,0,14.71,14.51,14.72
$GC,11546,0.48,107.1,3543,933,2380,2616,854.7,7.8,678,11559,0.00,2.50,0.00,0.000,1030,0.000,0.097,3544,2350,2497,2380,2615,0,0,0,0,0,0,14.60,14.52,14.63
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$STATE,22309,end climb,SURFACE_DEPTH_REACHED
$STATE,22309,begin surface coast
$FINISH,-0.2,1.022647
$STATE,22391,end surface coast,CONTROL_FINISHED_OK
$STATE,22391,begin surface
$SM_CCo,22422,24.70,0.083,0,0,1411,375.06
$SM_GC,0.94,9.68,0.80,24.70,0.041,0.112,0.083,84,1904,1411,-10.27,0.57,375.06,0,0,0,0,0,0,14.53,14.49,14.50
$IRIDIUM_FIX,4644.93,-12653.46,270615,182719
$TT8_MAMPS,0.020223,0.020223
$HUMID,46.57
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3914240
$24V_AH,13.07,16.313
$10V_AH,13.04,0.000
$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,24.475,171.850,332.000,24.700,0.000,0.000,0.000,318.025,0.000,0.000,5.576,3126.213,15312.056,581.592,2955.608,1029.672,0.000,2519.151,0.000,2150.944,0.000,0.537,0.000
$DEVICE_MAMPS,361.080,2219.265,1894.905,83.385,0.000,0.000,0.000,150.705,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22417.000,10168.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.775,8.925,0.000,0.000
$MEM,286424
$DATA_FILE_SIZE,49968,1394
$CAP_FILE_SIZE,252478,0
$CFSIZE,260034560,250417152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,201.17,1
$GPS,280615,070310,4705.571,-12647.530,31,0.9,32,16.5,1.1,192.2,11,7.4