version: 66.12
glider: 187
mission: 8
dive: 64
start: 6 28 115 13 43 22
data:
$ID,187
$MISSION,8
$DIVE,64
$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,14
$R_STBD_OVSHOOT,19
$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
$GPS1,280615,133232,4706.4111,-12644.2607,40,0.9,40,16.5,0.2,0.0,8,4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-78.0
$GPS2,280615,134254,4706.4834,-12644.1777,2,0.8,3,16.5,0.7,49.8,11,5.7
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,22.5,143867,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.48,-107.1,83,1901,1306,1520,0.0,0.0,0,100,0.00,0.00,-67.12,0.000,16386,0.000,0.000,83,1897,3269,3256,3283,0,0,0,0,0,0,14.54,28.83,14.56
$GC,107,-0.48,-107.1,83,1897,3257,3285,4.6,-7.8,7,132,13.35,2.75,-1.65,0.000,18948,0.360,2.219,3230,490,3380,3365,3395,0,0,0,0,0,0,14.19,13.56,14.40
$GC,370,-0.48,-107.1,3230,490,3365,3402,73.4,-20.4,56,378,0.00,2.50,0.00,0.000,1030,0.000,0.096,3227,1896,3383,3365,3402,0,0,0,0,0,0,14.46,14.38,14.48
$GC,560,-0.48,-107.1,3230,1896,3365,3403,106.7,-15.4,75,567,0.00,2.53,0.00,0.000,260,0.000,0.107,3230,3318,3384,3365,3403,0,0,0,0,0,0,14.62,14.40,14.63
$GC,687,-0.48,-107.1,3230,3318,3365,3403,125.4,-13.6,98,697,0.00,2.53,0.00,0.000,1030,0.000,0.093,3230,1888,3384,3365,3403,0,0,0,0,0,0,14.52,14.45,14.54
$GC,878,-0.48,-107.1,3229,1888,3365,3406,150.6,-13.2,117,885,0.00,2.50,0.00,0.000,516,0.000,0.110,3230,486,3384,3365,3404,0,0,0,0,0,0,14.66,14.45,14.69
$GC,1039,-0.48,-107.1,3229,486,3364,3405,172.9,-13.9,147,1047,0.00,2.50,0.00,0.000,1030,0.000,0.094,3230,1908,3386,3365,3408,0,0,0,0,0,0,14.57,14.48,14.58
$GC,1238,-0.48,-107.1,3229,1907,3370,3404,197.4,-11.9,167,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1907,3384,3365,3404,0,0,0,0,0,0,14.69,14.69,14.70
$GC,1428,-0.48,-107.1,3228,1909,3365,3404,220.0,-11.3,186,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1910,3384,3365,3404,0,0,0,0,0,0,14.70,14.71,14.71
$GC,1618,-0.48,-107.1,3230,1909,3365,3404,241.4,-11.8,205,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1909,3384,3365,3404,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1818,-0.48,-107.1,3228,1910,3364,3404,264.9,-11.9,217,1826,0.00,2.50,0.00,0.000,260,0.000,0.109,3232,3313,3384,3364,3404,0,0,0,0,0,0,14.72,14.52,14.73
$GC,1911,-0.48,-107.1,3230,3313,3365,3406,275.4,-11.2,234,1921,0.00,2.50,0.00,0.000,1030,0.000,0.097,3230,1899,3384,3364,3404,0,0,0,0,0,0,14.61,14.52,14.62
$GC,2217,-0.48,-107.1,3230,1903,3362,3401,308.7,-10.7,245,2225,0.00,2.53,0.00,0.000,516,0.000,0.113,3230,477,3383,3362,3404,0,0,0,0,0,0,14.73,14.52,14.75
$GC,2334,-0.48,-107.1,3229,476,3359,3404,321.7,-11.5,266,2343,0.00,2.50,0.00,0.000,1030,0.000,0.095,3231,1902,3383,3361,3406,0,0,0,0,0,0,14.62,14.54,14.64
$GC,2664,-0.48,-107.1,3230,1900,3359,3404,354.5,-9.8,279,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1900,3379,3354,3404,0,0,0,0,0,0,14.74,14.76,14.74
$GC,2959,-0.48,-107.1,3230,1900,3358,3404,383.4,-9.7,289,2966,0.00,2.53,0.00,0.000,516,0.000,0.112,3229,490,3381,3358,3404,0,0,0,0,0,0,14.76,14.54,14.77
$GC,3027,-0.48,-107.1,3225,492,3358,3404,390.7,-10.9,301,3035,0.00,2.47,0.00,0.000,1030,0.000,0.097,3229,1892,3380,3357,3404,0,0,0,0,0,0,14.64,14.56,14.65
$GC,3370,-0.48,-107.1,3230,1895,3356,3404,424.7,-10.1,317,3377,0.00,2.55,0.00,0.000,260,0.000,0.110,3230,3322,3380,3355,3405,0,0,0,0,0,0,14.76,14.56,14.77
$GC,3462,-0.48,-107.1,3229,3321,3355,3410,434.5,-9.9,334,3472,0.00,2.53,0.00,0.000,1030,0.000,0.101,3230,1899,3379,3355,3404,0,0,0,0,0,0,14.64,14.56,14.66
$GC,3772,-0.48,-107.1,3230,1900,3353,3405,467.8,-11.3,345,3780,0.00,2.53,0.00,0.000,516,0.000,0.114,3230,473,3378,3353,3404,0,0,0,0,0,0,14.76,14.53,14.77
$GC,3876,-0.48,-107.1,3229,474,3354,3404,480.6,-12.0,364,3883,0.00,2.53,0.00,0.000,1030,0.000,0.095,3230,1916,3378,3353,3404,0,0,0,0,0,0,14.64,14.54,14.66
$GC,4214,-0.48,-107.1,3227,1916,3351,3404,515.1,-10.1,379,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1913,3377,3350,3404,0,0,0,0,0,0,14.76,14.77,14.78
$GC,4510,-0.48,-107.1,3229,1917,3349,3404,543.5,-9.2,389,4517,0.00,2.47,0.00,0.000,260,0.000,0.109,3230,3316,3376,3349,3404,0,0,0,0,0,0,14.76,14.54,14.77
$GC,4612,-0.48,-107.1,3230,3313,3349,3404,552.7,-9.0,408,4620,0.00,2.53,0.00,0.000,1030,0.000,0.101,3228,1886,3372,3345,3400,0,0,0,0,0,0,14.64,14.54,14.66
$GC,4951,-0.48,-107.1,3230,1885,3346,3404,582.9,-9.0,423,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1885,3375,3346,3404,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5246,-0.48,-107.1,3230,1885,3344,3409,609.1,-8.7,433,5253,0.00,2.50,0.00,0.000,516,0.000,0.117,3230,478,3374,3345,3404,0,0,0,0,0,0,14.76,14.54,14.78
$GC,5309,-0.48,-107.1,3230,476,3341,3403,615.1,-9.4,444,5318,0.00,2.53,0.00,0.000,1030,0.000,0.096,3230,1900,3373,3344,3403,0,0,0,0,0,0,14.65,14.57,14.66
$GC,5619,-0.48,-107.1,3230,1900,3343,3404,640.7,-8.4,455,5627,0.00,2.53,0.00,0.000,260,0.000,0.112,3230,3317,3373,3342,3405,0,0,0,0,0,0,14.75,14.54,14.78
$GC,5682,-0.48,-107.1,3230,3317,3343,3403,646.5,-8.5,466,5693,0.00,2.50,0.00,0.000,1030,0.000,0.102,3230,1905,3370,3337,3403,0,0,0,0,0,0,14.63,14.54,14.66
$GC,5992,-0.48,-107.1,3230,1905,3342,3402,671.7,-8.1,477,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1905,3368,3342,3394,0,0,0,0,0,0,14.73,14.78,14.77
$GC,6288,-0.48,-107.1,3230,1905,3341,3403,694.5,-7.4,487,6296,0.00,2.53,0.00,0.000,516,0.000,0.116,3230,485,3369,3341,3398,0,0,0,0,0,0,14.76,14.55,14.78
$GC,6371,-0.48,-107.1,3230,485,3341,3402,701.6,-8.5,502,6379,0.00,2.50,0.00,0.000,1030,0.000,0.099,3230,1908,3371,3341,3402,0,0,0,0,0,0,14.66,14.56,14.66
$GC,6700,-0.48,-107.1,3234,1910,3339,3402,726.5,-7.7,515,6708,0.00,2.50,0.00,0.000,260,0.000,0.113,3230,3312,3370,3339,3402,0,0,0,0,0,0,14.75,14.54,14.77
$GC,6758,-0.48,-107.1,3230,3315,3339,3399,731.4,-7.5,525,6766,0.00,2.53,0.00,0.000,1030,0.000,0.103,3230,1903,3370,3339,3402,0,0,0,0,0,0,14.64,14.54,14.65
$GC,7081,-0.48,-107.1,3230,1903,3339,3405,757.6,-8.3,537,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1902,3370,3338,3402,0,0,0,0,0,0,14.75,14.77,14.76
$GC,7378,-0.48,-107.1,3231,1903,3335,3402,782.7,-8.4,547,7385,0.00,2.53,0.00,0.000,516,0.000,0.116,3233,482,3372,3338,3407,0,0,0,0,0,0,14.75,14.54,14.76
$GC,7456,-0.48,-107.1,3236,482,3338,3397,790.1,-9.7,561,7463,0.00,2.50,0.00,0.000,1030,0.000,0.098,3230,1895,3369,3338,3401,0,0,0,0,0,0,14.64,14.55,14.65
$GC,7789,-0.48,-107.1,3230,1896,3337,3400,818.3,-8.5,575,7796,0.00,2.55,0.00,0.000,260,0.000,0.112,3230,3320,3367,3337,3397,0,0,0,0,0,0,14.75,14.54,14.77
$GC,7881,-0.48,-107.1,3229,3320,3337,3400,826.3,-8.4,592,7890,0.00,2.53,0.00,0.000,1030,0.000,0.102,3230,1903,3371,3337,3406,0,0,0,0,0,0,14.63,14.55,14.67
$GC,8192,-0.48,-107.1,3229,1898,3336,3406,851.4,-8.0,603,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1898,3368,3336,3400,0,0,0,0,0,0,14.74,14.76,14.76
$GC,8487,-0.48,-107.1,3230,1898,3335,3400,874.5,-7.6,613,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1898,3367,3335,3400,0,0,0,0,0,0,14.73,14.76,14.76
$GC,8788,-0.48,-107.1,3230,1898,3334,3400,897.2,-7.5,623,8796,0.00,2.60,0.00,0.000,260,0.000,0.114,3230,3322,3365,3330,3400,0,0,0,0,0,0,14.74,14.54,14.76
$GC,8861,-0.48,-107.1,3233,3322,3334,3399,903.2,-7.3,636,8869,0.00,2.55,0.00,0.000,1030,0.000,0.104,3229,1886,3366,3334,3399,0,0,0,0,0,0,14.63,14.54,14.65
$GC,9200,-0.48,-107.1,3229,1886,3334,3399,927.6,-7.5,651,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1886,3365,3333,3398,0,0,0,0,0,0,14.74,14.79,14.76
$GC,9495,-0.48,-107.1,3230,1886,3333,3402,948.9,-7.0,661,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1886,3367,3336,3398,0,0,0,0,0,0,14.74,14.76,14.76
$GC,9796,-0.48,-107.1,3229,1886,3333,3398,968.4,-6.4,671,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1886,3363,3333,3394,0,0,0,0,0,0,14.74,14.76,14.76
$GC,10095,-0.48,-107.1,3229,1886,3333,3398,987.6,-6.4,681,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1886,3365,3333,3398,0,0,0,0,0,0,14.74,14.76,14.79
$STATE,10150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10150,begin apogee
$GC,10162,-0.17,0.0,3230,2356,3332,3398,991.5,-6.5,683,10252,0.32,0.00,84.75,1.893,10246,0.181,0.000,3331,2356,2940,2882,2999,0,0,0,0,0,0,14.50,13.91,13.26
$STATE,10256,end apogee,CONTROL_FINISHED_OK
$STATE,10256,begin climb
$GC,10261,0.48,107.1,3331,2356,2877,2996,994.6,0.0,686,10368,0.62,2.72,88.18,1.854,10500,0.125,0.116,3544,3759,2500,2384,2616,0,0,0,0,0,0,13.92,13.69,13.09
$GC,10388,0.48,107.1,3542,3757,2381,2615,986.6,11.7,709,10400,0.00,2.65,0.00,0.000,1030,0.000,0.105,3542,2352,2499,2383,2615,0,0,0,0,0,0,13.95,13.88,13.97
$GC,10698,0.48,107.1,3543,2354,2383,2615,956.2,9.9,720,10709,0.00,2.58,0.00,0.000,516,0.000,0.117,3544,940,2499,2383,2615,0,0,0,0,0,0,14.45,14.23,14.47
$GC,10740,0.48,107.1,3543,940,2383,2616,951.8,9.9,726,10751,0.00,2.55,0.00,0.000,1030,0.000,0.099,3543,2353,2497,2379,2616,0,0,0,0,0,0,14.36,14.28,14.38
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$STATE,22699,end climb,SURFACE_DEPTH_REACHED
$STATE,22699,begin surface coast
$FINISH,0.7,1.023583
$STATE,22745,end surface coast,CONTROL_FINISHED_OK
$STATE,22745,begin surface
$SM_CCo,22776,13.10,0.088,0,0,1411,375.06
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$IRIDIUM_FIX,4648.08,-12643.97,280615,071159
$TT8_MAMPS,0.020972,0.020972
$HUMID,47.91
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3913472
$24V_AH,13.09,16.909
$10V_AH,13.03,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.693,8.931,0.000,0.000
$MEM,286400
$DATA_FILE_SIZE,53255,1490
$CAP_FILE_SIZE,262676,0
$CFSIZE,260034560,250171392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,122.30,1
$GPS,280615,200451,4708.238,-12641.201,31,2.0,43,16.5,0.4,125.5,6,8.7