version: 66.12
glider: 187
mission: 8
dive: 69
start: 6 29 115 22 38 52
data:
$ID,187
$MISSION,8
$DIVE,69
$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,43
$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,11
$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,0.001
$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
$GPS1,290615,222439,4714.9385,-12627.4727,18,1.2,19,16.5,0.2,0.0,6,8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-78.8
$GPS2,290615,223824,4714.9058,-12627.1650,3,1.3,7,16.5,0.6,95.8,6,9.5
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,33.0,117599,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.45,-107.1,90,1890,1273,1548,0.0,0.0,0,101,0.00,0.00,-66.47,0.000,16386,0.000,0.000,90,1890,3262,3248,3277,0,0,0,0,0,0,14.56,28.83,14.58
$GC,107,-0.45,-107.1,90,1890,3249,3278,4.6,-8.1,7,136,13.25,2.75,-1.73,0.000,18948,0.357,2.222,3236,477,3380,3364,3396,0,0,0,0,0,0,14.21,13.55,14.43
$GC,374,-0.45,-107.1,3235,478,3365,3402,73.6,-18.9,56,386,0.00,2.50,0.00,0.000,1030,0.000,0.091,3236,1893,3383,3364,3402,0,0,0,0,0,0,14.47,14.40,14.47
$GC,568,-0.45,-107.1,3235,1894,3365,3403,106.0,-13.8,75,579,0.00,2.53,0.00,0.000,516,0.000,0.109,3233,481,3383,3366,3401,0,0,0,0,0,0,14.63,14.42,14.65
$GC,728,-0.45,-107.1,3235,479,3365,3404,131.2,-14.8,104,740,0.00,2.50,0.00,0.000,1030,0.000,0.089,3236,1909,3384,3365,3404,0,0,0,0,0,0,14.54,14.47,14.57
$GC,922,-0.45,-107.1,3235,1906,3365,3404,156.0,-12.2,123,933,0.00,2.58,0.00,0.000,516,0.000,0.108,3236,474,3385,3365,3405,0,0,0,0,0,0,14.66,14.45,14.70
$GC,1028,-0.45,-107.1,3235,474,3365,3404,170.7,-13.6,141,1039,0.00,2.47,0.00,0.000,1030,0.000,0.089,3236,1895,3384,3365,3404,0,0,0,0,0,0,14.57,14.49,14.59
$GC,1230,-0.45,-107.1,3236,1894,3365,3410,195.0,-12.0,161,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1894,3387,3371,3404,0,0,0,0,0,0,14.70,14.72,14.72
$GC,1422,-0.45,-107.1,3234,1894,3364,3404,216.9,-11.1,180,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1894,3384,3364,3404,0,0,0,0,0,0,14.72,14.73,14.73
$GC,1614,-0.45,-107.1,3235,1891,3364,3404,237.1,-10.1,199,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1894,3384,3364,3404,0,0,0,0,0,0,14.73,14.75,14.75
$GC,1816,-0.45,-107.1,3235,1894,3363,3410,256.4,-9.4,215,1827,0.00,2.53,0.00,0.000,260,0.000,0.106,3236,3319,3383,3363,3404,0,0,0,0,0,0,14.73,14.52,14.76
$GC,1923,-0.45,-107.1,3235,3319,3362,3404,265.9,-9.2,233,1934,0.00,2.50,0.00,0.000,1030,0.000,0.095,3236,1900,3383,3362,3404,0,0,0,0,0,0,14.64,14.55,14.65
$GC,2265,-0.45,-107.1,3235,1900,3360,3404,299.5,-10.2,249,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1900,3385,3360,3410,0,0,0,0,0,0,14.76,14.78,14.78
$GC,2566,-0.45,-107.1,3237,1900,3359,3404,331.7,-10.8,259,2577,0.00,2.50,0.00,0.000,516,0.000,0.111,3236,481,3381,3359,3404,0,0,0,0,0,0,14.78,14.57,14.80
$GC,2632,-0.45,-107.1,3235,481,3359,3404,339.7,-12.1,270,2645,0.00,2.50,0.00,0.000,1030,0.000,0.093,3238,1912,3381,3358,3404,0,0,0,0,0,0,14.67,14.59,14.68
$GC,2945,-0.45,-107.1,3235,1912,3357,3404,372.6,-10.8,281,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1910,3380,3357,3404,0,0,0,0,0,0,14.78,14.80,14.80
$GC,3239,-0.45,-107.1,3236,1912,3356,3404,404.8,-10.8,291,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1912,3380,3356,3404,0,0,0,0,0,0,14.79,14.81,14.81
$GC,3538,-0.45,-107.1,3236,1912,3354,3404,437.0,-10.5,301,3549,0.00,2.47,0.00,0.000,260,0.000,0.109,3236,3313,3379,3354,3405,0,0,0,0,0,0,14.82,14.59,14.81
$GC,3610,-0.45,-107.1,3235,3313,3353,3404,444.3,-9.8,313,3621,0.00,2.53,0.00,0.000,1030,0.000,0.098,3236,1888,3378,3353,3404,0,0,0,0,0,0,14.67,14.59,14.68
$GC,3952,-0.45,-107.1,3241,1888,3352,3404,477.4,-9.5,329,3963,0.00,2.47,0.00,0.000,516,0.000,0.114,3236,493,3378,3352,3404,0,0,0,0,0,0,14.79,14.58,14.83
$GC,4024,-0.45,-107.1,3236,493,3351,3404,485.1,-10.9,341,4035,0.00,2.47,0.00,0.000,1030,0.000,0.093,3236,1913,3377,3351,3404,0,0,0,0,0,0,14.69,14.62,14.70
$GC,4366,-0.45,-107.1,3235,1907,3350,3404,519.0,-9.7,357,4377,0.00,2.47,0.00,0.000,260,0.000,0.110,3236,3298,3372,3344,3400,0,0,0,0,0,0,14.79,14.59,14.82
$GC,4443,-0.45,-107.1,3235,3298,3349,3404,526.0,-8.8,370,4455,0.00,2.47,0.00,0.000,1030,0.000,0.101,3241,1902,3374,3345,3404,0,0,0,0,0,0,14.68,14.59,14.70
$GC,4781,-0.45,-107.1,3235,1902,3347,3404,553.9,-7.8,385,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1902,3375,3346,3404,0,0,0,0,0,0,14.79,14.81,14.81
$GC,5086,-0.45,-107.1,3235,1902,3345,3403,575.2,-7.1,395,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1902,3374,3345,3403,0,0,0,0,0,0,14.80,14.82,14.82
$GC,5385,-0.45,-107.1,3235,1902,3344,3404,596.8,-7.3,405,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1902,3373,3343,3404,0,0,0,0,0,0,14.78,14.82,14.82
$GC,5681,-0.45,-107.1,3235,1902,3342,3404,619.2,-7.6,415,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1902,3372,3342,3403,0,0,0,0,0,0,14.80,14.82,14.81
$GC,5981,-0.45,-107.1,3235,1903,3341,3404,643.4,-8.2,425,5992,0.00,2.53,0.00,0.000,260,0.000,0.110,3236,3304,3372,3341,3403,0,0,0,0,0,0,14.81,14.61,14.82
$GC,6037,-0.45,-107.1,3235,3304,3341,3403,648.0,-8.0,434,6049,0.00,2.50,0.00,0.000,1030,0.000,0.102,3235,1903,3372,3341,3403,0,0,0,0,0,0,14.66,14.59,14.71
$GC,6366,-0.45,-107.1,3236,1903,3340,3403,674.1,-7.9,447,6377,0.00,2.53,0.00,0.000,516,0.000,0.116,3236,475,3371,3340,3403,0,0,0,0,0,0,14.80,14.57,14.81
$GC,6432,-0.45,-107.1,3241,476,3340,3403,680.2,-9.5,458,6445,0.00,2.47,0.00,0.000,1030,0.000,0.093,3236,1894,3371,3340,3403,0,0,0,0,0,0,14.68,14.59,14.71
$GC,6742,-0.45,-107.1,3234,1896,3338,3403,704.6,-7.9,469,6754,0.00,2.50,0.00,0.000,260,0.000,0.107,3236,3312,3370,3338,3403,0,0,0,0,0,0,14.78,14.59,14.81
$GC,6819,-0.45,-107.1,3235,3312,3338,3402,711.0,-7.6,482,6831,0.00,2.50,0.00,0.000,1030,0.000,0.102,3232,1903,3370,3338,3403,0,0,0,0,0,0,14.68,14.59,14.69
$GC,7157,-0.45,-107.1,3235,1902,3338,3402,739.0,-8.5,497,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1903,3370,3338,3403,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7458,-0.45,-107.1,3235,1903,3336,3402,764.0,-8.4,507,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1903,3369,3337,3402,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7757,-0.45,-107.1,3235,1902,3334,3402,787.1,-7.4,517,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1902,3369,3335,3403,0,0,0,0,0,0,14.79,14.82,14.83
$GC,8058,-0.45,-107.1,3235,1903,3334,3403,809.1,-7.5,527,8069,0.00,2.53,0.00,0.000,516,0.000,0.116,3236,476,3369,3335,3403,0,0,0,0,0,0,14.80,14.57,14.81
$GC,8114,-0.45,-107.1,3235,475,3334,3402,813.5,-8.4,536,8125,0.00,2.50,0.00,0.000,1030,0.000,0.095,3236,1903,3368,3334,3402,0,0,0,0,0,0,14.71,14.62,14.70
$GC,8441,-0.45,-107.1,3235,1902,3334,3402,838.0,-7.5,549,8452,0.00,2.50,0.00,0.000,260,0.000,0.109,3235,3315,3368,3334,3402,0,0,0,0,0,0,14.79,14.57,14.81
$GC,8541,-0.45,-107.1,3235,3315,3334,3407,845.6,-7.5,566,8554,0.00,2.53,0.00,0.000,1030,0.000,0.102,3231,1892,3365,3329,3401,0,0,0,0,0,0,14.67,14.59,14.69
$GC,8847,-0.45,-107.1,3233,1894,3334,3401,869.2,-8.1,577,8858,0.00,2.50,0.00,0.000,516,0.000,0.116,3236,493,3365,3333,3397,0,0,0,0,0,0,14.78,14.57,14.80
$GC,8903,-0.45,-107.1,3235,493,3333,3401,875.0,-9.1,586,8915,0.00,2.47,0.00,0.000,1030,0.000,0.095,3236,1896,3367,3333,3401,0,0,0,0,0,0,14.67,14.57,14.70
$GC,9232,-0.45,-107.1,3235,1896,3333,3401,901.0,-8.0,599,9243,0.00,2.53,0.00,0.000,260,0.000,0.111,3236,3320,3366,3334,3399,0,0,0,0,0,0,14.78,14.57,14.80
$GC,9305,-0.45,-107.1,3232,3320,3333,3400,907.4,-8.1,611,9316,0.00,2.53,0.00,0.000,1030,0.000,0.102,3235,1904,3366,3333,3400,0,0,0,0,0,0,14.66,14.57,14.68
$GC,9647,-0.45,-107.1,3235,1904,3329,3400,933.2,-7.6,627,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1904,3369,3333,3406,0,0,0,0,0,0,14.78,14.80,14.80
$GC,9947,-0.45,-107.1,3235,1904,3332,3400,956.1,-7.6,637,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1904,3365,3332,3399,0,0,0,0,0,0,14.78,14.80,14.79
$GC,10251,-0.45,-107.1,3235,1904,3331,3400,979.7,-7.9,647,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1906,3366,3332,3400,0,0,0,0,0,0,14.78,14.80,14.80
$STATE,10392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10392,begin apogee
$GC,10404,-0.16,0.0,3236,2358,3331,3399,991.0,-7.0,652,10496,0.32,0.00,83.93,1.906,10246,0.177,0.000,3339,2358,2942,2882,3002,0,0,0,0,0,0,14.55,13.95,13.28
$STATE,10498,end apogee,CONTROL_FINISHED_OK
$STATE,10498,begin climb
$GC,10503,0.45,107.1,3339,2358,2877,3000,995.1,0.0,655,10602,0.60,0.00,89.18,1.872,10502,0.116,0.000,3540,2358,2501,2385,2618,0,0,0,0,0,0,13.95,13.72,13.09
$GC,10913,0.45,107.1,3539,2357,2381,2616,965.2,8.8,674,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,2358,2499,2381,2617,0,0,0,0,0,0,14.44,14.46,14.45
$GC,11217,0.45,107.1,3539,2358,2380,2617,938.5,9.1,684,11228,0.00,2.58,0.00,0.000,260,0.000,0.116,3540,3769,2498,2380,2617,0,0,0,0,0,0,14.57,14.37,14.59
$GC,11254,0.45,107.1,3542,3769,2380,2617,934.7,9.6,689,11265,0.00,2.58,0.00,0.000,1030,0.000,0.104,3544,2345,2498,2380,2617,0,0,0,0,0,0,14.47,14.37,14.48
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$STATE,23029,end climb,SURFACE_DEPTH_REACHED
$STATE,23029,begin surface coast
$FINISH,-0.1,1.023925
$STATE,23081,end surface coast,CONTROL_FINISHED_OK
$STATE,23081,begin surface
$SM_CCo,23112,14.23,0.086,0,0,1411,375.06
$SM_GC,1.42,9.75,0.80,14.23,0.047,0.122,0.086,89,1905,1411,-10.25,0.76,375.06,0,0,0,0,0,0,14.49,14.43,14.45
$IRIDIUM_FIX,4657.54,-12626.16,290615,222942
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.32
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3911552
$24V_AH,13.09,18.367
$10V_AH,13.07,0.000
$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,24.250,153.000,348.375,14.225,0.000,0.000,0.000,452.075,0.000,0.000,8.556,3173.156,15739.816,588.873,3296.895,1126.482,0.000,2857.976,0.000,2153.784,0.000,0.536,0.000
$DEVICE_MAMPS,357.255,2221.560,1905.615,86.445,0.000,0.000,0.000,149.940,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23107.000,581.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.770,7.106,0.000,0.000
$MEM,286372
$DATA_FILE_SIZE,49992,1394
$CAP_FILE_SIZE,267782,0
$CFSIZE,260034560,249593856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,35.01,1
$GPS,300615,050633,4717.129,-12623.805,40,0.8,77,16.5,0.7,329.0,12,2.5