version: 66.12
glider: 187
mission: 8
dive: 78
start: 7 2 115 11 18 21
data:
$ID,187
$MISSION,8
$DIVE,78
$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,12
$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
$GPS1,020715,110012,4732.5459,-12553.9404,24,1.1,27,16.6,0.2,0.0,7,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-75.2
$GPS2,020715,111749,4732.6567,-12553.9199,4,1.1,7,16.6,0.4,34.5,7,9.8
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,70.3,64926,-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,-0.45,-107.1,69,1896,1312,1516,0.0,0.0,0,91,0.00,0.00,-57.70,0.000,16386,0.000,0.000,69,1896,2964,2922,3007,0,0,0,0,0,0,14.53,28.83,14.56
$GC,98,-0.45,-107.1,70,1897,2924,3009,3.0,-4.4,6,128,13.52,2.78,-7.10,0.000,19204,0.363,2.215,3235,476,3381,3352,3411,0,0,0,0,0,0,14.16,13.52,14.40
$GC,368,-0.45,-107.1,3238,479,3356,3412,69.4,-19.7,56,375,0.00,2.53,0.00,0.000,1030,0.000,0.089,3233,1907,3381,3351,3412,0,0,0,0,0,0,14.47,14.41,14.48
$GC,567,-0.45,-107.1,3235,1908,3360,3414,101.8,-14.4,76,574,0.00,2.55,0.00,0.000,516,0.000,0.108,3235,477,3384,3356,3413,0,0,0,0,0,0,14.62,14.40,14.64
$GC,814,-0.45,-107.1,3233,476,3357,3420,140.0,-14.3,122,822,0.00,2.50,0.00,0.000,1030,0.000,0.091,3235,1894,3387,3361,3414,0,0,0,0,0,0,14.54,14.46,14.56
$GC,1013,-0.45,-107.1,3235,1893,3357,3414,166.9,-12.8,142,1020,0.00,2.55,0.00,0.000,516,0.000,0.109,3232,470,3385,3356,3414,0,0,0,0,0,0,14.67,14.45,14.69
$GC,1083,-0.45,-107.1,3235,472,3357,3414,176.1,-13.9,154,1090,0.00,2.53,0.00,0.000,1030,0.000,0.091,3235,1913,3385,3355,3416,0,0,0,0,0,0,14.57,14.48,14.59
$GC,1282,-0.45,-107.1,3230,1913,3357,3414,200.2,-11.1,174,1290,0.00,2.55,0.00,0.000,516,0.000,0.106,3235,485,3384,3357,3411,0,0,0,0,0,0,14.69,14.48,14.71
$GC,1388,-0.45,-107.1,3235,485,3357,3414,212.4,-11.5,193,1398,0.00,2.47,0.00,0.000,1030,0.000,0.090,3235,1905,3385,3357,3414,0,0,0,0,0,0,14.59,14.52,14.61
$GC,1579,-0.45,-107.1,3235,1905,3356,3414,231.4,-10.0,212,1586,0.00,2.50,0.00,0.000,260,0.000,0.105,3235,3319,3385,3356,3414,0,0,0,0,0,0,14.71,14.49,14.72
$GC,1651,-0.45,-107.1,3235,3319,3356,3414,238.9,-9.9,225,1661,0.00,2.50,0.00,0.000,1030,0.000,0.094,3235,1902,3384,3356,3413,0,0,0,0,0,0,14.60,14.51,14.62
$GC,1857,-0.45,-107.1,3235,1902,3354,3410,260.1,-10.7,239,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1902,3384,3354,3414,0,0,0,0,0,0,14.71,14.73,14.73
$GC,2152,-0.45,-107.1,3235,1902,3358,3413,292.9,-10.5,249,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1902,3383,3353,3414,0,0,0,0,0,0,14.73,14.76,14.76
$GC,2452,-0.45,-107.1,3235,1902,3351,3413,323.7,-10.1,259,2460,0.00,2.53,0.00,0.000,260,0.000,0.107,3235,3316,3385,3351,3419,0,0,0,0,0,0,14.75,14.54,14.76
$GC,2526,-0.45,-107.1,3235,3316,3351,3413,330.9,-9.7,272,2533,0.00,2.50,0.00,0.000,1030,0.000,0.096,3236,1901,3381,3350,3413,0,0,0,0,0,0,14.64,14.55,14.65
$GC,2864,-0.45,-107.1,3235,1896,3353,3413,364.1,-10.0,287,2871,0.00,2.53,0.00,0.000,516,0.000,0.112,3235,475,3381,3348,3414,0,0,0,0,0,0,14.74,14.53,14.77
$GC,2922,-0.45,-107.1,3235,475,3348,3414,371.0,-11.1,297,2930,0.00,2.50,0.00,0.000,1030,0.000,0.096,3238,1899,3381,3349,3414,0,0,0,0,0,0,14.64,14.56,14.66
$GC,3246,-0.45,-107.1,3235,1899,3344,3413,402.7,-9.7,309,3254,0.00,2.53,0.00,0.000,260,0.000,0.109,3235,3320,3378,3344,3413,0,0,0,0,0,0,14.76,14.54,14.78
$GC,3300,-0.45,-107.1,3235,3320,3344,3413,408.0,-8.9,318,3308,0.00,2.53,0.00,0.000,1030,0.000,0.098,3235,1887,3378,3344,3413,0,0,0,0,0,0,14.64,14.55,14.68
$GC,3628,-0.45,-107.1,3235,1887,3342,3413,438.6,-9.3,331,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1886,3381,3349,3413,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3924,-0.45,-107.1,3235,1886,3341,3413,467.4,-9.5,341,3932,0.00,2.47,0.00,0.000,516,0.000,0.114,3235,495,3375,3341,3409,0,0,0,0,0,0,14.76,14.54,14.78
$GC,3983,-0.45,-107.1,3235,494,3341,3412,473.3,-10.3,351,3990,0.00,2.47,0.00,0.000,1030,0.000,0.096,3235,1907,3376,3341,3412,0,0,0,0,0,0,14.64,14.59,14.66
$GC,4306,-0.45,-107.1,3235,1910,3339,3409,503.2,-9.3,363,4314,0.00,2.50,0.00,0.000,260,0.000,0.109,3235,3316,3375,3339,3411,0,0,0,0,0,0,14.76,14.54,14.77
$GC,4390,-0.45,-107.1,3235,3316,3338,3411,511.4,-9.3,378,4398,0.00,2.50,0.00,0.000,1030,0.000,0.101,3236,1905,3375,3339,3411,0,0,0,0,0,0,14.64,14.54,14.66
$GC,4718,-0.45,-107.1,3235,1906,3338,3411,541.1,-9.3,391,4726,0.00,2.53,0.00,0.000,516,0.000,0.113,3234,493,3374,3338,3411,0,0,0,0,0,0,14.76,14.56,14.78
$GC,4766,-0.45,-107.1,3235,493,3338,3411,546.5,-10.6,399,4774,0.00,2.47,0.00,0.000,1030,0.000,0.096,3235,1904,3373,3337,3410,0,0,0,0,0,0,14.65,14.57,14.66
$GC,5099,-0.45,-107.1,3240,1904,3336,3410,578.6,-9.8,413,5107,0.00,2.50,0.00,0.000,260,0.000,0.110,3236,3315,3373,3336,3410,0,0,0,0,0,0,14.76,14.54,14.77
$GC,5193,-0.45,-107.1,3239,3315,3336,3409,588.0,-9.5,430,5202,0.00,2.53,0.00,0.000,1030,0.000,0.101,3235,1887,3372,3336,3409,0,0,0,0,0,0,14.64,14.54,14.66
$GC,5503,-0.45,-107.1,3235,1887,3334,3408,617.5,-9.7,441,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1887,3371,3334,3408,0,0,0,0,0,0,14.75,14.77,14.77
$GC,5799,-0.45,-107.1,3240,1886,3334,3408,647.4,-9.8,451,5806,0.00,2.50,0.00,0.000,516,0.000,0.117,3238,482,3370,3333,3408,0,0,0,0,0,0,14.76,14.54,14.77
$GC,5856,-0.45,-107.1,3235,485,3334,3408,653.5,-10.6,461,5865,0.00,2.50,0.00,0.000,1030,0.000,0.098,3235,1897,3370,3333,3407,0,0,0,0,0,0,14.64,14.56,14.65
$GC,6180,-0.45,-107.1,3235,1897,3332,3406,681.9,-8.3,473,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1897,3370,3333,3407,0,0,0,0,0,0,14.76,14.77,14.76
$GC,6476,-0.45,-107.1,3235,1897,3331,3407,706.4,-8.3,483,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1897,3369,3332,3407,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6776,-0.45,-107.1,3235,1897,3330,3406,731.7,-8.4,493,6784,0.00,2.55,0.00,0.000,260,0.000,0.112,3235,3322,3368,3330,3406,0,0,0,0,0,0,14.76,14.55,14.78
$GC,6870,-0.45,-107.1,3235,3321,3330,3406,739.3,-7.8,510,6879,0.00,2.53,0.00,0.000,1030,0.000,0.101,3235,1903,3368,3330,3406,0,0,0,0,0,0,14.64,14.55,14.66
$GC,7180,-0.45,-107.1,3235,1903,3330,3406,763.3,-7.7,521,7188,0.00,2.53,0.00,0.000,516,0.000,0.116,3236,485,3367,3329,3406,0,0,0,0,0,0,14.76,14.54,14.76
$GC,7238,-0.45,-107.1,3232,485,3329,3405,768.7,-8.5,531,7247,0.00,2.53,0.00,0.000,1030,0.000,0.097,3235,1913,3367,3330,3404,0,0,0,0,0,0,14.64,14.54,14.65
$GC,7562,-0.45,-107.1,3236,1912,3328,3405,793.7,-7.9,543,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1912,3367,3329,3405,0,0,0,0,0,0,14.75,14.77,14.77
$GC,7858,-0.45,-107.1,3234,1909,3328,3405,817.2,-7.9,553,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1912,3366,3328,3405,0,0,0,0,0,0,14.76,14.77,14.77
$GC,8158,-0.45,-107.1,3235,1912,3328,3406,841.2,-8.2,563,8165,0.00,2.47,0.00,0.000,260,0.000,0.111,3235,3298,3366,3328,3405,0,0,0,0,0,0,14.78,14.54,14.77
$GC,8246,-0.45,-107.1,3234,3299,3328,3404,848.9,-8.0,579,8253,0.00,2.50,0.00,0.000,1030,0.000,0.103,3235,1899,3366,3328,3404,0,0,0,0,0,0,14.63,14.55,14.65
$GC,8564,-0.45,-107.1,3235,1899,3327,3404,874.2,-8.2,591,8571,0.00,2.55,0.00,0.000,260,0.000,0.112,3235,3300,3365,3327,3404,0,0,0,0,0,0,14.74,14.54,14.76
$GC,8627,-0.45,-107.1,3236,3300,3327,3403,879.8,-8.0,602,8637,0.00,2.53,0.00,0.000,1030,0.000,0.103,3237,1896,3365,3328,3403,0,0,0,0,0,0,14.63,14.54,14.64
$GC,8932,-0.45,-107.1,3235,1895,3327,3404,903.5,-7.9,613,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1896,3364,3326,3403,0,0,0,0,0,0,14.74,14.76,14.76
$GC,9233,-0.45,-107.1,3234,1896,3326,3403,927.2,-8.0,623,9240,0.00,2.53,0.00,0.000,516,0.000,0.119,3236,485,3364,3326,3403,0,0,0,0,0,0,14.74,14.52,14.76
$GC,9321,-0.45,-107.1,3236,482,3326,3403,935.8,-9.0,639,9328,0.00,2.47,0.00,0.000,1030,0.000,0.099,3235,1894,3364,3326,3403,0,0,0,0,0,0,14.62,14.52,14.64
$GC,9645,-0.45,-107.1,3235,1894,3325,3398,961.3,-8.3,651,9652,0.00,2.53,0.00,0.000,260,0.000,0.111,3235,3313,3363,3325,3402,0,0,0,0,0,0,14.71,14.53,14.76
$GC,9773,-0.45,-107.1,3231,3313,3325,3402,971.9,-7.8,674,9782,0.00,2.53,0.00,0.000,1030,0.000,0.104,3235,1903,3364,3324,3404,0,0,0,0,0,0,14.62,14.53,14.64
$STATE,10008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10009,begin apogee
$GC,10020,-0.16,0.0,3235,2350,3329,3402,991.0,-7.8,683,10110,0.32,0.00,84.20,1.898,10246,0.178,0.000,3338,2351,2940,2879,3002,0,0,0,0,0,0,14.50,13.92,13.33
$STATE,10114,end apogee,CONTROL_FINISHED_OK
$STATE,10114,begin climb
$GC,10119,0.45,107.1,3338,2350,2876,3000,995.3,0.0,686,10225,0.57,2.72,88.00,1.860,10500,0.119,0.113,3536,3756,2505,2394,2617,0,0,0,0,0,0,13.94,13.64,13.12
$GC,10271,0.45,107.1,3535,3755,2386,2616,987.6,8.5,714,10282,0.00,2.65,0.00,0.000,1030,0.000,0.103,3544,2345,2502,2386,2618,0,0,0,0,0,0,14.04,13.93,14.06
$GC,10594,0.45,107.1,3543,2344,2385,2616,959.9,8.7,726,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2344,2501,2385,2617,0,0,0,0,0,0,14.48,14.50,14.50
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$STATE,22759,end climb,SURFACE_DEPTH_REACHED
$STATE,22759,begin surface coast
$FINISH,0.4,1.022661
$STATE,22832,end surface coast,CONTROL_FINISHED_OK
$STATE,22832,begin surface
$SM_CCo,22863,1.08,0.091,0,0,1411,375.06
$SM_GC,2.35,9.73,0.82,1.08,0.050,0.110,0.091,94,1905,1411,-10.25,0.74,375.06,0,0,0,0,0,0,14.51,14.47,14.50
$IRIDIUM_FIX,4713.38,-12554.14,020715,110431
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.44
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3908096
$24V_AH,13.12,21.156
$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,24.525,209.225,371.100,1.075,0.000,0.000,0.000,726.425,0.000,0.000,9.318,3375.503,15206.439,627.779,3460.085,1230.841,0.000,3078.387,0.000,2366.318,0.000,0.537,0.000
$DEVICE_MAMPS,363.375,2215.440,1897.965,91.035,0.000,0.000,0.000,149.175,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22859.000,10381.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.748,8.941,0.000,0.000
$MEM,286448
$DATA_FILE_SIZE,53247,1538
$CAP_FILE_SIZE,274366,0
$CFSIZE,260034560,248545280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,349.80,1
$GPS,020715,174135,4733.800,-12550.363,72,0.8,73,16.6,1.2,319.9,9,9.7