version: 66.12
glider: 187
mission: 8
dive: 79
start: 7 2 115 17 57 19
data:
$ID,187
$MISSION,8
$DIVE,79
$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,15
$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,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
$GPS1,020715,174135,4733.8003,-12550.3633,72,0.8,73,16.6,1.2,319.9,9,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.0
$GPS2,020715,175651,4733.7368,-12550.3740,2,1.0,7,16.6,0.6,140.3,8,8.6
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,58.4,60151,-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,23,begin dive
$GC,28,-0.45,-107.1,73,1896,1288,1543,0.0,0.0,0,101,0.00,0.00,-65.70,0.000,16386,0.000,0.000,72,1896,3273,3258,3288,0,0,0,0,0,0,14.52,28.83,14.54
$GC,107,-0.45,-107.1,72,1896,3259,3295,5.0,-8.6,7,136,13.80,2.72,-1.45,0.000,18948,0.373,2.202,3237,490,3378,3361,3395,0,0,0,0,0,0,14.15,13.52,14.40
$GC,360,-0.45,-107.1,3237,490,3361,3400,69.2,-19.0,53,371,0.00,2.50,0.00,0.000,1030,0.000,0.091,3238,1911,3379,3361,3398,0,0,0,0,0,0,14.47,14.39,14.48
$GC,562,-0.45,-107.1,3237,1911,3361,3403,101.5,-14.9,73,573,0.00,2.55,0.00,0.000,516,0.000,0.106,3237,484,3381,3361,3402,0,0,0,0,0,0,14.63,14.42,14.64
$GC,692,-0.45,-107.1,3237,484,3360,3405,119.7,-14.3,96,704,0.00,2.47,0.00,0.000,1030,0.000,0.089,3237,1896,3382,3361,3403,0,0,0,0,0,0,14.54,14.46,14.55
$GC,885,-0.45,-107.1,3237,1896,3361,3404,145.0,-12.3,115,896,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1896,3385,3361,3409,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1077,-0.45,-107.1,3237,1894,3367,3404,170.2,-13.5,134,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1896,3382,3361,3404,0,0,0,0,0,0,14.70,14.71,14.72
$GC,1270,-0.45,-107.1,3237,1896,3366,3404,194.5,-12.0,153,1281,0.00,2.50,0.00,0.000,516,0.000,0.110,3237,492,3382,3361,3404,0,0,0,0,0,0,14.70,14.51,14.73
$GC,1315,-0.45,-107.1,3237,493,3361,3404,200.5,-13.4,160,1327,0.00,2.47,0.00,0.000,1030,0.000,0.092,3237,1915,3382,3360,3404,0,0,0,0,0,0,14.60,14.51,14.62
$GC,1509,-0.45,-107.1,3237,1915,3359,3404,222.9,-11.9,179,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1915,3382,3360,3404,0,0,0,0,0,0,14.73,14.75,14.74
$GC,1701,-0.45,-107.1,3237,1914,3358,3404,244.9,-11.1,198,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1915,3381,3359,3404,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1903,-0.45,-107.1,3237,1915,3358,3403,267.3,-11.0,208,1914,0.00,2.45,0.00,0.000,260,0.000,0.106,3238,3312,3383,3358,3409,0,0,0,0,0,0,14.76,14.56,14.78
$GC,1955,-0.45,-107.1,3237,3311,3357,3403,272.9,-10.6,216,1966,0.00,2.47,0.00,0.000,1030,0.000,0.096,3238,1904,3380,3357,3403,0,0,0,0,0,0,14.64,14.55,14.66
$GC,2287,-0.45,-107.1,3237,1904,3356,3404,307.4,-10.2,230,2298,0.00,2.50,0.00,0.000,516,0.000,0.111,3238,481,3379,3354,3404,0,0,0,0,0,0,14.77,14.56,14.79
$GC,2374,-0.45,-107.1,3237,481,3354,3404,317.2,-11.7,245,2385,0.00,2.47,0.00,0.000,1030,0.000,0.093,3238,1895,3379,3355,3404,0,0,0,0,0,0,14.68,14.57,14.68
$GC,2701,-0.45,-107.1,3237,1895,3359,3404,351.6,-10.7,258,2712,0.00,2.50,0.00,0.000,260,0.000,0.107,3238,3315,3378,3353,3403,0,0,0,0,0,0,14.78,14.57,14.80
$GC,2752,-0.45,-107.1,3242,3319,3353,3403,356.9,-9.8,266,2764,0.00,2.50,0.00,0.000,1030,0.000,0.097,3237,1901,3377,3352,3403,0,0,0,0,0,0,14.67,14.59,14.69
$GC,3085,-0.45,-107.1,3237,1901,3350,3403,388.6,-9.6,280,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1898,3376,3350,3403,0,0,0,0,0,0,14.79,14.81,14.81
$GC,3385,-0.45,-107.1,3237,1900,3349,3403,418.8,-10.5,290,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1900,3376,3349,3403,0,0,0,0,0,0,14.78,14.81,14.81
$GC,3685,-0.45,-107.1,3237,1901,3348,3404,449.8,-10.3,300,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1900,3374,3346,3403,0,0,0,0,0,0,14.83,14.82,14.82
$GC,3985,-0.45,-107.1,3237,1902,3344,3403,478.7,-9.4,310,3996,0.00,2.53,0.00,0.000,260,0.000,0.109,3237,3317,3373,3343,3403,0,0,0,0,0,0,14.81,14.59,14.83
$GC,4051,-0.45,-107.1,3237,3317,3343,3403,484.7,-8.7,321,4064,0.00,2.53,0.00,0.000,1030,0.000,0.100,3238,1891,3373,3343,3403,0,0,0,0,0,0,14.69,14.61,14.71
$GC,4363,-0.45,-107.1,3237,1891,3341,3403,511.6,-9.0,332,4374,0.00,2.50,0.00,0.000,516,0.000,0.116,3238,475,3372,3341,3403,0,0,0,0,0,0,14.83,14.57,14.82
$GC,4430,-0.45,-107.1,3237,473,3343,3403,519.1,-10.6,343,4442,0.00,2.50,0.00,0.000,1030,0.000,0.093,3238,1898,3372,3341,3403,0,0,0,0,0,0,14.69,14.60,14.71
$GC,4740,-0.45,-107.1,3237,1897,3339,3403,547.1,-9.1,354,4752,0.00,2.53,0.00,0.000,260,0.000,0.111,3237,3321,3371,3339,3403,0,0,0,0,0,0,14.80,14.59,14.82
$GC,4817,-0.45,-107.1,3237,3321,3339,3403,554.2,-8.6,367,4828,0.00,2.53,0.00,0.000,1030,0.000,0.099,3237,1905,3370,3338,3403,0,0,0,0,0,0,14.71,14.59,14.70
$GC,5154,-0.45,-107.1,3237,1904,3337,3403,583.7,-8.8,382,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1904,3370,3337,3403,0,0,0,0,0,0,14.80,14.82,14.81
$GC,5454,-0.45,-107.1,3237,1904,3335,3403,609.7,-8.7,392,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1901,3369,3335,3403,0,0,0,0,0,0,14.78,14.83,14.82
$GC,5754,-0.45,-107.1,3237,1904,3328,3403,635.0,-8.3,402,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1901,3367,3333,3402,0,0,0,0,0,0,14.81,14.83,14.82
$GC,6054,-0.45,-107.1,3235,1904,3333,3402,660.8,-8.7,412,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1904,3367,3333,3402,0,0,0,0,0,0,14.80,14.83,14.82
$GC,6354,-0.45,-107.1,3237,1904,3333,3402,686.4,-8.5,422,6365,0.00,2.53,0.00,0.000,260,0.000,0.110,3243,3319,3365,3333,3398,0,0,0,0,0,0,14.81,14.58,14.83
$GC,6411,-0.45,-107.1,3237,3319,3332,3401,691.2,-8.3,431,6422,0.00,2.55,0.00,0.000,1030,0.000,0.100,3238,1885,3367,3333,3401,0,0,0,0,0,0,14.69,14.59,14.71
$GC,6738,-0.45,-107.1,3237,1885,3338,3401,719.7,-8.6,444,6749,0.00,2.47,0.00,0.000,516,0.000,0.116,3238,491,3366,3332,3400,0,0,0,0,0,0,14.81,14.59,14.82
$GC,6834,-0.45,-107.1,3237,490,3332,3400,728.3,-9.4,460,6845,0.00,2.47,0.00,0.000,1030,0.000,0.096,3237,1911,3366,3332,3400,0,0,0,0,0,0,14.69,14.61,14.71
$GC,7156,-0.45,-107.1,3237,1911,3330,3404,755.4,-8.6,472,7167,0.00,2.47,0.00,0.000,260,0.000,0.111,3237,3308,3365,3330,3400,0,0,0,0,0,0,14.80,14.59,14.81
$GC,7280,-0.45,-107.1,3237,3308,3330,3399,766.0,-8.4,494,7291,0.00,2.50,0.00,0.000,1030,0.000,0.103,3238,1904,3364,3330,3399,0,0,0,0,0,0,14.68,14.59,14.69
$GC,7606,-0.45,-107.1,3237,1904,3329,3398,792.4,-7.9,506,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1904,3361,3324,3398,0,0,0,0,0,0,14.80,14.81,14.82
$GC,7903,-0.45,-107.1,3237,1903,3329,3399,815.4,-7.4,516,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1900,3363,3329,3398,0,0,0,0,0,0,14.80,14.81,14.81
$GC,8203,-0.45,-107.1,3237,1903,3328,3398,837.6,-7.5,526,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1903,3363,3328,3398,0,0,0,0,0,0,14.79,14.83,14.82
$GC,8503,-0.45,-107.1,3240,1903,3331,3398,859.6,-7.4,536,8514,0.00,2.53,0.00,0.000,516,0.000,0.117,3238,477,3363,3328,3398,0,0,0,0,0,0,14.79,14.57,14.81
$GC,8584,-0.45,-107.1,3237,476,3328,3398,866.9,-8.2,550,8595,0.00,2.50,0.00,0.000,1030,0.000,0.098,3238,1897,3360,3323,3398,0,0,0,0,0,0,14.69,14.59,14.70
$GC,8917,-0.45,-107.1,3237,1897,3328,3397,889.9,-7.2,564,8928,0.00,2.53,0.00,0.000,260,0.000,0.112,3237,3320,3362,3327,3398,0,0,0,0,0,0,14.79,14.57,14.81
$GC,9013,-0.45,-107.1,3234,3320,3327,3398,897.2,-7.2,580,9024,0.00,2.53,0.00,0.000,1030,0.000,0.102,3237,1900,3362,3327,3397,0,0,0,0,0,0,14.68,14.59,14.69
$GC,9339,-0.45,-107.1,3237,1899,3334,3396,920.9,-7.5,592,9350,0.00,2.55,0.00,0.000,516,0.000,0.118,3237,475,3362,3327,3397,0,0,0,0,0,0,14.78,14.55,14.80
$GC,9406,-0.45,-107.1,3237,475,3327,3395,927.0,-8.7,603,9418,0.00,2.53,0.00,0.000,1030,0.000,0.099,3237,1917,3361,3326,3397,0,0,0,0,0,0,14.66,14.57,14.69
$GC,9715,-0.45,-107.1,3243,1916,3326,3397,950.5,-7.8,614,9726,0.00,2.47,0.00,0.000,260,0.000,0.111,3237,3315,3359,3326,3392,0,0,0,0,0,0,14.78,14.57,14.80
$GC,9772,-0.45,-107.1,3237,3315,3326,3396,955.0,-7.5,623,9783,0.00,2.53,0.00,0.000,1030,0.000,0.102,3239,1903,3361,3326,3396,0,0,0,0,0,0,14.66,14.58,14.69
$GC,10099,-0.45,-107.1,3240,1903,3325,3396,980.2,-7.6,636,10110,0.00,2.53,0.00,0.000,516,0.000,0.117,3238,474,3360,3325,3396,0,0,0,0,0,0,14.78,14.55,14.78
$STATE,10204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10204,begin apogee
$GC,10218,-0.16,0.0,3238,2353,3325,3396,990.5,-9.0,655,10310,0.32,0.00,83.22,1.918,10246,0.183,0.000,3340,2354,2942,2882,3002,0,0,0,0,0,0,14.53,13.96,13.28
$STATE,10312,end apogee,CONTROL_FINISHED_OK
$STATE,10312,begin climb
$GC,10317,0.45,107.1,3340,2354,2878,3001,994.1,0.0,658,10425,0.55,2.78,88.05,1.869,10500,0.119,0.118,3531,3756,2501,2386,2616,0,0,0,0,0,0,13.96,13.70,13.12
$GC,10451,0.45,107.1,3531,3755,2385,2615,988.2,9.6,682,10462,0.00,2.67,0.00,0.000,1030,0.000,0.102,3541,2341,2499,2385,2614,0,0,0,0,0,0,14.00,13.91,14.02
$GC,10793,0.45,107.1,3540,2345,2385,2616,959.6,8.3,698,10804,0.00,2.58,0.00,0.000,516,0.000,0.113,3543,919,2500,2385,2616,0,0,0,0,0,0,14.49,14.27,14.50
$GC,10874,0.45,107.1,3543,919,2385,2617,953.2,8.9,712,10886,0.00,2.58,0.00,0.000,1030,0.000,0.099,3543,2352,2500,2385,2616,0,0,0,0,0,0,14.40,14.31,14.42
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$STATE,22702,end climb,SURFACE_DEPTH_REACHED
$STATE,22702,begin surface coast
$FINISH,-0.1,1.023304
$STATE,22763,end surface coast,CONTROL_FINISHED_OK
$STATE,22767,begin surface
$SM_CCo,22858,0.00,0.000,0,0,1364,386.84
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$IRIDIUM_FIX,4713.38,-12549.68,020715,111327
$TT8_MAMPS,0.020223,0.020223
$HUMID,46.57
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,20.20
$XPDR_PINGS,0
$SC_FREEKB,3907712
$24V_AH,13.12,21.456
$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,24.675,178.625,378.000,0.000,0.000,0.000,0.000,608.125,0.000,0.000,9.366,3216.940,15275.507,609.888,3471.372,1168.191,0.000,3075.322,0.000,2254.216,0.000,0.538,0.000
$DEVICE_MAMPS,373.320,2202.435,1917.855,0.000,0.000,0.000,0.000,149.175,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22794.000,562.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.771,7.124,0.000,0.000
$MEM,286392
$DATA_FILE_SIZE,49874,1446
$CAP_FILE_SIZE,273122,0
$CFSIZE,260034560,248426496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,3.97,1
$GPS,030715,002019,4735.876,-12546.422,71,1.1,71,16.6,1.2,116.0,8,7.1