version: 66.12
glider: 187
mission: 8
dive: 81
start: 7 3 115 7 18 56
data:
$ID,187
$MISSION,8
$DIVE,81
$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,13
$R_STBD_OVSHOOT,20
$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
$GPS1,030715,070614,4737.3081,-12542.4307,134,1.5,137,16.6,1.1,121.9,6,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.2
$GPS2,030715,071828,4737.2544,-12542.3730,4,1.4,11,16.6,1.3,358.1,6,9.8
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,59.9,48267,-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,-107.1,69,1896,1195,1447,0.0,0.0,0,101,0.00,0.00,-65.55,0.000,16386,0.000,0.000,68,1897,3074,3043,3106,0,0,0,0,0,0,14.54,28.83,14.59
$GC,108,-0.45,-107.1,72,1897,3037,3110,3.0,-4.0,7,141,13.80,2.80,-4.95,0.000,18948,0.375,2.213,3232,492,3382,3355,3409,0,0,0,0,0,0,14.17,13.54,14.41
$GC,380,-0.45,-107.1,3232,492,3357,3412,68.8,-18.4,57,391,0.00,2.47,0.00,0.000,1030,0.000,0.093,3233,1895,3385,3357,3414,0,0,0,0,0,0,14.47,14.38,14.49
$GC,582,-0.45,-107.1,3232,1894,3357,3414,100.7,-15.7,77,593,0.00,2.55,0.00,0.000,516,0.000,0.110,3232,474,3385,3357,3414,0,0,0,0,0,0,14.62,14.40,14.65
$GC,731,-0.45,-107.1,3232,474,3358,3414,125.2,-15.4,104,743,0.00,2.53,0.00,0.000,1030,0.000,0.092,3233,1910,3385,3357,3414,0,0,0,0,0,0,14.54,14.46,14.55
$GC,924,-0.45,-107.1,3232,1910,3357,3415,150.6,-13.0,123,935,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1910,3386,3357,3415,0,0,0,0,0,0,14.69,14.70,14.71
$GC,1116,-0.45,-107.1,3232,1910,3357,3415,175.3,-12.6,142,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1910,3386,3357,3415,0,0,0,0,0,0,14.73,14.73,14.72
$GC,1309,-0.45,-107.1,3232,1910,3358,3415,199.2,-12.7,161,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1910,3385,3357,3414,0,0,0,0,0,0,14.72,14.72,14.73
$GC,1500,-0.45,-107.1,3232,1910,3360,3415,222.9,-11.5,180,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1910,3386,3357,3415,0,0,0,0,0,0,14.74,14.76,14.78
$GC,1693,-0.45,-107.1,3232,1910,3357,3414,244.9,-11.3,199,1704,0.00,2.53,0.00,0.000,516,0.000,0.108,3237,488,3384,3357,3411,0,0,0,0,0,0,14.74,14.54,14.78
$GC,1784,-0.45,-107.1,3232,488,3357,3414,255.1,-11.4,214,1795,0.00,2.47,0.00,0.000,1030,0.000,0.094,3233,1906,3385,3357,3414,0,0,0,0,0,0,14.64,14.59,14.65
$GC,2112,-0.45,-107.1,3232,1906,3354,3412,290.3,-10.9,227,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1906,3384,3354,3414,0,0,0,0,0,0,14.77,14.78,14.78
$GC,2411,-0.45,-107.1,3232,1906,3353,3414,322.2,-10.5,237,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1906,3384,3353,3415,0,0,0,0,0,0,14.79,14.81,14.80
$GC,2712,-0.45,-107.1,3232,1906,3351,3414,353.3,-10.4,247,2723,0.00,2.50,0.00,0.000,260,0.000,0.111,3233,3318,3382,3350,3414,0,0,0,0,0,0,14.79,14.57,14.81
$GC,2793,-0.45,-107.1,3232,3318,3350,3417,361.9,-10.3,261,2804,0.00,2.50,0.00,0.000,1030,0.000,0.097,3233,1899,3382,3350,3414,0,0,0,0,0,0,14.68,14.59,14.71
$GC,3126,-0.45,-107.1,3232,1901,3348,3414,396.2,-10.1,275,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1902,3381,3348,3414,0,0,0,0,0,0,14.79,14.81,14.81
$GC,3426,-0.45,-107.1,3232,1902,3345,3414,426.2,-9.8,285,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1902,3377,3340,3414,0,0,0,0,0,0,14.83,14.82,14.82
$GC,3726,-0.45,-107.1,3232,1901,3343,3413,454.0,-9.1,295,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1902,3377,3344,3410,0,0,0,0,0,0,14.81,14.83,14.82
$GC,4026,-0.45,-107.1,3232,1901,3342,3414,481.5,-9.1,305,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1902,3378,3342,3414,0,0,0,0,0,0,14.81,14.83,14.83
$GC,4326,-0.45,-107.1,3232,1902,3341,3414,510.7,-10.1,315,4338,0.00,2.50,0.00,0.000,516,0.000,0.113,3232,490,3376,3340,3413,0,0,0,0,0,0,14.81,14.61,14.83
$GC,4409,-0.45,-107.1,3238,489,3341,3413,519.8,-11.1,329,4420,0.00,2.45,0.00,0.000,1030,0.000,0.096,3233,1896,3377,3340,3414,0,0,0,0,0,0,14.69,14.60,14.71
$GC,4745,-0.45,-107.1,3233,1896,3339,3412,552.8,-9.8,343,4756,0.00,2.53,0.00,0.000,260,0.000,0.111,3232,3320,3375,3339,3412,0,0,0,0,0,0,14.81,14.57,14.82
$GC,4806,-0.45,-107.1,3232,3320,3339,3412,558.7,-9.1,353,4818,0.00,2.50,0.00,0.000,1030,0.000,0.098,3233,1903,3375,3339,3412,0,0,0,0,0,0,14.69,14.61,14.71
$GC,5128,-0.45,-107.1,3234,1907,3338,3408,588.6,-9.2,365,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1903,3375,3338,3412,0,0,0,0,0,0,14.78,14.83,14.82
$GC,5429,-0.45,-107.1,3233,1903,3337,3412,615.2,-9.0,375,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1903,3371,3332,3411,0,0,0,0,0,0,14.81,14.81,14.83
$GC,5729,-0.45,-107.1,3232,1899,3335,3411,640.6,-8.3,385,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1900,3373,3336,3411,0,0,0,0,0,0,14.81,14.83,14.82
$GC,6029,-0.45,-107.1,3232,1903,3330,3410,664.3,-7.5,395,6040,0.00,2.53,0.00,0.000,516,0.000,0.115,3233,474,3373,3336,3410,0,0,0,0,0,0,14.81,14.58,14.83
$GC,6091,-0.45,-107.1,3232,474,3334,3410,669.5,-8.4,405,6102,0.00,2.50,0.00,0.000,1030,0.000,0.094,3233,1897,3371,3334,3409,0,0,0,0,0,0,14.69,14.61,14.72
$GC,6414,-0.45,-107.1,3232,1897,3333,3408,694.6,-7.9,417,6425,0.00,2.53,0.00,0.000,260,0.000,0.111,3230,3320,3371,3333,3409,0,0,0,0,0,0,14.81,14.58,14.82
$GC,6470,-0.45,-107.1,3232,3320,3341,3408,699.1,-7.8,426,6482,0.00,2.53,0.00,0.000,1030,0.000,0.100,3233,1887,3370,3333,3408,0,0,0,0,0,0,14.69,14.59,14.69
$GC,6799,-0.45,-107.1,3233,1887,3333,3408,726.3,-8.0,439,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1887,3373,3339,3408,0,0,0,0,0,0,14.80,14.83,14.82
$GC,7098,-0.45,-107.1,3232,1887,3326,3408,749.9,-7.9,449,7110,0.00,2.47,0.00,0.000,516,0.000,0.116,3232,493,3370,3332,3408,0,0,0,0,0,0,14.80,14.59,14.82
$GC,7165,-0.45,-107.1,3232,493,3332,3409,755.8,-8.8,460,7177,0.00,2.47,0.00,0.000,1030,0.000,0.095,3233,1907,3367,3327,3408,0,0,0,0,0,0,14.69,14.61,14.71
$GC,7477,-0.45,-107.1,3232,1906,3330,3407,780.1,-8.2,471,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1910,3369,3331,3407,0,0,0,0,0,0,14.80,14.82,14.84
$GC,7771,-0.45,-107.1,3232,1906,3330,3407,805.9,-8.7,481,7782,0.00,2.50,0.00,0.000,260,0.000,0.112,3233,3313,3368,3330,3407,0,0,0,0,0,0,14.79,14.57,14.81
$GC,7878,-0.45,-107.1,3232,3313,3330,3407,814.2,-8.2,499,7890,0.00,2.53,0.00,0.000,1030,0.000,0.102,3232,1898,3368,3330,3406,0,0,0,0,0,0,14.68,14.59,14.69
$GC,8221,-0.45,-107.1,3232,1903,3329,3406,842.4,-7.9,515,8233,0.00,2.53,0.00,0.000,516,0.000,0.117,3233,475,3367,3329,3406,0,0,0,0,0,0,14.79,14.56,14.80
$GC,8308,-0.45,-107.1,3232,475,3329,3406,850.4,-8.7,530,8320,0.00,2.50,0.00,0.000,1030,0.000,0.096,3233,1897,3367,3329,3406,0,0,0,0,0,0,14.68,14.59,14.69
$GC,8637,-0.45,-107.1,3232,1897,3329,3406,874.1,-7.2,543,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1897,3367,3328,3406,0,0,0,0,0,0,14.79,14.81,14.81
$GC,8936,-0.45,-107.1,3232,1897,3328,3406,898.7,-8.5,553,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1897,3367,3328,3406,0,0,0,0,0,0,14.79,14.81,14.81
$GC,9237,-0.45,-107.1,3232,1897,3328,3406,922.9,-7.9,563,9248,0.00,2.53,0.00,0.000,260,0.000,0.113,3232,3321,3367,3328,3406,0,0,0,0,0,0,14.79,14.57,14.81
$GC,9333,-0.45,-107.1,3229,3319,3328,3405,930.8,-7.8,579,9344,0.00,2.53,0.00,0.000,1030,0.000,0.100,3233,1897,3366,3328,3405,0,0,0,0,0,0,14.67,14.59,14.69
$GC,9656,-0.45,-107.1,3232,1897,3326,3403,956.3,-8.1,591,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1897,3366,3327,3405,0,0,0,0,0,0,14.80,14.81,14.81
$GC,9955,-0.45,-107.1,3232,1897,3327,3405,981.4,-8.4,601,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1897,3366,3327,3405,0,0,0,0,0,0,14.79,14.81,14.81
$STATE,10070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10070,begin apogee
$GC,10082,-0.16,0.0,3233,2356,3326,3411,991.4,-8.3,605,10174,0.32,0.00,84.00,1.909,10246,0.182,0.000,3335,2353,2940,2878,3003,0,0,0,0,0,0,14.55,13.96,13.30
$STATE,10177,end apogee,CONTROL_FINISHED_OK
$STATE,10177,begin climb
$GC,10182,0.45,107.1,3335,2356,2874,3002,995.9,0.0,608,10289,0.57,2.75,87.78,1.879,10500,0.122,0.112,3532,3752,2501,2387,2616,0,0,0,0,0,0,13.96,13.71,13.12
$GC,10325,0.45,107.1,3532,3754,2386,2616,989.0,8.4,634,10336,0.00,2.62,0.00,0.000,1030,0.000,0.099,3541,2348,2500,2386,2615,0,0,0,0,0,0,14.02,13.94,14.04
$GC,10659,0.45,107.1,3540,2347,2386,2616,959.9,9.0,648,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2347,2501,2386,2616,0,0,0,0,0,0,14.49,14.50,14.50
$GC,10962,0.45,107.1,3540,2347,2385,2616,933.8,8.7,658,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2347,2499,2385,2613,0,0,0,0,0,0,14.59,14.61,14.61
$GC,11262,0.45,107.1,3540,2347,2383,2616,907.6,8.6,668,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2348,2500,2384,2616,0,0,0,0,0,0,14.66,14.68,14.68
$GC,11562,0.45,107.1,3540,2347,2384,2616,881.8,8.5,678,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2347,2500,2384,2616,0,0,0,0,0,0,14.69,14.73,14.71
$GC,11862,0.45,107.1,3540,2347,2383,2616,855.7,8.7,688,11873,0.00,2.53,0.00,0.000,516,0.000,0.115,3539,938,2498,2382,2615,0,0,0,0,0,0,14.71,14.50,14.73
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$STATE,22976,end climb,SURFACE_DEPTH_REACHED
$STATE,22976,begin surface coast
$FINISH,0.8,1.023693
$STATE,23010,end surface coast,CONTROL_FINISHED_OK
$STATE,23010,begin surface
$SM_CCo,23042,4.18,0.088,0,0,1411,375.06
$SM_GC,2.85,9.80,1.75,4.18,0.049,0.095,0.088,90,1897,1411,-10.27,-0.76,375.06,0,0,0,0,0,0,14.45,14.43,14.44
$IRIDIUM_FIX,4719.74,-12546.37,030715,002443
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.75
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3906944
$24V_AH,13.12,22.073
$10V_AH,13.09,0.000
$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,24.650,151.950,368.250,4.175,0.000,0.000,0.000,421.750,0.000,0.000,12.874,3193.082,15561.219,582.137,3307.005,1111.969,0.000,2834.845,0.000,2150.779,0.000,0.537,0.000
$DEVICE_MAMPS,374.850,2213.145,1908.675,87.975,0.000,0.000,0.000,149.940,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23038.000,578.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.748,6.837,0.000,0.000
$MEM,286388
$DATA_FILE_SIZE,49917,1413
$CAP_FILE_SIZE,266963,0
$CFSIZE,260034560,248197120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4415.10,0x2137a8,0,24
$CURRENT,0.059,22.32,1
$GPS,030715,134532,4738.592,-12538.271,56,1.0,92,16.6,1.0,47.0,8,2.6