version: 66.12
glider: 187
mission: 8
dive: 82
start: 7 3 115 13 56 59
data:
$ID,187
$MISSION,8
$DIVE,82
$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,16
$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
$GPS1,030715,134532,4738.5923,-12538.2715,56,1.0,92,16.6,1.0,47.0,8,2.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-76.5
$GPS2,030715,135627,4738.5942,-12538.2314,2,0.7,4,16.6,1.3,326.9,12,4.7
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,46.8,42626,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.45,-107.1,81,1898,1299,1525,0.0,0.0,0,102,0.00,0.00,-66.95,0.000,16386,0.000,0.000,76,1903,3295,3282,3309,0,0,0,0,0,0,14.54,28.83,14.56
$GC,108,-0.45,-107.1,76,1899,3282,3309,4.9,-8.7,7,133,13.90,2.78,-1.25,0.000,18948,0.379,2.215,3237,478,3381,3367,3395,0,0,0,0,0,0,14.18,13.51,14.40
$GC,371,-0.45,-107.1,3237,478,3367,3400,74.6,-16.8,56,380,0.00,2.50,0.00,0.000,1030,0.000,0.092,3234,1897,3386,3372,3401,0,0,0,0,0,0,14.47,14.38,14.47
$GC,562,-0.45,-107.1,3237,1897,3365,3402,102.6,-13.4,75,569,0.00,2.53,0.00,0.000,516,0.000,0.109,3238,492,3383,3366,3401,0,0,0,0,0,0,14.62,14.41,14.63
$GC,697,-0.45,-107.1,3237,492,3366,3403,121.7,-14.3,100,706,0.00,2.47,0.00,0.000,1030,0.000,0.090,3237,1904,3384,3366,3403,0,0,0,0,0,0,14.51,14.43,14.52
$GC,888,-0.45,-107.1,3237,1904,3366,3401,145.5,-12.7,119,896,0.00,2.53,0.00,0.000,516,0.000,0.106,3237,492,3385,3367,3403,0,0,0,0,0,0,14.66,14.45,14.67
$GC,920,-0.45,-107.1,3237,492,3367,3404,149.8,-13.0,124,929,0.00,2.47,0.00,0.000,1030,0.000,0.090,3236,1913,3384,3366,3403,0,0,0,0,0,0,14.54,14.47,14.54
$GC,1111,-0.45,-107.1,3237,1912,3367,3404,171.6,-11.3,143,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1912,3385,3366,3404,0,0,0,0,0,0,14.67,14.72,14.69
$GC,1300,-0.45,-107.1,3237,1912,3367,3404,193.7,-11.8,162,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1911,3389,3373,3405,0,0,0,0,0,0,14.67,14.71,14.71
$GC,1490,-0.45,-107.1,3237,1911,3366,3404,215.5,-11.0,181,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1912,3384,3366,3403,0,0,0,0,0,0,14.70,14.72,14.71
$GC,1680,-0.45,-107.1,3233,1916,3366,3403,235.9,-10.4,200,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1912,3384,3365,3404,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1884,-0.45,-107.1,3242,1912,3364,3404,257.0,-10.5,216,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1912,3384,3365,3404,0,0,0,0,0,0,14.72,14.74,14.74
$GC,2180,-0.45,-107.1,3237,1912,3363,3404,287.6,-10.0,226,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1912,3380,3360,3401,0,0,0,0,0,0,14.73,14.76,14.75
$GC,2480,-0.45,-107.1,3237,1912,3361,3405,317.2,-9.7,236,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1912,3382,3361,3404,0,0,0,0,0,0,14.75,14.76,14.76
$GC,2780,-0.45,-107.1,3234,1912,3359,3405,346.5,-9.9,246,2789,0.00,2.55,0.00,0.000,516,0.000,0.109,3237,495,3381,3359,3403,0,0,0,0,0,0,14.75,14.54,14.76
$GC,2825,-0.45,-107.1,3237,492,3359,3404,351.4,-11.0,253,2833,0.00,2.45,0.00,0.000,1030,0.000,0.092,3237,1895,3381,3359,3404,0,0,0,0,0,0,14.63,14.54,14.65
$GC,3163,-0.45,-107.1,3237,1895,3357,3403,383.5,-9.5,268,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1895,3379,3357,3402,0,0,0,0,0,0,14.78,14.78,14.78
$GC,3460,-0.45,-107.1,3237,1895,3356,3404,410.4,-8.9,278,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1895,3379,3356,3403,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3759,-0.45,-107.1,3237,1895,3354,3402,437.3,-8.9,288,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1895,3381,3359,3403,0,0,0,0,0,0,14.76,14.78,14.77
$GC,4059,-0.45,-107.1,3237,1895,3353,3404,466.1,-9.9,298,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1895,3378,3353,3403,0,0,0,0,0,0,14.76,14.78,14.77
$GC,4359,-0.45,-107.1,3237,1894,3352,3409,494.6,-9.4,308,4366,0.00,2.53,0.00,0.000,516,0.000,0.112,3237,475,3376,3351,3402,0,0,0,0,0,0,14.76,14.53,14.78
$GC,4422,-0.45,-107.1,3237,475,3351,3404,501.3,-10.8,319,4431,0.00,2.50,0.00,0.000,1030,0.000,0.093,3236,1898,3377,3351,3404,0,0,0,0,0,0,14.64,14.57,14.66
$GC,4731,-0.45,-107.1,3237,1897,3350,3403,530.2,-9.3,330,4740,0.00,2.53,0.00,0.000,260,0.000,0.109,3237,3319,3376,3350,3403,0,0,0,0,0,0,14.76,14.53,14.79
$GC,4795,-0.45,-107.1,3240,3319,3349,3403,536.6,-9.0,341,4804,0.00,2.53,0.00,0.000,1030,0.000,0.099,3237,1889,3376,3349,3403,0,0,0,0,0,0,14.64,14.56,14.66
$GC,5105,-0.45,-107.1,3237,1889,3350,3403,565.1,-9.5,352,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1889,3373,3343,3403,0,0,0,0,0,0,14.76,14.77,14.77
$GC,5401,-0.45,-107.1,3237,1889,3345,3403,592.7,-8.9,362,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1888,3374,3346,3403,0,0,0,0,0,0,14.76,14.78,14.76
$GC,5701,-0.45,-107.1,3242,1890,3344,3403,618.3,-8.5,372,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1888,3374,3345,3403,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6001,-0.45,-107.1,3234,1888,3343,3403,644.0,-8.7,382,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1888,3373,3344,3403,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6301,-0.45,-107.1,3237,1888,3343,3403,670.1,-8.5,392,6309,0.00,2.50,0.00,0.000,516,0.000,0.117,3242,492,3373,3342,3405,0,0,0,0,0,0,14.76,14.54,14.78
$GC,6339,-0.45,-107.1,3236,488,3344,3403,673.6,-9.3,398,6348,0.00,2.47,0.00,0.000,1030,0.000,0.096,3237,1901,3372,3342,3403,0,0,0,0,0,0,14.64,14.57,14.66
$GC,6685,-0.45,-107.1,3237,1901,3336,3403,700.1,-7.6,414,6693,0.00,2.53,0.00,0.000,260,0.000,0.111,3237,3319,3372,3341,3403,0,0,0,0,0,0,14.76,14.53,14.77
$GC,6743,-0.45,-107.1,3237,3319,3341,3403,704.8,-7.2,424,6751,0.00,2.53,0.00,0.000,1030,0.000,0.102,3237,1903,3375,3348,3402,0,0,0,0,0,0,14.64,14.54,14.66
$GC,7067,-0.45,-107.1,3237,1902,3340,3403,728.4,-7.2,436,7074,0.00,2.53,0.00,0.000,516,0.000,0.116,3241,482,3374,3340,3408,0,0,0,0,0,0,14.76,14.53,14.77
$GC,7200,-0.45,-107.1,3236,482,3341,3405,739.4,-8.6,460,7207,0.00,2.50,0.00,0.000,1030,0.000,0.096,3237,1899,3370,3339,3402,0,0,0,0,0,0,14.63,14.57,14.65
$GC,7543,-0.45,-107.1,3237,1899,3339,3402,764.6,-7.2,476,7550,0.00,2.55,0.00,0.000,260,0.000,0.111,3237,3321,3370,3339,3402,0,0,0,0,0,0,14.74,14.52,14.74
$GC,7626,-0.45,-107.1,3237,3317,3338,3402,770.8,-7.0,491,7634,0.00,2.53,0.00,0.000,1030,0.000,0.101,3237,1903,3370,3339,3402,0,0,0,0,0,0,14.63,14.54,14.64
$GC,7955,-0.45,-107.1,3237,1903,3339,3402,793.8,-7.2,504,7962,0.00,2.55,0.00,0.000,516,0.000,0.117,3237,475,3370,3338,3402,0,0,0,0,0,0,14.74,14.50,14.76
$GC,8032,-0.45,-107.1,3237,475,3338,3402,800.8,-8.6,518,8041,0.00,2.53,0.00,0.000,1030,0.000,0.096,3237,1914,3370,3338,3402,0,0,0,0,0,0,14.61,14.54,14.63
$GC,8366,-0.45,-107.1,3237,1914,3338,3402,826.9,-8.0,532,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1914,3370,3338,3402,0,0,0,0,0,0,14.73,14.76,14.76
$GC,8662,-0.45,-107.1,3237,1914,3336,3403,850.5,-8.1,542,8670,0.00,2.50,0.00,0.000,260,0.000,0.112,3237,3319,3369,3336,3402,0,0,0,0,0,0,14.75,14.52,14.76
$GC,8731,-0.45,-107.1,3237,3319,3336,3401,856.5,-7.8,554,8740,0.00,2.55,0.00,0.000,1030,0.000,0.103,3237,1888,3368,3336,3401,0,0,0,0,0,0,14.62,14.54,14.64
$GC,9076,-0.45,-107.1,3237,1888,3336,3401,882.7,-7.8,570,9084,0.00,2.50,0.00,0.000,516,0.000,0.118,3238,490,3368,3336,3401,0,0,0,0,0,0,14.73,14.52,14.76
$GC,9140,-0.45,-107.1,3237,493,3336,3400,888.8,-9.1,581,9149,0.00,2.47,0.00,0.000,1030,0.000,0.097,3237,1897,3370,3340,3400,0,0,0,0,0,0,14.62,14.53,14.64
$GC,9450,-0.45,-107.1,3235,1896,3334,3401,912.7,-7.8,592,9458,0.00,2.55,0.00,0.000,260,0.000,0.111,3237,3319,3368,3337,3400,0,0,0,0,0,0,14.73,14.49,14.75
$GC,9514,-0.45,-107.1,3237,3319,3334,3400,918.1,-7.6,603,9522,0.00,2.53,0.00,0.000,1030,0.000,0.101,3237,1904,3367,3334,3400,0,0,0,0,0,0,14.59,14.52,14.63
$GC,9824,-0.45,-107.1,3237,1909,3334,3400,940.5,-7.2,614,9833,0.00,2.55,0.00,0.000,516,0.000,0.117,3237,474,3366,3334,3399,0,0,0,0,0,0,14.73,14.47,14.75
$GC,9947,-0.45,-107.1,3236,474,3334,3405,950.8,-8.2,636,9955,0.00,2.53,0.00,0.000,1030,0.000,0.098,3237,1905,3366,3334,3399,0,0,0,0,0,0,14.60,14.54,14.63
$GC,10272,-0.45,-107.1,3235,1905,3333,3399,973.7,-7.1,648,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1905,3366,3333,3399,0,0,0,0,0,0,14.73,14.75,14.74
$STATE,10501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10501,begin apogee
$GC,10513,-0.16,0.0,3237,2352,3333,3399,990.2,-6.9,656,10603,0.32,0.00,85.12,1.906,10246,0.184,0.000,3336,2352,2942,2882,3002,0,0,0,0,0,0,14.48,13.92,13.26
$STATE,10607,end apogee,CONTROL_FINISHED_OK
$STATE,10607,begin climb
$GC,10612,0.45,107.1,3333,2352,2876,2999,993.8,0.0,659,10709,0.62,0.00,88.70,1.856,10502,0.123,0.000,3538,2358,2503,2388,2619,0,0,0,0,0,0,13.96,13.74,13.12
$GC,10990,0.45,107.1,3537,2352,2378,2617,966.2,8.5,677,11001,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,2352,2500,2383,2617,0,0,0,0,0,0,14.42,14.44,14.43
$GC,11295,0.45,107.1,3538,2352,2382,2616,940.1,8.6,687,11306,0.00,2.60,0.00,0.000,516,0.000,0.114,3543,926,2499,2381,2617,0,0,0,0,0,0,14.56,14.35,14.58
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$STATE,23382,end climb,SURFACE_DEPTH_REACHED
$STATE,23382,begin surface coast
$FINISH,0.4,1.023679
$STATE,23417,end surface coast,CONTROL_FINISHED_OK
$STATE,23417,begin surface
$SM_CCo,23451,3.55,0.085,0,0,1411,375.06
$SM_GC,2.54,9.77,3.40,3.55,0.042,0.093,0.085,86,1904,1411,-10.27,0.48,375.06,0,0,0,0,0,0,14.42,14.40,14.42
$IRIDIUM_FIX,4719.74,-12638.77,030715,071136
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.44
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,13.90
$XPDR_PINGS,0
$SC_FREEKB,3906560
$24V_AH,13.12,22.395
$10V_AH,13.06,0.000
$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
$DEVICE_SECS,25.000,188.675,388.600,3.550,0.000,0.000,0.000,389.800,0.000,0.000,5.819,3330.375,15824.653,652.868,3178.442,1103.982,0.000,2741.224,0.000,2292.588,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23439.000,10905.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.745,8.926,0.000,0.000
$MEM,286412
$DATA_FILE_SIZE,53244,1489
$CAP_FILE_SIZE,268122,0
$CFSIZE,260034560,248082432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,58.37,1
$GPS,030715,203012,4740.144,-12533.924,78,1.5,81,16.5,0.3,0.0,6,10.0