version: 66.12
glider: 187
mission: 8
dive: 375
start: 9 25 115 6 8 16
data:
$ID,187
$MISSION,8
$DIVE,375
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,3394
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,21
$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,0.00050000002
$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,2
$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,48
$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
$GPS1,250915,055131,4747.3213,-12526.3271,38,0.7,38,16.5,0.5,310.9,12,4.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-79.4
$GPS2,250915,060743,4747.4873,-12526.5371,2,0.7,3,16.5,0.6,311.6,12,5.6
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,96.3,21822,-14.8,-7.333,-19.49,2243
$D_GRID,768
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.39,-107.1,73,1887,1231,1401,0.0,0.0,0,108,0.00,0.00,-72.45,0.000,16390,0.000,0.000,77,1886,3379,3376,3382,0,0,0,0,0,0,14.45,12.59,14.44
$GC,115,-0.39,-107.1,73,1886,3377,3378,2.2,-3.7,2,141,14.10,2.67,0.00,0.000,2308,0.356,0.096,3247,3314,3382,3378,3386,0,0,0,0,0,0,13.81,14.14,14.03
$GC,254,-0.39,-107.1,3247,3314,3376,3391,45.6,-14.5,27,266,0.00,2.58,0.00,0.000,1030,0.000,0.091,3247,1906,3383,3376,3391,0,0,0,0,0,0,14.23,14.10,14.28
$GC,473,-0.39,-107.1,3247,1905,3374,3396,74.1,-12.2,38,484,0.00,2.58,0.00,0.000,516,0.000,0.103,3247,477,3386,3376,3396,0,0,0,0,0,0,14.53,14.08,14.55
$GC,565,-0.39,-107.1,3247,476,3374,3397,86.3,-12.6,54,576,0.00,2.55,0.00,0.000,1030,0.000,0.086,3247,1898,3385,3374,3397,0,0,0,0,0,0,14.22,14.08,14.26
$GC,769,-0.39,-107.1,3247,1898,3374,3398,109.2,-11.1,62,780,0.00,2.60,0.00,0.000,260,0.000,0.100,3247,3320,3386,3374,3398,0,0,0,0,0,0,14.59,14.13,14.61
$GC,830,-0.39,-107.1,3247,3320,3374,3398,116.2,-10.8,72,841,0.00,2.58,0.00,0.000,1030,0.000,0.087,3247,1890,3385,3373,3397,0,0,0,0,0,0,14.23,14.09,14.28
$GC,1033,-0.39,-107.1,3247,1889,3374,3395,136.4,-9.7,80,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1889,3386,3375,3397,0,0,0,0,0,0,14.59,14.61,14.62
$GC,1213,-0.39,-107.1,3247,1889,3373,3397,152.9,-9.0,86,1224,0.00,2.55,0.00,0.000,516,0.000,0.104,3248,495,3386,3373,3399,0,0,0,0,0,0,14.59,14.12,14.63
$GC,1269,-0.39,-107.1,3246,494,3373,3398,158.0,-8.6,95,1280,0.00,2.53,0.00,0.000,1030,0.000,0.086,3247,1913,3385,3373,3398,0,0,0,0,0,0,14.35,14.19,14.37
$GC,1478,-0.39,-107.1,3246,1914,3371,3398,174.1,-7.7,104,1489,0.00,2.58,0.00,0.000,260,0.000,0.103,3247,3321,3384,3371,3397,0,0,0,0,0,0,14.62,14.12,14.63
$GC,1523,-0.39,-107.1,3247,3317,3371,3397,177.7,-7.5,111,1534,0.00,2.55,0.00,0.000,1030,0.000,0.088,3247,1906,3384,3370,3399,0,0,0,0,0,0,14.31,14.17,14.35
$GC,1746,-0.39,-107.1,3246,1906,3370,3398,193.4,-7.3,122,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3383,3370,3397,0,0,0,0,0,0,14.59,14.62,14.62
$GC,1921,-0.39,-107.1,3247,1906,3369,3398,207.2,-7.8,128,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1907,3383,3369,3398,0,0,0,0,0,0,14.64,14.64,14.66
$GC,2102,-0.39,-107.1,3247,1906,3368,3398,221.4,-8.0,134,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3383,3368,3398,0,0,0,0,0,0,14.64,14.65,14.65
$GC,2281,-0.39,-107.1,3243,1906,3366,3397,236.2,-8.3,140,2292,0.00,2.60,0.00,0.000,516,0.000,0.105,3247,475,3381,3366,3397,0,0,0,0,0,0,14.64,14.05,14.65
$GC,2323,-0.39,-107.1,3247,474,3365,3398,240.0,-8.9,146,2334,0.00,2.58,0.00,0.000,1030,0.000,0.089,3246,1902,3383,3366,3401,0,0,0,0,0,0,14.31,14.16,14.35
$GC,2576,-0.39,-107.1,3246,1897,3364,3398,259.2,-7.5,157,2588,0.00,2.60,0.00,0.000,260,0.000,0.103,3247,3315,3381,3365,3398,0,0,0,0,0,0,14.64,14.13,14.65
$GC,2614,-0.39,-107.1,3247,3311,3370,3397,262.1,-7.5,162,2625,0.00,2.58,0.00,0.000,1030,0.000,0.091,3247,1894,3380,3363,3398,0,0,0,0,0,0,14.33,14.19,14.37
$GC,2967,-0.39,-107.1,3244,1894,3361,3397,289.0,-7.9,174,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1894,3380,3362,3398,0,0,0,0,0,0,14.62,14.64,14.64
$GC,3261,-0.39,-107.1,3248,1894,3359,3397,313.9,-8.3,179,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1894,3378,3359,3398,0,0,0,0,0,0,14.65,14.67,14.66
$GC,3561,-0.39,-107.1,3250,1894,3354,3397,339.6,-8.6,184,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1894,3377,3358,3397,0,0,0,0,0,0,14.66,14.67,14.67
$GC,3861,-0.39,-107.1,3246,1894,3357,3397,365.4,-8.6,189,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1894,3381,3364,3398,0,0,0,0,0,0,14.69,14.69,14.69
$GC,4161,-0.39,-107.1,3246,1894,3355,3395,390.0,-8.1,194,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1894,3377,3355,3399,0,0,0,0,0,0,14.66,14.68,14.68
$GC,4462,-0.39,-107.1,3246,1893,3354,3398,414.6,-8.2,199,4473,0.00,2.67,0.00,0.000,260,0.000,0.106,3247,3313,3375,3353,3398,0,0,0,0,0,0,14.66,14.12,14.68
$GC,4503,-0.39,-107.1,3247,3312,3353,3397,418.1,-8.4,205,4515,0.00,2.60,0.00,0.000,1030,0.000,0.094,3247,1899,3375,3354,3397,0,0,0,0,0,0,14.31,14.17,14.36
$GC,4847,-0.39,-107.1,3247,1899,3352,3397,446.3,-8.2,216,4858,0.00,2.60,0.00,0.000,516,0.000,0.107,3247,478,3374,3352,3397,0,0,0,0,0,0,14.64,14.08,14.66
$GC,4899,-0.39,-107.1,3246,478,3352,3397,451.0,-9.0,224,4910,0.00,2.55,0.00,0.000,1030,0.000,0.092,3247,1896,3374,3352,3397,0,0,0,0,0,0,14.30,14.15,14.35
$GC,5232,-0.39,-107.1,3247,1894,3350,3397,479.4,-8.6,233,5244,0.00,2.62,0.00,0.000,260,0.000,0.106,3247,3319,3376,3356,3397,0,0,0,0,0,0,14.64,14.06,14.64
$GC,5329,-0.39,-107.1,3247,3319,3350,3397,487.8,-8.4,250,5341,0.00,2.60,0.00,0.000,1030,0.000,0.093,3252,1891,3372,3345,3400,0,0,0,0,0,0,14.27,14.12,14.33
$GC,5682,-0.39,-107.1,3246,1890,3342,3397,520.3,-9.6,262,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1889,3375,3353,3397,0,0,0,0,0,0,14.64,14.66,14.66
$GC,5977,-0.39,-107.1,3247,1890,3347,3397,549.2,-9.6,267,5988,0.00,2.67,0.00,0.000,260,0.000,0.106,3247,3311,3373,3347,3399,0,0,0,0,0,0,14.65,14.09,14.69
$GC,6038,-0.39,-107.1,3247,3311,3346,3397,554.8,-8.6,277,6049,0.00,2.58,0.00,0.000,1030,0.000,0.093,3247,1894,3372,3348,3396,0,0,0,0,0,0,14.28,14.14,14.33
$GC,6362,-0.39,-107.1,3247,1900,3345,3397,582.5,-8.6,284,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1895,3371,3345,3397,0,0,0,0,0,0,14.63,14.65,14.65
$GC,6661,-0.39,-107.1,3247,1895,3344,3395,605.6,-7.6,289,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1894,3370,3344,3397,0,0,0,0,0,0,14.66,14.68,14.68
$GC,6962,-0.39,-107.1,3246,1894,3343,3397,626.9,-7.1,294,6973,0.00,2.67,0.00,0.000,260,0.000,0.108,3247,3303,3369,3343,3395,0,0,0,0,0,0,14.64,14.07,14.65
$GC,7063,-0.39,-107.1,3246,3308,3343,3396,633.6,-6.5,311,7074,0.00,2.58,0.00,0.000,1030,0.000,0.096,3247,1906,3369,3342,3396,0,0,0,0,0,0,14.28,14.12,14.31
$GC,7415,-0.39,-107.1,3247,1906,3342,3396,656.8,-6.6,323,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3367,3342,3392,0,0,0,0,0,0,14.64,14.65,14.65
$GC,7710,-0.39,-107.1,3246,1906,3341,3395,675.8,-6.2,328,7721,0.00,2.65,0.00,0.000,260,0.000,0.106,3251,3305,3369,3342,3396,0,0,0,0,0,0,14.64,14.06,14.64
$GC,7835,-0.39,-107.1,3247,3306,3343,3395,683.1,-5.6,350,7846,0.00,2.60,0.00,0.000,1030,0.000,0.096,3246,1889,3368,3340,3396,0,0,0,0,0,0,14.24,14.09,14.30
$GC,8158,-0.39,-107.1,3247,1888,3341,3395,703.1,-6.4,357,8169,0.00,2.65,0.00,0.000,260,0.000,0.105,3247,3304,3368,3341,3395,0,0,0,0,0,0,14.65,14.07,14.67
$GC,8230,-0.39,-107.1,3247,3304,3341,3395,707.4,-6.1,369,8242,0.00,2.58,0.00,0.000,1030,0.000,0.094,3247,1906,3368,3341,3395,0,0,0,0,0,0,14.19,14.04,14.24
$GC,8608,-0.39,-107.1,3247,1903,3339,3395,732.2,-6.8,386,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3367,3340,3395,0,0,0,0,0,0,14.64,14.66,14.66
$GC,8904,-0.39,-107.1,3247,1905,3339,3395,733.1,-0.1,391,8915,0.00,2.67,0.00,0.000,516,0.000,0.119,3247,475,3367,3339,3395,0,0,0,0,0,0,14.62,14.00,14.64
$GC,8948,-0.39,-107.1,3247,475,3339,3395,733.1,-0.1,397,8959,0.00,2.58,0.00,0.000,1030,0.000,0.089,3247,1903,3367,3339,3395,0,0,0,0,0,0,14.26,14.09,14.31
$STATE,8963,end dive,NO_VERTICAL_VELOCITY
$STATE,8963,begin apogee
$GC,8975,-0.16,0.0,3247,2254,3338,3395,733.1,0.0,399,9067,0.28,0.00,83.68,1.592,10246,0.116,0.000,3343,2256,2941,2884,2998,0,0,0,0,0,0,14.17,13.96,13.21
$STATE,9069,end apogee,CONTROL_FINISHED_OK
$STATE,9069,begin climb
$GC,9075,0.39,107.1,3343,2256,2881,2996,733.0,0.0,400,9179,0.50,2.70,85.80,1.576,10756,0.104,0.108,3522,838,2500,2376,2625,0,0,0,0,0,0,13.95,13.59,13.00
$GC,9414,0.43,107.1,3521,838,2378,2622,723.1,5.4,465,9425,0.00,2.60,0.00,0.000,1030,0.000,0.097,3522,2246,2499,2378,2621,0,0,0,0,0,0,14.13,14.00,14.17
$GC,9766,0.45,153.3,3521,2245,2375,2621,704.5,5.2,477,9817,0.00,2.70,36.70,1.534,8452,0.000,0.110,3521,3663,2312,2176,2449,0,0,0,0,0,0,14.50,14.05,13.37
$GC,9946,0.45,153.3,3527,3663,2176,2449,690.8,8.6,511,9957,0.00,2.62,0.00,0.000,1030,0.000,0.096,3527,2236,2313,2177,2449,0,0,0,0,0,0,14.20,14.07,14.24
$GC,10269,0.45,153.3,3527,2236,2177,2449,668.2,7.0,518,10280,0.00,2.70,0.00,0.000,260,0.000,0.108,3527,3675,2314,2179,2449,0,0,0,0,0,0,14.52,14.12,14.57
$GC,10326,0.45,153.3,3526,3675,2179,2449,663.7,7.9,527,10337,0.00,2.62,0.00,0.000,1030,0.000,0.096,3527,2251,2313,2179,2447,0,0,0,0,0,0,14.28,14.13,14.33
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$STATE,19365,end climb,SURFACE_DEPTH_REACHED
$STATE,19365,begin surface coast
$FINISH,2.6,1.023526
$STATE,19383,end surface coast,CONTROL_FINISHED_OK
$STATE,19383,begin surface
$SM_CCo,19418,32.90,0.084,0,0,1309,400.08
$SM_GC,1.76,10.25,3.28,32.90,0.067,0.090,0.084,93,1893,1309,-10.25,0.48,400.08,0,0,0,0,0,0,14.20,14.14,14.19
$IRIDIUM_FIX,4729.30,-12530.77,240915,231901
$TT8_MAMPS,0.02247,0.02247
$HUMID,50.19
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3788224
$24V_AH,12.59,103.500
$10V_AH,12.77,0.000
$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,25.550,204.675,330.325,32.900,0.000,0.000,0.000,547.950,0.000,0.000,10.138,2162.854,13784.338,596.366,2848.666,1009.669,0.000,2706.263,0.000,1573.698,0.000,0.537,0.000
$DEVICE_MAMPS,356.490,119.340,1591.965,84.150,0.000,0.000,0.000,158.355,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19470.000,504.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.968,7.604,0.000,0.000
$MEM,286344
$DATA_FILE_SIZE,36706,1072
$CAP_FILE_SIZE,219893,0
$CFSIZE,260034560,212074496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,353.42,1
$GPS,250915,113401,4748.070,-12524.116,36,1.8,36,16.5,0.4,0.0,6,8.7