version: 66.12
glider: 187
mission: 8
dive: 77
start: 7 2 115 4 33 11
data:
$ID,187
$MISSION,8
$DIVE,77
$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,17
$R_STBD_OVSHOOT,25
$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
$GPS1,020715,041425,4730.0811,-12557.2812,31,1.2,31,16.6,0.2,0.0,6,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-74.5
$GPS2,020715,043239,4729.9326,-12557.3086,2,1.2,4,16.6,0.7,208.7,7,6.9
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,48.6,71242,-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,22,begin dive
$GC,28,-0.45,-107.1,74,1916,1144,1425,0.0,0.0,0,101,0.00,0.00,-65.62,0.000,16386,0.000,0.000,69,1916,3062,3030,3094,0,0,0,0,0,0,14.52,28.83,14.54
$GC,108,-0.45,-107.1,70,1916,3031,3096,3.4,-4.9,7,141,13.55,2.75,-4.97,0.000,18948,0.364,2.197,3241,495,3382,3354,3410,0,0,0,0,0,0,14.16,13.52,14.40
$GC,379,-0.45,-107.1,3235,495,3360,3412,68.8,-18.8,57,390,0.00,2.45,0.00,0.000,1030,0.000,0.091,3232,1893,3385,3358,3413,0,0,0,0,0,0,14.46,14.37,14.48
$GC,581,-0.45,-107.1,3237,1893,3355,3413,101.0,-14.5,77,592,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1893,3385,3356,3414,0,0,0,0,0,0,14.62,14.65,14.64
$GC,773,-0.45,-107.1,3235,1893,3356,3415,127.8,-14.2,96,784,0.00,2.53,0.00,0.000,516,0.000,0.107,3236,484,3385,3356,3415,0,0,0,0,0,0,14.66,14.45,14.68
$GC,889,-0.45,-107.1,3239,484,3356,3415,144.7,-13.8,116,900,0.00,2.47,0.00,0.000,1030,0.000,0.090,3235,1895,3385,3356,3415,0,0,0,0,0,0,14.57,14.49,14.62
$GC,1091,-0.45,-107.1,3236,1898,3356,3415,172.6,-13.9,136,1102,0.00,2.53,0.00,0.000,516,0.000,0.109,3236,476,3385,3356,3415,0,0,0,0,0,0,14.70,14.47,14.72
$GC,1126,-0.45,-107.1,3237,476,3356,3415,177.8,-14.4,141,1138,0.00,2.50,0.00,0.000,1030,0.000,0.091,3236,1912,3385,3356,3415,0,0,0,0,0,0,14.58,14.50,14.61
$GC,1319,-0.45,-107.1,3235,1911,3356,3414,202.0,-12.3,160,1330,0.00,2.45,0.00,0.000,260,0.000,0.106,3236,3311,3386,3358,3415,0,0,0,0,0,0,14.72,14.52,14.73
$GC,1396,-0.45,-107.1,3235,3306,3356,3414,210.0,-10.5,172,1407,0.00,2.47,0.00,0.000,1030,0.000,0.094,3236,1904,3385,3356,3415,0,0,0,0,0,0,14.61,14.52,14.63
$GC,1598,-0.45,-107.1,3234,1903,3351,3414,232.1,-10.9,192,1609,0.00,2.53,0.00,0.000,516,0.000,0.110,3236,483,3385,3355,3415,0,0,0,0,0,0,14.73,14.52,14.75
$GC,1684,-0.45,-107.1,3235,482,3356,3415,242.2,-12.5,206,1696,0.00,2.47,0.00,0.000,1030,0.000,0.094,3236,1894,3385,3355,3415,0,0,0,0,0,0,14.62,14.56,14.64
$GC,1912,-0.45,-107.1,3235,1894,3353,3417,266.9,-10.6,218,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1894,3386,3353,3420,0,0,0,0,0,0,14.75,14.77,14.77
$GC,2207,-0.45,-107.1,3236,1892,3352,3415,300.9,-11.3,228,2218,0.00,2.50,0.00,0.000,260,0.000,0.107,3236,3318,3383,3351,3415,0,0,0,0,0,0,14.78,14.55,14.82
$GC,2294,-0.45,-107.1,3235,3318,3351,3415,310.5,-10.6,243,2306,0.00,2.50,0.00,0.000,1030,0.000,0.094,3236,1898,3382,3351,3414,0,0,0,0,0,0,14.66,14.58,14.68
$GC,2621,-0.45,-107.1,3235,1897,3349,3414,345.8,-10.9,256,2632,0.00,2.50,0.00,0.000,516,0.000,0.110,3235,475,3382,3351,3414,0,0,0,0,0,0,14.78,14.56,14.81
$GC,2683,-0.45,-107.1,3235,476,3347,3415,353.0,-11.7,266,2694,0.00,2.50,0.00,0.000,1030,0.000,0.093,3236,1914,3381,3348,3415,0,0,0,0,0,0,14.67,14.60,14.68
$GC,3009,-0.45,-107.1,3235,1914,3344,3420,384.8,-9.6,278,3021,0.00,2.47,0.00,0.000,260,0.000,0.109,3235,3314,3379,3344,3414,0,0,0,0,0,0,14.79,14.57,14.81
$GC,3091,-0.45,-107.1,3236,3314,3344,3414,393.0,-9.4,292,3102,0.00,2.50,0.00,0.000,1030,0.000,0.097,3236,1902,3379,3344,3414,0,0,0,0,0,0,14.69,14.59,14.70
$GC,3423,-0.45,-107.1,3236,1899,3342,3414,425.2,-9.7,306,3434,0.00,2.50,0.00,0.000,516,0.000,0.111,3236,479,3376,3338,3414,0,0,0,0,0,0,14.78,14.58,14.81
$GC,3470,-0.45,-107.1,3235,479,3341,3414,430.0,-10.7,313,3481,0.00,2.47,0.00,0.000,1030,0.000,0.093,3236,1896,3378,3339,3417,0,0,0,0,0,0,14.68,14.59,14.70
$GC,3807,-0.45,-107.1,3235,1895,3339,3413,462.5,-9.5,328,3818,0.00,2.50,0.00,0.000,260,0.000,0.109,3235,3321,3375,3338,3413,0,0,0,0,0,0,14.80,14.57,14.81
$GC,3921,-0.45,-107.1,3235,3318,3339,3412,473.0,-8.8,348,3932,0.00,2.53,0.00,0.000,1030,0.000,0.097,3238,1901,3376,3339,3413,0,0,0,0,0,0,14.68,14.59,14.69
$GC,4253,-0.45,-107.1,3235,1900,3338,3416,502.6,-9.1,362,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1900,3374,3337,3412,0,0,0,0,0,0,14.80,14.81,14.84
$GC,4554,-0.45,-107.1,3235,1900,3335,3412,530.9,-9.5,372,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1900,3373,3335,3411,0,0,0,0,0,0,14.81,14.83,14.83
$GC,4853,-0.45,-107.1,3235,1900,3334,3411,558.8,-9.4,382,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1900,3373,3333,3413,0,0,0,0,0,0,14.81,14.83,14.83
$GC,5153,-0.45,-107.1,3235,1900,3333,3416,587.4,-9.3,392,5164,0.00,2.55,0.00,0.000,260,0.000,0.112,3235,3320,3372,3333,3411,0,0,0,0,0,0,14.81,14.59,14.83
$GC,5235,-0.45,-107.1,3235,3316,3333,3410,594.7,-8.6,406,5246,0.00,2.53,0.00,0.000,1030,0.000,0.099,3232,1886,3371,3333,3409,0,0,0,0,0,0,14.69,14.59,14.70
$GC,5567,-0.45,-107.1,3235,1885,3332,3409,623.2,-8.3,420,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1886,3370,3331,3409,0,0,0,0,0,0,14.81,14.83,14.82
$GC,5868,-0.45,-107.1,3235,1888,3330,3409,648.4,-8.6,430,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1883,3369,3330,3408,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6167,-0.45,-107.1,3235,1885,3329,3408,673.4,-8.1,440,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1885,3368,3329,3408,0,0,0,0,0,0,14.81,14.83,14.82
$GC,6468,-0.45,-107.1,3235,1885,3328,3408,697.1,-7.9,450,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1885,3368,3328,3408,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6767,-0.45,-107.1,3235,1885,3328,3407,721.9,-8.3,460,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1885,3367,3328,3407,0,0,0,0,0,0,14.81,14.83,14.83
$GC,7068,-0.45,-107.1,3236,1885,3327,3407,745.6,-7.8,470,7079,0.00,2.58,0.00,0.000,260,0.000,0.112,3236,3320,3366,3327,3406,0,0,0,0,0,0,14.81,14.59,14.83
$GC,7134,-0.45,-107.1,3235,3319,3327,3406,750.6,-7.6,481,7146,0.00,2.53,0.00,0.000,1030,0.000,0.100,3235,1886,3367,3327,3407,0,0,0,0,0,0,14.67,14.59,14.73
$GC,7446,-0.45,-107.1,3235,1886,3326,3406,773.9,-7.9,492,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1886,3366,3326,3407,0,0,0,0,0,0,14.81,14.81,14.82
$GC,7740,-0.45,-107.1,3235,1886,3321,3406,799.7,-8.8,502,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1886,3365,3325,3406,0,0,0,0,0,0,14.81,14.83,14.82
$GC,8041,-0.45,-107.1,3235,1886,3325,3406,825.2,-8.2,512,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1883,3365,3325,3406,0,0,0,0,0,0,14.80,14.82,14.81
$GC,8340,-0.45,-107.1,3233,1886,3324,3406,850.0,-8.0,522,8352,0.00,2.58,0.00,0.000,260,0.000,0.112,3236,3320,3364,3324,3405,0,0,0,0,0,0,14.81,14.59,14.82
$GC,8402,-0.45,-107.1,3236,3320,3324,3405,855.4,-7.7,532,8413,0.00,2.53,0.00,0.000,1030,0.000,0.099,3236,1899,3364,3323,3405,0,0,0,0,0,0,14.69,14.60,14.71
$GC,8724,-0.45,-107.1,3235,1899,3323,3404,880.5,-8.1,544,8735,0.00,2.55,0.00,0.000,260,0.000,0.111,3236,3320,3363,3323,3404,0,0,0,0,0,0,14.79,14.57,14.81
$GC,8775,-0.45,-107.1,3235,3320,3323,3404,885.3,-8.1,552,8786,0.00,2.53,0.00,0.000,1030,0.000,0.100,3236,1887,3367,3330,3404,0,0,0,0,0,0,14.68,14.58,14.69
$GC,9108,-0.45,-107.1,3235,1886,3322,3404,910.7,-7.6,566,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1886,3363,3323,3403,0,0,0,0,0,0,14.79,14.83,14.81
$GC,9408,-0.45,-107.1,3235,1888,3322,3403,934.0,-7.9,576,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1887,3363,3322,3404,0,0,0,0,0,0,14.80,14.81,14.81
$GC,9708,-0.45,-107.1,3235,1886,3321,3404,957.4,-8.0,586,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1884,3360,3316,3404,0,0,0,0,0,0,14.79,14.81,14.81
$GC,10008,-0.45,-107.1,3235,1886,3323,3404,981.7,-8.0,596,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1886,3365,3321,3409,0,0,0,0,0,0,14.79,14.81,14.81
$STATE,10123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10123,begin apogee
$GC,10135,-0.16,0.0,3240,2356,3320,3405,991.4,-8.0,600,10227,0.32,0.00,84.20,1.900,10246,0.181,0.000,3339,2353,2940,2877,3003,0,0,0,0,0,0,14.54,13.96,13.30
$STATE,10229,end apogee,CONTROL_FINISHED_OK
$STATE,10229,begin climb
$GC,10235,0.45,107.1,3339,2356,2872,3002,996.1,0.0,603,10341,0.57,2.70,88.68,1.857,10500,0.121,0.112,3537,3761,2497,2384,2611,0,0,0,0,0,0,13.97,13.64,13.12
$GC,10398,0.45,107.1,3536,3760,2383,2613,988.1,8.7,633,10409,0.00,2.62,0.00,0.000,1030,0.000,0.103,3543,2359,2501,2389,2613,0,0,0,0,0,0,14.08,14.00,14.09
$GC,10740,0.45,107.1,3542,2359,2382,2614,959.8,8.1,649,10751,0.00,2.60,0.00,0.000,516,0.000,0.114,3544,936,2498,2382,2614,0,0,0,0,0,0,14.50,14.30,14.52
$GC,10796,0.45,107.1,3543,935,2383,2614,955.6,8.9,658,10808,0.00,2.55,0.00,0.000,1030,0.000,0.098,3544,2353,2496,2383,2610,0,0,0,0,0,0,14.41,14.33,14.43
$GC,11124,0.45,107.1,3543,2353,2381,2614,925.3,9.1,671,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2353,2497,2381,2614,0,0,0,0,0,0,14.65,14.64,14.64
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$STATE,23031,end climb,SURFACE_DEPTH_REACHED
$STATE,23031,begin surface coast
$FINISH,1.5,1.023407
$STATE,23077,end surface coast,CONTROL_FINISHED_OK
$STATE,23077,begin surface
$SM_CCo,23111,25.62,0.086,0,0,1411,375.06
$SM_GC,0.69,9.73,3.45,25.62,0.050,0.117,0.086,97,1905,1411,-10.24,0.62,375.06,0,0,0,0,0,0,14.49,14.45,14.47
$IRIDIUM_FIX,4710.21,-12554.85,020715,041919
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.32
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,20.30
$XPDR_PINGS,0
$SC_FREEKB,3908480
$24V_AH,13.12,20.831
$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,24.425,158.525,346.600,25.625,0.000,0.000,0.000,730.450,0.000,0.000,5.734,3233.445,15617.786,603.797,3528.084,1225.643,0.000,3173.567,0.000,2221.594,0.000,0.537,0.000
$DEVICE_MAMPS,364.140,2197.080,1900.260,85.680,0.000,0.000,0.000,143.055,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23103.000,568.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.748,6.935,0.000,0.000
$MEM,286420
$DATA_FILE_SIZE,49930,1440
$CAP_FILE_SIZE,273734,0
$CFSIZE,260034560,248659968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,355.87,1
$GPS,020715,110012,4732.546,-12553.940,24,1.1,27,16.6,0.2,0.0,7,8.9