version: 67.00
glider: 185
mission: 8
dive: 10
start: 10 8 117 4 25 46
data:
$ID,185
$MISSION,8
$DIVE,10
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,210
$D_ABORT,250
$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,70
$T_MISSION,95
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51692
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,629.25177
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3950
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,33
$PITCH_TIMEOUT,45
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3950
$C_VBD,3156
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,650
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,5
$MAXI_10V,0.80000001
$FG_AHR_10V,21.482771
$FG_AHR_24V,49.656315
$PHONE_SUPPLY,2
$PRESSURE_YINT,-150.76541
$PRESSURE_SLOPE,0.00010658
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,0
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,48
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,4
$SIM_W,0
$SEABIRD_T_G,0.0043319771
$SEABIRD_T_H,0.00061972893
$SEABIRD_T_I,2.0309124e-05
$SEABIRD_T_J,1.8214913e-06
$SEABIRD_C_G,-9.9888363
$SEABIRD_C_H,1.1040936
$SEABIRD_C_I,-0.0023403035
$SEABIRD_C_J,0.00025686048
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,081017,041906,1939.730,-15603.601,2,0.9,4,9.5
$_CALLS,2
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-56.3
$GPS2,081017,042538,1939.780,-15603.597,2,0.9,3,9.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SHELF1
$TGT_LATLONG,1936.000,-15603.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,160.3,7077,-18.2,-10.000,-21.02
$D_GRID,1000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,5.80,2,-145.99,-0.73,0.00,586.6,623.0,550.2,245.1,2717.9,0.00,0.00,0,113.86,105.78,0.00,0.00,0.005,0.000,0.000,3126.84,3099.75,3153.94,245.38,2717.62,0,0,0,26.28,30.00,30.00
$GC,114.47,295,-145.99,-0.73,40.00,3125.5,3098.1,3152.9,245.1,2717.6,3.47,-2.44,21,144.18,12.97,8.48,2.38,0.006,0.216,0.048,3750.47,3663.75,3837.19,2105.94,3754.38,0,0,0,26.63,26.86,26.55
$GC,362.22,1156,-145.99,-0.71,0.00,3749.4,3662.6,3836.2,2105.4,3756.4,58.95,-21.87,71,367.39,0.00,0.00,2.24,0.000,0.000,0.025,3749.41,3663.12,3835.69,2106.56,2686.12,0,0,0,30.00,30.00,28.09
$GC,547.55,644,-145.99,-0.70,-40.00,3749.7,3662.6,3836.8,2106.3,2686.7,95.32,-18.49,108,552.27,0.00,0.00,2.91,0.000,0.000,0.029,3750.25,3663.06,3837.44,2105.62,1277.06,0,0,0,30.00,30.00,28.08
$GC,567.00,1028,-145.99,-0.70,0.00,3749.8,3663.3,3836.2,2105.8,1276.8,98.36,-15.99,112,572.42,0.00,0.00,3.03,0.000,0.000,0.039,3750.59,3664.19,3837.00,2102.56,2702.12,0,0,0,30.00,30.00,27.98
$GC,752.21,388,-145.99,-0.71,40.00,3750.0,3663.0,3836.9,2104.6,2702.9,123.00,-12.10,149,757.21,0.00,0.00,2.40,0.000,0.000,0.047,3749.94,3663.56,3836.31,2104.94,3751.50,0,0,0,30.00,30.00,27.95
$GC,802.77,1156,-145.99,-0.72,0.00,3749.8,3663.0,3836.5,2104.7,3752.5,129.47,-12.90,159,807.20,0.00,0.00,2.25,0.000,0.000,0.027,3749.81,3662.06,3837.56,2106.00,2688.44,0,0,0,30.00,30.00,28.18
$GC,987.48,644,-145.99,-0.74,-40.00,3749.8,3662.5,3837.1,2104.2,2689.0,150.06,-10.84,196,992.29,0.00,0.00,2.90,0.000,0.000,0.029,3751.72,3664.44,3839.00,2103.25,1275.31,0,0,0,30.00,30.00,28.14
$GC,1027.29,1156,-145.99,-0.76,0.00,3750.0,3662.8,3837.2,2104.2,1275.6,154.19,-10.35,204,1032.46,0.00,0.00,3.03,0.000,0.000,0.038,3749.75,3663.81,3835.69,2104.81,2704.00,0,0,0,30.00,30.00,28.02
$GC,1212.48,388,-145.99,-0.78,40.00,3749.7,3662.4,3837.0,2104.4,2703.5,172.74,-10.44,241,1217.17,0.00,0.00,2.39,0.000,0.000,0.046,3749.88,3662.94,3836.81,2105.00,3753.50,0,0,0,30.00,30.00,27.97
$GC,1272.43,1156,-145.99,-0.81,0.00,3749.6,3662.5,3836.6,2104.2,3753.9,179.15,-10.50,253,1277.36,0.00,0.00,2.26,0.000,0.000,0.028,3751.22,3664.19,3838.25,2102.88,2688.25,0,0,0,30.00,30.00,28.19
$GC,1457.66,420,-145.99,-0.85,40.00,3749.2,3661.4,3837.0,2104.4,2688.6,198.31,-8.93,290,1462.17,0.00,0.00,2.45,0.000,0.000,0.046,3750.88,3663.44,3838.31,2104.06,3752.31,0,0,0,30.00,30.00,27.96
$GC,1587.37,1189,-145.99,-0.88,0.00,3749.3,3662.5,3836.2,2103.9,3752.4,208.01,-6.71,316,1592.15,0.00,0.14,2.26,0.000,0.045,0.029,3749.94,3661.50,3838.38,2060.25,2693.44,0,0,0,30.00,28.08,28.19
$STATE,1617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1617,begin apogee
$GC,1618.99,3,0.00,-0.15,0.00,3749.1,3661.4,3836.8,2060.1,2902.7,210.36,7.16,322,1730.47,107.61,1.12,0.05,0.569,0.093,0.115,3155.03,3079.31,3230.75,2300.69,2888.19,0,0,0,23.51,27.57,26.98
$STATE,1731,end apogee,CONTROL_FINISHED_OK
$STATE,1731,begin climb
$GC,1731.33,263,145.99,0.73,40.00,3146.4,3068.6,3224.2,2299.2,2888.2,213.69,0.00,344,1851.43,112.86,1.12,2.09,0.563,0.052,0.047,2551.12,2500.50,2601.75,2583.69,3754.19,0,0,0,23.64,27.36,26.72
$GC,2118.66,1190,217.89,0.79,0.00,2540.7,2486.9,2594.5,2583.1,3755.8,195.64,6.70,421,2180.44,57.13,0.00,1.88,0.571,0.000,0.029,2269.66,2209.75,2329.56,2589.31,2890.19,0,0,0,23.91,30.00,27.92
$GC,2358.01,550,232.84,0.81,-40.00,2253.9,2190.3,2317.6,2588.6,2890.9,175.65,9.31,469,2376.57,14.36,0.00,2.97,0.603,0.000,0.032,2198.62,2137.19,2260.06,2593.12,1477.94,0,0,0,23.86,30.00,27.27
$GC,2524.03,1158,232.84,0.82,0.00,2194.7,2130.6,2258.8,2592.6,1478.2,158.04,11.22,502,2529.41,0.00,0.00,3.05,0.000,0.000,0.039,2195.41,2132.06,2258.75,2592.62,2904.12,0,0,0,30.00,30.00,27.88
$GC,2709.63,548,237.25,0.82,-40.00,2193.2,2128.3,2258.1,2593.2,2904.5,139.35,9.80,539,2714.79,0.00,0.00,2.98,0.000,0.000,0.031,2194.31,2128.88,2259.75,2598.25,1477.38,0,0,0,30.00,30.00,28.03
$GC,2874.95,1190,258.17,0.86,0.00,2192.8,2127.0,2258.7,2598.4,1477.9,123.65,9.04,572,2895.82,16.09,0.00,3.04,0.568,0.000,0.038,2101.50,2036.62,2166.38,2598.44,2903.50,0,0,0,23.84,30.00,28.00
$GC,3074.30,423,295.32,0.91,40.00,2090.3,2020.5,2160.1,2598.3,2904.2,106.22,8.29,612,3104.71,25.17,0.14,1.98,0.534,0.048,0.047,1945.25,1874.94,2015.56,2644.00,3752.38,0,0,0,23.98,28.21,27.44
$GC,3139.90,1158,295.32,0.90,0.00,1941.1,1869.0,2013.2,2643.9,3752.9,98.49,13.36,625,3143.99,0.00,0.00,1.89,0.000,0.000,0.029,1941.41,1869.88,2012.94,2649.38,2889.06,0,0,0,30.00,30.00,27.92
$GC,3324.23,294,323.42,0.93,40.00,1939.6,1865.9,2013.2,2648.8,2888.3,79.40,8.71,662,3345.63,17.55,0.00,2.04,0.497,0.000,0.048,1831.12,1754.88,1907.38,2649.38,3754.19,0,0,0,24.00,30.00,27.48
$GC,3474.84,1030,323.42,0.93,0.00,1828.4,1748.9,1908.0,2649.1,3754.1,63.86,10.57,692,3479.19,0.00,0.00,1.86,0.000,0.000,0.029,1828.38,1749.38,1907.38,2650.94,2891.38,0,0,0,30.00,30.00,28.04
$GC,3659.16,550,336.21,0.95,-40.00,1827.0,1746.5,1907.6,2650.1,2891.4,46.83,9.41,729,3669.58,4.07,0.00,2.93,0.270,0.000,0.033,1784.53,1707.31,1861.75,2650.56,1477.38,0,0,0,23.88,30.00,27.00
$GC,3739.36,1190,358.96,0.99,0.00,1788.9,1715.8,1862.1,2650.8,1477.9,39.71,8.95,745,3760.78,16.45,0.00,3.02,0.440,0.000,0.038,1690.06,1614.75,1765.38,2651.31,2904.06,0,0,0,24.16,30.00,28.04
$GC,3939.70,646,358.96,1.00,-40.00,1681.8,1601.2,1762.5,2650.4,2903.9,20.07,10.37,785,3944.52,0.00,0.00,2.96,0.000,0.000,0.031,1683.72,1602.38,1765.06,2651.38,1477.81,0,0,0,30.00,30.00,28.08
$GC,3974.10,1158,358.96,1.01,0.00,1682.0,1601.3,1762.7,2651.5,1477.8,16.59,10.14,792,3979.52,0.00,0.00,3.03,0.000,0.000,0.038,1683.25,1602.62,1763.88,2651.00,2904.00,0,0,0,30.00,30.00,28.03
$STATE,4109,end climb,SURFACE_DEPTH_REACHED
$STATE,4109,begin surface coast
$FINISH,0.4,1.022011
$STATE,4129,end surface coast,CONTROL_FINISHED_OK
$STATE,4129,begin surface
$SM_CCo,4238.12,95.54,0.122,0,591.2,628.4,553.9,629.16
$SM_CCo,4239.53,0.12,0.131,0,589.9,625.9,553.9,629.46
$SM_GC,1.07,0.12,6.86,0.45,0.131,0.040,0.032,589.9,625.9,553.9,246.2,2690.4,0,0,0,26.71,27.95,28.21
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,1937.52,-15604.81,081017,042036
$TCM_TEMP,25.80
$XPDR_PINGS,7
$SC_FREEKB,4016256
$HUMID,54.13
$TEMP,25.48
$INTERNAL_PRESSURE,11.9493
$24V_AH,26.49,21.650
$10V_AH,11.12,8.746
$FG_AHR_24Vo,49.691
$FG_AHR_10Vo,21.493
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,585.715,17.860,67.245,260.575,1.750,4.467,2333.028,2277.006,1449.146,0.000,0.000,0.000
$DEVICE_MAMPS,602.616,215.576,114.880,113.159,420.000,12.410,12.050,2.190,4.110,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4143.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.051,0.000,0.000,0.000
$MEM,1167920,29,13724,41
$DATA_FILE_SIZE,30560,823
$CAP_FILE_SIZE,200395,0
$SDSIZE,4028416,4015424
$ERRORS,0,0,0,0,0,0,0,0
$CURRENT,0.051,  8.9,1
$GPS,081017,053701,1939.335,-15603.630,7,0.8,24,9.5