version: 67.00
glider: 185
mission: 8
dive: 11
start: 10 8 117 5 42 12
data:
$ID,185
$MISSION,8
$DIVE,11
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,135
$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,3000
$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,21.493071
$FG_AHR_24V,49.695812
$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
$GPS1,081017,053701,1939.335,-15603.630,7,0.8,24,9.5
$_CALLS,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-55.5
$GPS2,081017,054204,1939.361,-15603.645,3,0.8,5,9.5
$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,164.0,6325,-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,5.82,2,-145.99,-0.73,0.00,587.6,622.1,553.1,245.7,2707.1,0.00,0.00,0,113.94,105.75,0.00,0.00,0.005,0.000,0.000,3116.47,3088.38,3144.56,245.62,2708.75,0,0,0,26.30,30.00,30.00
$GC,114.58,551,-145.99,-0.73,-40.00,3115.8,3086.6,3144.9,245.9,2707.3,3.16,-2.10,21,144.75,13.43,8.51,2.95,0.006,0.216,0.030,3749.44,3663.19,3835.69,2114.25,1276.44,0,0,0,26.62,26.85,26.51
$GC,207.75,1156,-145.99,-0.72,0.00,3749.9,3663.2,3836.7,2113.7,1276.7,24.00,-19.86,40,212.75,0.00,0.00,3.01,0.000,0.000,0.037,3750.31,3663.75,3836.88,2109.94,2702.44,0,0,0,30.00,30.00,27.89
$GC,392.89,388,-145.99,-0.70,40.00,3749.9,3663.1,3836.7,2108.9,2702.9,64.68,-23.13,77,397.37,0.00,0.00,2.38,0.000,0.000,0.043,3749.78,3664.19,3835.38,2104.88,3753.75,0,0,0,30.00,30.00,27.93
$GC,432.64,1156,-145.99,-0.68,0.00,3749.8,3662.8,3836.8,2104.8,3753.8,73.30,-21.53,85,437.47,0.00,0.00,2.25,0.000,0.000,0.026,3750.72,3664.44,3837.00,2103.88,2686.62,0,0,0,30.00,30.00,28.10
$GC,617.24,516,-145.99,-0.68,-40.00,3749.5,3663.2,3835.9,2104.6,2685.1,107.60,-16.74,122,622.33,0.00,0.00,2.92,0.000,0.000,0.029,3749.94,3663.44,3836.44,2104.12,1276.50,0,0,0,30.00,30.00,28.08
$GC,657.28,1028,-145.99,-0.68,0.00,3749.8,3662.9,3836.6,2104.7,1276.6,113.83,-15.29,130,662.44,0.00,0.00,3.02,0.000,0.000,0.038,3750.78,3663.62,3837.94,2103.81,2702.38,0,0,0,30.00,30.00,28.00
$GC,842.44,388,-145.99,-0.70,40.00,3750.1,3663.4,3836.9,2104.0,2701.2,136.06,-11.24,167,847.36,0.00,0.00,2.38,0.000,0.000,0.045,3750.25,3664.06,3836.44,2103.56,3755.12,0,0,0,30.00,30.00,27.98
$GC,897.80,1156,-145.99,-0.72,0.00,3750.2,3663.7,3836.8,2104.3,3754.1,141.84,-10.40,178,902.19,0.00,0.00,2.24,0.000,0.000,0.028,3750.91,3664.44,3837.38,2102.00,2685.81,0,0,0,30.00,30.00,28.17
$GC,1082.26,644,-145.99,-0.74,-40.00,3749.9,3662.8,3837.1,2104.3,2685.8,160.28,-10.20,215,1087.38,0.00,0.00,2.92,0.000,0.000,0.029,3750.66,3663.12,3838.19,2104.75,1276.12,0,0,0,30.00,30.00,28.13
$GC,1132.82,1188,-145.99,-0.76,0.00,3749.8,3662.3,3837.2,2103.9,1276.4,165.28,-9.78,225,1137.60,0.00,0.00,3.03,0.000,0.000,0.039,3750.66,3664.06,3837.25,2103.88,2703.50,0,0,0,30.00,30.00,28.02
$GC,1317.93,644,-145.99,-0.78,-40.00,3749.6,3662.3,3836.9,2104.4,2702.8,182.87,-11.42,262,1322.51,0.00,0.00,2.95,0.000,0.000,0.030,3750.91,3663.44,3838.38,2103.62,1276.56,0,0,0,30.00,30.00,28.12
$GC,1382.90,1156,-145.99,-0.82,0.00,3749.6,3662.4,3836.9,2104.2,1276.4,189.65,-10.25,275,1387.49,0.00,0.00,3.03,0.000,0.000,0.038,3750.41,3662.62,3838.19,2105.00,2705.56,0,0,0,30.00,30.00,28.03
$GC,1567.31,420,-145.99,-0.85,40.00,3749.1,3662.1,3836.1,2104.4,2704.8,206.50,-8.77,312,1572.29,0.00,0.00,2.38,0.000,0.000,0.045,3750.09,3663.25,3836.94,2104.50,3751.50,0,0,0,30.00,30.00,27.97
$GC,1627.58,1189,-145.99,-0.88,0.00,3749.9,3663.1,3836.8,2104.4,3753.4,211.34,-7.91,324,1632.25,0.00,0.14,2.27,0.000,0.045,0.029,3750.00,3661.88,3838.12,2058.25,2692.38,0,0,0,30.00,28.08,28.19
$GC,1812.72,128,-145.99,-0.90,0.00,3748.4,3660.1,3836.6,2058.3,2692.9,229.41,-10.40,361,1815.82,0.00,0.00,0.00,0.000,0.000,0.000,3748.84,3660.94,3836.75,2057.56,2693.31,0,0,0,30.00,30.00,30.00
$GC,1997.91,388,-145.99,-0.92,40.00,3746.8,3657.8,3835.9,2058.1,2693.0,248.94,-10.47,398,2002.43,0.00,0.00,2.44,0.000,0.000,0.046,3747.47,3657.62,3837.31,2058.06,3755.75,0,0,0,30.00,30.00,27.94
$GC,2037.39,1156,-145.99,-0.94,0.00,3746.2,3656.2,3836.1,2057.8,3754.6,253.24,-11.10,406,2042.33,0.00,0.00,2.28,0.000,0.000,0.029,3747.50,3656.69,3838.31,2057.19,2688.00,0,0,0,30.00,30.00,28.18
$GC,2222.34,388,-145.99,-0.96,40.00,3745.2,3654.1,3836.3,2058.1,2688.4,272.94,-10.53,443,2227.54,0.00,0.00,2.45,0.000,0.000,0.046,3746.72,3655.56,3837.88,2057.38,3754.62,0,0,0,30.00,30.00,27.92
$GC,2263.00,1156,-145.99,-0.98,0.00,3745.5,3653.9,3837.1,2057.4,3754.5,277.33,-10.84,451,2267.29,0.00,0.00,2.28,0.000,0.000,0.029,3745.28,3654.12,3836.44,2057.50,2688.06,0,0,0,30.00,30.00,28.17
$GC,2447.97,644,-145.99,-1.00,-40.00,3743.9,3651.7,3836.2,2057.6,2689.0,296.85,-10.67,488,2452.58,0.00,0.00,2.93,0.000,0.000,0.030,3744.19,3651.62,3836.75,2058.38,1276.00,0,0,0,30.00,30.00,28.08
$STATE,2482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2482,begin apogee
$GC,2487.64,3,0.00,-0.15,0.00,3743.2,3649.8,3836.6,2058.1,3003.5,300.54,10.59,495,2599.60,108.09,1.11,0.05,0.671,0.086,0.126,3155.50,3076.69,3234.31,2299.12,2990.38,0,0,0,23.04,27.51,26.83
$STATE,2600,end apogee,CONTROL_FINISHED_OK
$STATE,2600,begin climb
$GC,2600.49,263,145.99,0.73,40.00,3148.1,3067.6,3228.6,2299.9,2989.9,305.12,0.00,517,2723.63,114.77,1.08,1.84,0.651,0.042,0.047,2551.91,2501.75,2602.06,2582.75,3752.12,0,0,0,23.58,27.27,26.61
$GC,2991.76,1190,170.59,0.73,0.00,2539.3,2487.5,2591.1,2582.6,3752.2,279.91,8.87,595,3016.62,20.43,0.00,1.66,0.664,0.000,0.031,2462.75,2407.50,2518.00,2588.88,2991.12,0,0,0,23.90,30.00,27.88
$GC,3196.99,676,175.22,0.71,-40.00,2448.2,2387.8,2508.6,2589.1,2991.1,260.28,9.79,636,3201.51,0.00,0.00,2.93,0.000,0.000,0.032,2449.34,2388.50,2510.19,2598.00,1578.25,0,0,0,30.00,30.00,27.91
$GC,3451.88,1190,220.80,0.76,0.00,2444.8,2384.1,2505.4,2598.5,1579.1,236.73,7.91,687,3498.45,41.78,0.00,3.04,0.662,0.000,0.041,2252.47,2193.25,2311.69,2598.38,3002.00,0,0,0,23.96,30.00,27.93
$GC,3676.14,130,220.80,0.74,0.00,2239.8,2179.3,2300.2,2598.3,3002.4,213.27,11.09,732,3677.47,0.00,0.00,0.00,0.000,0.000,0.000,2242.06,2181.88,2302.25,2597.00,3002.44,0,0,0,30.00,30.00,30.00
$GC,3856.43,646,220.80,0.73,-40.00,2238.5,2176.4,2300.6,2598.9,3003.1,195.42,10.22,768,3861.48,0.00,0.00,2.97,0.000,0.000,0.032,2241.47,2180.06,2302.88,2606.25,1576.69,0,0,0,30.00,30.00,27.95
$GC,3896.46,1062,236.43,0.75,0.00,2237.6,2176.9,2298.3,2605.0,1575.5,191.70,9.28,776,3917.01,14.23,0.00,3.05,0.668,0.000,0.041,2186.72,2127.38,2246.06,2605.75,3004.31,0,0,0,23.94,30.00,27.89
$GC,4096.15,646,236.43,0.74,-40.00,2180.3,2116.2,2244.3,2605.8,3004.2,172.58,10.65,816,4101.56,0.00,0.00,2.98,0.000,0.000,0.032,2181.94,2118.12,2245.75,2614.00,1576.38,0,0,0,30.00,30.00,27.97
$GC,4240.95,1062,256.60,0.76,0.00,2179.2,2115.6,2242.9,2613.4,1576.5,158.79,9.07,845,4266.72,18.79,0.00,3.05,0.647,0.000,0.041,2103.16,2040.38,2165.94,2613.88,3000.62,0,0,0,23.95,30.00,27.93
$GC,4446.69,130,256.60,0.75,0.00,2097.4,2030.1,2164.8,2613.3,2999.9,135.67,11.56,886,4449.79,0.00,0.00,0.00,0.000,0.000,0.000,2099.47,2031.69,2167.25,2612.81,3001.00,0,0,0,30.00,30.00,30.00
$GC,4631.20,422,287.01,0.79,40.00,2096.3,2028.0,2164.7,2613.2,3000.5,118.06,8.60,923,4653.79,19.39,0.00,1.74,0.584,0.000,0.049,1979.44,1909.94,2048.94,2613.62,3753.25,0,0,0,24.04,30.00,27.45
$GC,4672.03,1062,310.27,0.81,0.00,1977.7,1908.0,2047.4,2613.6,3754.2,114.42,8.93,931,4691.69,14.65,0.00,1.66,0.572,0.000,0.031,1888.84,1816.06,1961.62,2617.56,2990.81,0,0,0,24.01,30.00,27.93
$GC,4871.66,678,317.21,0.83,-40.00,1879.2,1801.3,1957.1,2617.3,2990.6,94.93,9.68,971,4878.00,1.69,0.00,2.95,0.298,0.000,0.033,1860.84,1787.38,1934.31,2621.94,1578.00,0,0,0,25.25,30.00,27.18
$GC,5126.43,1190,368.09,0.91,0.00,1866.4,1796.9,1935.9,2622.6,1578.2,74.79,7.66,1022,5169.84,38.19,0.00,3.08,0.501,0.000,0.042,1653.97,1578.56,1729.38,2622.69,3004.50,0,0,0,23.92,30.00,27.92
$GC,5347.79,679,392.38,0.96,-40.00,1645.5,1567.8,1723.2,2622.8,3003.6,56.03,8.88,1066,5367.95,14.40,0.10,3.01,0.465,0.056,0.033,1549.81,1477.75,1621.88,2663.50,1576.31,0,0,0,23.93,28.06,27.39
$GC,5462.30,1158,392.38,0.98,0.00,1548.1,1475.4,1620.9,2662.8,1576.9,44.54,10.16,1089,5467.60,0.00,0.00,3.06,0.000,0.000,0.041,1548.97,1476.56,1621.38,2663.25,3000.88,0,0,0,30.00,30.00,27.85
$GC,5647.48,644,392.38,0.98,-40.00,1548.3,1475.3,1621.2,2662.8,3000.9,23.62,11.68,1126,5652.52,0.00,0.00,2.97,0.000,0.000,0.033,1549.38,1476.25,1622.50,2663.06,1577.12,0,0,0,30.00,30.00,27.99
$GC,5707.93,1158,392.38,1.00,0.00,1548.2,1475.5,1620.9,2663.4,1576.4,17.07,10.50,1138,5712.54,0.00,0.00,3.07,0.000,0.000,0.041,1548.22,1475.44,1621.00,2664.00,3002.25,0,0,0,30.00,30.00,27.93
$STATE,5836,end climb,SURFACE_DEPTH_REACHED
$STATE,5836,begin surface coast
$FINISH,0.4,1.010249
$STATE,5852,end surface coast,CONTROL_FINISHED_OK
$STATE,5852,begin surface
$SM_CCo,5951.29,85.28,0.125,0,590.3,629.4,551.2,629.36
$SM_GC,1.02,85.28,6.89,0.64,0.125,0.038,0.032,590.3,629.4,551.2,245.1,2688.1,0,0,0,25.22,27.87,28.12
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,1937.52,-15604.81,081017,042214
$TCM_TEMP,25.60
$XPDR_PINGS,16
$SC_FREEKB,4015936
$HUMID,54.35
$TEMP,24.32
$INTERNAL_PRESSURE,11.9052
$24V_AH,26.31,21.734
$10V_AH,11.09,8.772
$FG_AHR_24Vo,49.739
$FG_AHR_10Vo,21.505
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,610.855,17.820,97.300,229.041,4.000,6.251,2977.249,3256.026,2052.088,0.000,0.000,0.000
$DEVICE_MAMPS,670.512,215.904,126.032,115.033,420.000,12.410,12.050,2.190,4.110,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5866.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.326,0.000,0.000,0.000
$MEM,1168020,25,13704,41
$DATA_FILE_SIZE,44136,1167
$CAP_FILE_SIZE,255420,0
$SDSIZE,4028416,4015168
$ERRORS,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$CURRENT,0.069, 17.4,1
$GPS,081017,072140,1938.662,-15603.629,3,1.1,5,9.5