version: 67.00
glider: 185
mission: 8
dive: 12
start: 10 8 117 7 27 8
data:
$ID,185
$MISSION,8
$DIVE,12
$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,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,30
$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,21.505661
$FG_AHR_24V,49.743713
$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
$GPS1,081017,072140,1938.662,-15603.629,3,1.1,5,9.5
$_CALLS,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-53.9
$GPS2,081017,072701,1938.695,-15603.641,3,1.3,4,9.5
$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,165.5,5114,-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,5.73,2,-145.99,-0.79,0.00,584.0,621.4,546.6,244.8,2713.4,0.00,0.00,0,113.92,105.88,0.00,0.00,0.005,0.000,0.000,3134.75,3110.38,3159.12,244.62,2714.62,0,0,0,26.25,30.00,30.00
$GC,114.58,551,-145.99,-0.79,-40.00,3133.5,3109.6,3157.4,244.8,2713.9,3.45,-2.38,21,144.31,12.63,8.39,2.97,0.006,0.218,0.031,3751.03,3667.88,3834.19,2064.69,1276.00,0,0,0,26.59,26.80,26.46
$GC,267.51,1156,-145.99,-0.76,0.00,3750.7,3666.2,3835.1,2066.1,1276.6,43.24,-24.99,52,272.36,0.00,0.00,3.03,0.000,0.000,0.038,3752.31,3668.00,3836.62,2059.81,2704.31,0,0,0,30.00,30.00,27.85
$GC,452.82,128,-145.99,-0.72,0.00,3750.4,3666.4,3834.4,2060.4,2704.9,91.63,-24.22,89,455.93,0.00,0.00,0.00,0.000,0.000,0.000,3751.34,3666.81,3835.88,2060.69,2702.94,0,0,0,30.00,30.00,30.00
$GC,637.05,389,-145.99,-0.71,40.00,3750.6,3666.4,3834.8,2060.2,2705.1,129.09,-18.88,126,642.33,0.00,0.14,2.39,0.000,0.126,0.045,3751.88,3668.31,3835.44,2086.44,3754.56,0,0,0,30.00,27.92,27.80
$GC,672.57,1028,-145.99,-0.71,0.00,3750.8,3666.6,3835.1,2088.2,3755.6,135.17,-16.46,133,677.27,0.00,0.00,2.27,0.000,0.000,0.027,3751.09,3666.25,3835.94,2089.25,2687.88,0,0,0,30.00,30.00,28.10
$GC,857.29,644,-145.99,-0.72,-40.00,3751.5,3666.7,3836.2,2087.7,2688.0,155.99,-10.96,170,862.32,0.00,0.00,2.92,0.000,0.000,0.030,3752.47,3668.19,3836.75,2086.69,1276.12,0,0,0,30.00,30.00,28.06
$GC,881.95,1156,-145.99,-0.73,0.00,3751.7,3665.9,3837.4,2088.1,1276.6,158.45,-10.19,175,887.47,0.00,0.00,3.04,0.000,0.000,0.039,3752.44,3667.00,3837.88,2088.12,2703.56,0,0,0,30.00,30.00,27.96
$GC,1067.54,644,-145.99,-0.75,-40.00,3751.1,3666.0,3836.2,2088.2,2702.4,179.73,-11.11,212,1072.39,0.00,0.00,2.96,0.000,0.000,0.030,3752.78,3667.88,3837.69,2088.81,1276.00,0,0,0,30.00,30.00,28.07
$GC,1122.75,1188,-145.99,-0.77,0.00,3750.9,3666.3,3835.5,2088.4,1276.4,185.20,-9.78,223,1127.35,0.00,0.00,3.05,0.000,0.000,0.039,3753.28,3668.12,3838.44,2086.69,2701.69,0,0,0,30.00,30.00,27.97
$GC,1307.81,420,-145.99,-0.79,40.00,3750.4,3665.6,3835.2,2087.9,2702.2,202.97,-8.63,260,1312.38,0.00,0.00,2.43,0.000,0.000,0.048,3751.62,3665.75,3837.50,2088.12,3753.81,0,0,0,30.00,30.00,27.90
$GC,1372.04,1188,-145.99,-0.82,0.00,3750.6,3665.2,3836.1,2088.1,3754.4,208.57,-8.69,273,1377.40,0.00,0.00,2.26,0.000,0.000,0.027,3751.19,3666.12,3836.25,2087.94,2687.62,0,0,0,30.00,30.00,28.16
$GC,1557.45,421,-145.99,-0.84,40.00,3750.2,3664.4,3836.1,2088.2,2686.9,224.66,-8.83,310,1562.49,0.00,0.13,2.47,0.000,0.048,0.047,3752.31,3667.06,3837.56,2045.12,3753.81,0,0,0,30.00,28.44,27.90
$GC,1587.15,1156,-145.99,-0.86,0.00,3749.9,3665.0,3834.9,2045.8,3753.4,227.90,-10.81,316,1592.26,0.00,0.00,2.26,0.000,0.000,0.027,3752.81,3667.31,3838.31,2044.50,2687.19,0,0,0,30.00,30.00,28.17
$GC,1772.30,128,-145.99,-0.86,0.00,3750.2,3663.9,3836.4,2045.2,2686.2,251.86,-13.49,353,1773.63,0.00,0.00,0.00,0.000,0.000,0.000,3749.53,3663.75,3835.31,2045.12,2686.19,0,0,0,30.00,30.00,30.00
$GC,1952.63,388,-145.99,-0.88,40.00,3749.3,3662.1,3836.4,2045.2,2686.0,273.40,-12.04,389,1957.39,0.00,0.00,2.46,0.000,0.000,0.047,3749.19,3662.44,3835.94,2046.25,3755.50,0,0,0,30.00,30.00,27.88
$GC,2007.81,1156,-145.99,-0.89,0.00,3748.5,3661.1,3835.9,2045.0,3755.9,279.80,-11.55,400,2012.26,0.00,0.00,2.27,0.000,0.000,0.027,3750.19,3662.62,3837.75,2044.69,2685.44,0,0,0,30.00,30.00,28.17
$GC,2191.99,128,-145.99,-0.91,0.00,3747.0,3658.8,3835.2,2045.3,2685.5,300.00,-10.98,437,2193.32,0.00,0.00,0.00,0.000,0.000,0.000,3747.69,3659.62,3835.75,2045.38,2685.06,0,0,0,30.00,30.00,30.00
$STATE,2197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2197,begin apogee
$GC,2199.58,3,0.00,-0.17,0.00,3746.7,3658.1,3835.3,2045.0,3002.4,300.61,11.03,438,2311.93,108.67,1.01,0.05,0.665,0.091,0.116,3155.22,3079.12,3231.31,2264.38,2987.88,0,0,0,23.53,27.49,26.79
$STATE,2312,end apogee,CONTROL_FINISHED_OK
$STATE,2312,begin climb
$GC,2312.95,263,145.99,0.79,40.00,3147.4,3069.4,3225.4,2264.1,2987.6,305.65,0.00,460,2436.01,114.97,1.21,1.87,0.649,0.049,0.049,2554.47,2503.44,2605.50,2570.50,3754.25,0,0,0,23.51,27.21,26.54
$GC,2703.15,1190,172.30,0.79,0.00,2541.3,2489.4,2593.2,2570.8,3753.4,284.40,8.79,538,2729.14,22.46,0.00,1.66,0.673,0.000,0.028,2452.38,2397.25,2507.50,2574.31,2989.44,0,0,0,23.86,30.00,27.85
$GC,2908.17,678,181.93,0.79,-40.00,2439.7,2379.2,2500.1,2576.9,2989.6,266.27,9.56,579,2924.22,10.30,0.00,2.93,0.694,0.000,0.032,2409.28,2348.81,2469.75,2585.12,1576.75,0,0,0,23.78,30.00,27.28
$GC,3157.94,1190,234.00,0.85,0.00,2402.6,2340.1,2465.1,2584.6,1576.8,245.12,7.61,629,3206.91,43.90,0.00,3.05,0.679,0.000,0.040,2197.00,2138.38,2255.62,2585.25,3001.88,0,0,0,23.93,30.00,27.88
$GC,3383.96,646,234.00,0.84,-40.00,2187.3,2123.8,2250.8,2586.0,3001.8,220.86,11.77,674,3389.82,0.00,0.00,2.98,0.000,0.000,0.031,2189.00,2124.94,2253.06,2592.31,1576.00,0,0,0,30.00,30.00,27.81
$GC,3419.24,1030,234.00,0.84,0.00,2186.8,2123.7,2250.0,2593.1,1575.9,217.01,10.93,681,3424.67,0.00,0.00,3.07,0.000,0.000,0.041,2186.69,2124.12,2249.25,2592.88,3002.00,0,0,0,30.00,30.00,27.77
$GC,3604.92,646,234.00,0.83,-40.00,2184.7,2118.9,2250.4,2592.6,3001.6,196.22,12.01,718,3609.66,0.00,0.00,2.96,0.000,0.000,0.031,2186.16,2121.06,2251.25,2598.38,1576.00,0,0,0,30.00,30.00,27.95
$GC,3639.07,1030,234.00,0.83,0.00,2184.3,2119.8,2248.9,2598.0,1576.0,192.67,10.35,725,3644.75,0.00,0.00,3.07,0.000,0.000,0.041,2185.91,2122.44,2249.38,2596.06,3002.50,0,0,0,30.00,30.00,27.88
$GC,3825.00,646,234.00,0.82,-40.00,2182.8,2118.1,2247.5,2598.4,3003.0,173.98,10.86,762,3829.68,0.00,0.00,2.96,0.000,0.000,0.031,2183.53,2118.94,2248.12,2605.94,1576.25,0,0,0,30.00,30.00,28.01
$GC,3899.57,1062,246.02,0.84,0.00,2181.7,2117.1,2246.2,2606.4,1576.6,166.94,9.45,777,3915.99,11.39,0.00,3.06,0.663,0.000,0.040,2149.16,2086.69,2211.62,2605.38,3004.69,0,0,0,23.88,30.00,27.93
$GC,4094.91,678,246.38,0.83,-40.00,2140.4,2075.0,2205.9,2606.2,3005.1,146.95,9.98,816,4099.74,0.00,0.00,2.98,0.000,0.000,0.031,2141.34,2075.94,2206.75,2614.31,1575.75,0,0,0,30.00,30.00,28.01
$GC,4184.73,1062,270.76,0.86,0.00,2140.2,2074.6,2205.8,2614.1,1575.8,139.25,8.88,834,4206.03,15.97,0.00,3.06,0.623,0.000,0.041,2047.47,1982.94,2112.00,2613.44,3003.00,0,0,0,23.94,30.00,27.94
$GC,4384.09,294,308.10,0.91,40.00,2039.9,1969.8,2110.0,2613.1,3003.2,121.08,8.28,874,4414.66,25.42,0.00,1.75,0.591,0.000,0.050,1893.19,1820.88,1965.50,2614.44,3753.12,0,0,0,23.92,30.00,27.31
$GC,4429.63,1062,335.32,0.94,0.00,1890.9,1818.1,1963.8,2614.5,3752.6,117.12,8.75,883,4450.97,17.89,0.00,1.67,0.577,0.000,0.031,1787.97,1710.12,1865.81,2616.75,2991.75,0,0,0,23.94,30.00,27.81
$GC,4629.52,678,362.27,0.99,-40.00,1777.9,1696.2,1859.5,2617.1,2991.1,99.13,8.76,923,4651.14,17.02,0.00,2.96,0.542,0.000,0.031,1671.50,1594.19,1748.81,2618.56,1576.44,0,0,0,23.84,30.00,27.25
$GC,4744.90,1191,391.43,1.05,0.00,1670.2,1591.1,1749.3,2618.6,1577.1,89.16,8.66,946,4770.43,18.92,0.12,3.06,0.526,0.052,0.040,1560.72,1490.62,1630.81,2657.31,2999.50,0,0,0,23.86,27.72,27.78
$GC,4949.70,646,391.43,1.06,-40.00,1549.3,1475.4,1623.2,2657.9,3001.4,67.39,10.71,987,4954.76,0.00,0.00,2.98,0.000,0.000,0.031,1549.97,1476.12,1623.81,2661.44,1577.25,0,0,0,30.00,30.00,27.89
$GC,4974.56,1158,391.43,1.07,0.00,1549.6,1475.7,1623.5,2661.2,1576.6,64.83,10.60,992,4979.64,0.00,0.00,3.07,0.000,0.000,0.040,1549.84,1475.88,1623.81,2661.44,3004.69,0,0,0,30.00,30.00,27.84
$GC,5159.42,646,391.43,1.08,-40.00,1549.4,1475.6,1623.3,2661.2,3003.2,41.82,12.40,1029,5164.77,0.00,0.00,2.96,0.000,0.000,0.031,1549.56,1475.88,1623.25,2662.56,1577.88,0,0,0,30.00,30.00,27.99
$GC,5238.97,1158,391.43,1.09,0.00,1549.3,1475.6,1623.0,2661.6,1577.9,33.20,10.80,1045,5244.63,0.00,0.00,3.06,0.000,0.000,0.040,1551.56,1477.38,1625.75,2662.31,3003.00,0,0,0,30.00,30.00,27.94
$GC,5425.02,646,391.43,1.10,-40.00,1549.4,1475.6,1623.1,2662.1,3002.9,11.53,11.20,1082,5429.63,0.00,0.00,2.96,0.000,0.000,0.031,1551.56,1477.12,1626.00,2662.62,1575.69,0,0,0,30.00,30.00,28.05
$STATE,5524,end climb,SURFACE_DEPTH_REACHED
$STATE,5524,begin surface coast
$FINISH,0.4,0.999077
$STATE,5539,end surface coast,CONTROL_FINISHED_OK
$STATE,5539,begin surface
$SM_CCo,5640.24,85.71,0.125,0,591.2,631.6,550.8,629.15
$SM_CCo,5641.33,0.12,0.130,0,589.9,628.7,551.1,629.47
$SM_GC,1.07,0.12,6.90,2.49,0.130,0.040,0.036,589.9,628.7,551.1,245.2,2701.8,0,0,0,26.68,27.86,28.02
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,1940.23,-15603.88,081017,053835
$TCM_TEMP,25.60
$XPDR_PINGS,10
$SC_FREEKB,4015616
$HUMID,54.08
$TEMP,24.15
$INTERNAL_PRESSURE,11.8899
$24V_AH,26.26,21.819
$10V_AH,11.09,8.798
$FG_AHR_24Vo,49.787
$FG_AHR_10Vo,21.517
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,611.240,17.890,98.200,236.399,2.500,4.865,2880.434,3050.048,1943.017,0.000,0.000,0.000
$DEVICE_MAMPS,693.800,217.544,115.536,124.706,420.000,12.410,12.050,2.190,4.110,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5554.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.387,0.000,0.000,0.000
$MEM,1167980,27,13704,41
$DATA_FILE_SIZE,40693,1105
$CAP_FILE_SIZE,252654,0
$SDSIZE,4028416,4014944
$ERRORS,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$CURRENT,0.059,338.2,1
$GPS,081017,090154,1937.973,-15603.789,33,1.2,33,9.5