version: 67.00
glider: 185
mission: 8
dive: 14
start: 10 8 117 10 45 3
data:
$ID,185
$MISSION,8
$DIVE,14
$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,21.529337
$FG_AHR_24V,49.841476
$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
$GPS1,081017,103941,1937.306,-15603.700,4,1.1,6,9.5
$_CALLS,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-56.4
$GPS2,081017,104455,1937.323,-15603.730,4,1.3,7,9.5
$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,143.6,2763,-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,5.88,2,-145.99,-0.79,0.00,583.9,621.4,546.3,245.1,2685.8,0.00,0.00,0,113.90,105.76,0.00,0.00,0.005,0.000,0.000,3128.84,3101.12,3156.56,245.25,2685.19,0,0,0,26.22,30.00,30.00
$GC,114.60,551,-145.99,-0.79,-40.00,3127.3,3100.8,3153.9,245.2,2685.4,3.42,-2.38,21,144.53,12.85,8.38,2.91,0.006,0.217,0.029,3749.91,3666.81,3833.00,2065.38,1274.00,0,0,0,26.55,26.80,26.42
$GC,307.04,1156,-145.99,-0.76,0.00,3750.6,3666.7,3834.4,2065.3,1273.9,51.63,-22.77,60,312.55,0.00,0.00,3.03,0.000,0.000,0.037,3751.97,3667.94,3836.00,2060.06,2703.44,0,0,0,30.00,30.00,27.86
$GC,493.01,128,-145.99,-0.73,0.00,3750.5,3666.4,3834.6,2060.4,2703.9,99.25,-23.22,97,496.07,0.00,0.00,0.00,0.000,0.000,0.000,3750.66,3666.19,3835.12,2060.38,2702.69,0,0,0,30.00,30.00,30.00
$GC,677.28,644,-145.99,-0.72,-40.00,3751.0,3666.9,3835.1,2060.7,2703.6,136.77,-15.77,134,682.34,0.00,0.00,2.94,0.000,0.000,0.028,3752.78,3669.31,3836.25,2061.12,1275.69,0,0,0,30.00,30.00,28.05
$GC,712.92,1157,-145.99,-0.71,0.00,3750.8,3666.3,3835.2,2060.5,1275.4,142.96,-17.54,141,717.43,0.00,0.12,3.03,0.000,0.111,0.039,3752.16,3668.12,3836.19,2091.12,2701.50,0,0,0,30.00,27.65,27.95
$GC,897.57,388,-145.99,-0.72,40.00,3751.0,3666.7,3835.4,2091.7,2701.6,165.17,-11.44,178,902.23,0.00,0.00,2.39,0.000,0.000,0.045,3752.06,3666.88,3837.25,2090.44,3753.12,0,0,0,30.00,30.00,27.93
$GC,967.14,1156,-145.99,-0.74,0.00,3751.4,3665.4,3837.4,2090.8,3754.2,173.26,-11.01,192,972.31,0.00,0.00,2.24,0.000,0.000,0.028,3751.31,3665.50,3837.12,2090.06,2690.94,0,0,0,30.00,30.00,28.12
$GC,1152.18,160,-145.99,-0.76,0.00,3751.2,3666.1,3836.3,2090.2,2691.3,191.21,-9.21,229,1153.51,0.00,0.00,0.00,0.000,0.000,0.000,3750.75,3665.94,3835.56,2090.81,2691.88,0,0,0,30.00,30.00,30.00
$GC,1332.36,420,-145.99,-0.79,40.00,3751.4,3666.8,3836.0,2090.7,2691.3,207.97,-8.71,265,1337.34,0.00,0.00,2.43,0.000,0.000,0.045,3751.09,3666.94,3835.25,2090.44,3755.50,0,0,0,30.00,30.00,27.95
$GC,1367.66,1189,-145.99,-0.82,0.00,3751.1,3666.4,3835.8,2090.5,3754.3,211.14,-9.11,272,1372.27,0.00,0.12,2.27,0.000,0.048,0.028,3752.69,3667.25,3838.12,2047.75,2693.06,0,0,0,30.00,28.04,28.15
$GC,1552.28,388,-145.99,-0.83,40.00,3750.6,3664.6,3836.6,2048.4,2692.2,232.56,-11.69,309,1557.47,0.00,0.00,2.43,0.000,0.000,0.045,3752.19,3666.38,3838.00,2047.94,3755.12,0,0,0,30.00,30.00,27.95
$GC,1592.85,1156,-145.99,-0.84,0.00,3750.5,3664.4,3836.6,2047.7,3755.9,237.34,-11.82,317,1597.52,0.00,0.00,2.28,0.000,0.000,0.028,3750.69,3664.62,3836.75,2047.00,2688.88,0,0,0,30.00,30.00,28.17
$GC,1777.47,644,-145.99,-0.85,-40.00,3750.0,3663.8,3836.2,2047.6,2687.7,258.80,-11.47,354,1782.51,0.00,0.00,2.91,0.000,0.000,0.029,3750.81,3665.06,3836.56,2047.12,1274.94,0,0,0,30.00,30.00,28.11
$GC,1883.12,1156,-145.99,-0.87,0.00,3749.1,3661.9,3836.4,2047.8,1275.1,271.05,-11.04,375,1887.38,0.00,0.00,3.04,0.000,0.000,0.038,3750.72,3664.19,3837.25,2047.56,2702.94,0,0,0,30.00,30.00,27.99
$GC,2067.25,420,-145.99,-0.88,40.00,3747.9,3660.4,3835.3,2047.5,2703.2,289.77,-9.68,412,2072.40,0.00,0.00,2.40,0.000,0.000,0.046,3749.66,3661.81,3837.50,2047.06,3750.69,0,0,0,30.00,30.00,27.92
$GC,2118.16,1188,-145.99,-0.90,0.00,3748.0,3660.1,3835.9,2047.5,3751.4,294.75,-9.70,422,2122.25,0.00,0.00,2.27,0.000,0.000,0.029,3749.41,3660.75,3838.06,2046.81,2689.62,0,0,0,30.00,30.00,28.15
$STATE,2177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2177,begin apogee
$GC,2179.31,3,0.00,-0.17,0.00,3746.7,3658.0,3835.4,2047.4,3002.8,300.42,9.50,434,2291.77,108.99,1.01,0.05,0.675,0.092,0.120,3154.94,3080.31,3229.56,2262.19,2989.25,0,0,0,23.50,27.51,26.73
$STATE,2292,end apogee,CONTROL_FINISHED_OK
$STATE,2292,begin climb
$GC,2292.83,263,145.99,0.79,40.00,3147.2,3069.3,3225.1,2265.0,2989.0,304.70,0.00,456,2415.93,115.22,1.20,1.85,0.680,0.046,0.047,2553.41,2502.31,2604.50,2571.50,3754.69,0,0,0,23.52,27.17,26.50
$GC,2503.76,1190,163.59,0.78,0.00,2545.6,2492.9,2598.2,2570.9,3754.4,299.07,9.19,498,2523.93,16.42,0.00,1.68,0.661,0.000,0.030,2483.97,2429.56,2538.38,2577.25,2988.38,0,0,0,23.67,30.00,27.49
$GC,2703.31,646,163.59,0.76,-40.00,2474.4,2414.1,2534.8,2576.9,2987.6,278.94,10.76,538,2708.83,0.00,0.00,2.95,0.000,0.000,0.030,2476.09,2414.94,2537.25,2586.00,1575.50,0,0,0,30.00,30.00,27.76
$GC,2778.80,1190,164.69,0.75,0.00,2473.1,2412.6,2533.7,2586.2,1575.4,271.28,9.95,553,2783.77,0.00,0.00,3.08,0.000,0.000,0.040,2473.28,2412.44,2534.12,2585.25,3001.88,0,0,0,30.00,30.00,27.76
$GC,2963.87,678,204.56,0.78,-40.00,2471.3,2411.8,2530.9,2585.8,3000.8,254.42,8.17,590,3004.38,34.19,0.00,2.99,0.679,0.000,0.032,2319.19,2258.00,2380.38,2594.00,1578.25,0,0,0,23.83,30.00,27.10
$GC,3118.64,1190,229.20,0.80,0.00,2309.7,2246.9,2372.4,2593.7,1578.6,240.65,8.87,621,3146.40,22.52,0.00,3.08,0.668,0.000,0.040,2222.75,2164.88,2280.62,2593.38,3002.38,0,0,0,23.80,30.00,27.70
$GC,3323.21,390,229.20,0.79,40.00,2208.2,2145.7,2270.8,2594.2,3002.6,217.70,10.99,662,3325.97,0.00,0.00,1.73,0.000,0.000,0.046,2209.94,2148.06,2271.81,2594.19,3753.81,0,0,0,30.00,30.00,27.74
$GC,3348.67,1158,229.20,0.77,0.00,2207.2,2146.4,2267.9,2594.1,3754.7,214.80,11.21,667,3353.15,0.00,0.00,1.66,0.000,0.000,0.030,2209.16,2147.62,2270.69,2598.00,2990.75,0,0,0,30.00,30.00,27.86
$GC,3533.29,131,229.20,0.76,0.00,2205.1,2141.7,2268.6,2597.6,2990.1,194.90,10.53,704,3534.73,0.00,0.17,0.00,0.000,0.113,0.000,2206.25,2143.50,2269.00,2558.88,2990.31,0,0,0,30.00,27.74,30.00
$GC,3713.82,678,262.60,0.81,-40.00,2203.9,2140.9,2266.9,2559.5,2989.9,179.10,8.47,740,3747.17,28.11,0.00,2.96,0.641,0.000,0.032,2077.62,2012.12,2143.12,2563.44,1574.81,0,0,0,23.95,30.00,27.29
$GC,3774.67,1191,294.23,0.87,0.00,2075.2,2007.6,2142.7,2563.1,1574.8,173.86,8.55,752,3807.72,28.18,0.10,3.09,0.633,0.060,0.041,1955.72,1888.00,2023.44,2599.06,3001.94,0,0,0,23.81,27.66,27.72
$GC,3985.84,518,294.23,0.87,-40.00,1943.0,1867.6,2018.4,2599.1,3001.6,150.81,10.79,794,3990.34,0.00,0.00,2.99,0.000,0.000,0.031,1944.50,1869.06,2019.94,2602.56,1575.06,0,0,0,30.00,30.00,27.78
$GC,4035.15,1158,294.23,0.88,0.00,1942.4,1866.3,2018.5,2604.0,1575.8,145.75,10.26,804,4040.50,0.00,0.00,3.08,0.000,0.000,0.040,1944.38,1868.31,2020.44,2601.75,3002.19,0,0,0,30.00,30.00,27.75
$GC,4220.70,422,303.92,0.90,40.00,1941.3,1863.9,2018.6,2604.2,3002.1,127.80,9.55,841,4226.22,2.58,0.00,1.73,0.368,0.000,0.049,1915.50,1843.00,1988.00,2604.31,3752.06,0,0,0,24.69,30.00,27.22
$GC,4265.16,1062,324.98,0.93,0.00,1920.9,1853.5,1988.3,2604.0,3751.5,123.75,9.03,850,4285.41,15.97,0.00,1.66,0.582,0.000,0.031,1829.88,1756.38,1903.38,2605.88,2991.69,0,0,0,23.88,30.00,27.97
$GC,4465.95,678,359.67,0.98,-40.00,1819.7,1739.2,1900.2,2606.8,2992.4,104.63,8.41,890,4495.79,23.30,0.00,2.96,0.547,0.000,0.032,1683.00,1605.19,1760.81,2609.69,1576.38,0,0,0,23.92,30.00,27.29
$GC,4620.13,1191,419.24,1.08,0.00,1680.1,1601.0,1759.2,2610.4,1576.7,92.61,7.26,921,4667.47,41.71,0.19,3.06,0.528,0.043,0.040,1442.75,1379.31,1506.19,2667.38,3000.62,0,0,0,23.92,27.75,27.81
$GC,4846.02,518,419.24,1.08,-40.00,1435.1,1366.2,1504.0,2667.7,3001.3,63.96,13.05,966,4850.31,0.00,0.00,2.99,0.000,0.000,0.032,1435.56,1366.56,1504.56,2673.94,1576.06,0,0,0,30.00,30.00,27.80
$GC,5060.36,1158,419.24,1.10,0.00,1434.8,1365.6,1504.1,2674.0,1576.3,37.76,12.12,1009,5065.36,0.00,0.00,3.07,0.000,0.000,0.041,1434.75,1365.50,1504.00,2673.56,3002.94,0,0,0,30.00,30.00,27.87
$GC,5245.73,518,419.24,1.10,-40.00,1435.0,1365.8,1504.1,2673.7,3004.2,12.82,13.46,1046,5250.30,0.00,0.00,2.96,0.000,0.000,0.032,1436.59,1366.81,1506.38,2674.38,1575.44,0,0,0,30.00,30.00,28.00
$STATE,5335,end climb,SURFACE_DEPTH_REACHED
$STATE,5335,begin surface coast
$FINISH,0.3,1.008798
$STATE,5350,end surface coast,CONTROL_FINISHED_OK
$STATE,5350,begin surface
$SM_CCo,5442.36,76.34,0.126,0,588.1,630.3,545.8,629.92
$SM_GC,0.88,76.34,6.99,2.53,0.126,0.042,0.039,588.1,630.3,545.8,247.1,2702.5,0,0,0,25.28,27.85,27.98
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,1937.89,-15601.79,081017,090335
$TCM_TEMP,25.30
$XPDR_PINGS,11
$SC_FREEKB,4014976
$HUMID,53.98
$TEMP,23.76
$INTERNAL_PRESSURE,11.8772
$24V_AH,26.18,21.997
$10V_AH,11.08,8.847
$FG_AHR_24Vo,49.888
$FG_AHR_10Vo,21.540
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,632.135,18.275,89.470,230.977,2.750,7.914,2806.894,2922.005,1875.844,0.000,0.000,0.000
$DEVICE_MAMPS,680.352,216.560,120.456,122.045,420.000,12.410,12.050,2.190,4.110,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5364.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.191,0.000,0.000,0.000
$MEM,1168036,25,13688,41
$DATA_FILE_SIZE,40671,1067
$CAP_FILE_SIZE,244407,0
$SDSIZE,4028416,4014496
$ERRORS,0,0,0,0,0,0,0,0
$CURRENT,0.092,320.9,1
$GPS,081017,121632,1936.728,-15603.625,34,0.6,35,9.5