version: 67.00
glider: 185
mission: 8
dive: 20
start: 10 8 117 22 12 16
data:
$ID,185
$MISSION,8
$DIVE,20
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,190
$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,500
$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,21.606544
$FG_AHR_24V,50.160313
$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
$GPS1,081017,220631,1940.052,-15603.147,28,0.8,29,9.5
$_CALLS,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-61.8
$GPS2,081017,221208,1940.106,-15603.176,1,0.7,4,9.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SHELF2
$TGT_LATLONG,1940.500,-15603.600
$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,306.7,1038,-27.8,-10.000,-30.00
$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,5,begin dive
$GC,6.08,2,-63.07,-1.01,0.00,1111.3,1118.0,1104.7,244.9,2710.7,0.00,0.00,0,88.45,80.53,0.00,0.00,0.005,0.000,0.000,3045.12,3048.00,3042.25,244.81,2712.25,0,0,0,26.15,30.00,30.00
$GC,89.28,35,-132.33,-1.09,0.00,3044.8,3047.7,3041.8,244.9,2711.1,3.30,-2.66,16,114.71,14.02,8.01,0.00,0.006,0.217,0.000,3695.25,3633.38,3757.12,1969.00,2711.25,0,0,0,26.46,26.71,30.00
$GC,293.08,388,-132.33,-1.06,40.00,3693.9,3632.1,3755.8,1968.1,2711.0,75.67,-37.87,57,297.35,0.00,0.00,2.34,0.000,0.000,0.039,3695.19,3633.31,3757.06,1962.62,3752.94,0,0,0,30.00,30.00,27.76
$GC,373.07,1156,-132.33,-1.04,0.00,3693.9,3632.8,3755.1,1961.7,3754.7,102.57,-32.92,73,377.29,0.00,0.00,2.26,0.000,0.000,0.025,3695.56,3633.44,3757.69,1962.19,2685.50,0,0,0,30.00,30.00,27.92
$GC,557.91,516,-132.33,-1.04,-40.00,3694.7,3633.4,3756.1,1961.2,2685.3,155.63,-23.96,110,562.28,0.00,0.00,2.91,0.000,0.000,0.028,3695.25,3634.69,3755.81,1962.06,1276.31,0,0,0,30.00,30.00,27.94
$GC,613.12,1156,-132.33,-1.05,0.00,3695.6,3635.1,3756.1,1961.9,1276.6,167.84,-20.65,121,617.43,0.00,0.00,3.02,0.000,0.000,0.037,3696.28,3634.94,3757.62,1959.12,2703.19,0,0,0,30.00,30.00,27.86
$GC,797.43,644,-132.33,-1.07,-40.00,3696.7,3636.4,3756.9,1961.4,2703.9,206.08,-18.12,158,802.33,0.00,0.00,2.92,0.000,0.000,0.027,3696.66,3636.38,3756.94,1961.25,1274.56,0,0,0,30.00,30.00,28.01
$GC,852.78,1156,-132.33,-1.09,0.00,3696.2,3635.8,3756.7,1960.9,1274.7,215.67,-17.93,169,857.43,0.00,0.00,3.02,0.000,0.000,0.036,3696.91,3636.44,3757.38,1961.31,2703.12,0,0,0,30.00,30.00,27.91
$GC,1037.70,388,-132.33,-1.11,40.00,3695.9,3635.7,3756.2,1961.2,2704.1,246.93,-15.25,206,1042.20,0.00,0.00,2.39,0.000,0.000,0.044,3697.28,3637.06,3757.50,1961.62,3753.56,0,0,0,30.00,30.00,27.89
$GC,1102.32,1156,-132.33,-1.13,0.00,3696.5,3635.4,3757.6,1960.6,3753.7,257.65,-16.30,219,1107.31,0.00,0.00,2.27,0.000,0.000,0.026,3697.31,3637.19,3757.44,1960.69,2689.94,0,0,0,30.00,30.00,28.10
$GC,1287.66,388,-132.33,-1.16,40.00,3695.7,3634.8,3756.6,1961.3,2689.3,286.76,-14.86,256,1292.18,0.00,0.00,2.44,0.000,0.000,0.044,3696.69,3635.38,3758.00,1961.25,3754.88,0,0,0,30.00,30.00,27.91
$GC,1322.68,1156,-132.33,-1.18,0.00,3695.8,3634.9,3756.7,1961.5,3753.9,292.11,-15.50,263,1327.59,0.00,0.00,2.28,0.000,0.000,0.027,3695.84,3634.69,3757.00,1961.56,2689.19,0,0,0,30.00,30.00,28.11
$GC,1508.00,388,-132.33,-1.21,40.00,3694.7,3632.1,3757.4,1961.1,2689.8,320.86,-15.06,300,1512.31,0.00,0.00,2.42,0.000,0.000,0.044,3694.62,3632.62,3756.62,1961.31,3753.81,0,0,0,30.00,30.00,27.90
$GC,1542.85,1157,-132.33,-1.23,0.00,3694.0,3631.4,3756.6,1961.5,3753.2,326.23,-15.56,307,1547.42,0.00,0.14,2.26,0.000,0.050,0.027,3695.31,3632.94,3757.69,1916.75,2693.88,0,0,0,30.00,28.00,28.12
$GC,1747.74,128,-132.33,-1.25,0.00,3692.3,3628.9,3755.6,1918.6,2692.8,360.99,-16.93,338,1749.07,0.00,0.00,0.00,0.000,0.000,0.000,3691.53,3627.81,3755.25,1916.06,2693.69,0,0,0,30.00,30.00,30.00
$GC,1927.53,128,-132.33,-1.26,0.00,3690.3,3624.4,3756.2,1918.2,2692.4,390.68,-16.50,344,1928.85,0.00,0.00,0.00,0.000,0.000,0.000,3689.28,3622.94,3755.62,1915.50,2693.81,0,0,0,30.00,30.00,30.00
$GC,2107.55,128,-132.33,-1.27,0.00,3688.4,3621.1,3755.8,1917.6,2693.8,418.55,-15.38,350,2108.88,0.00,0.00,0.00,0.000,0.000,0.000,3690.38,3623.12,3757.62,1915.94,2692.81,0,0,0,30.00,30.00,30.00
$GC,2287.54,388,-132.33,-1.29,40.00,3687.2,3618.7,3755.7,1918.2,2692.9,447.22,-15.98,356,2291.92,0.00,0.00,2.43,0.000,0.000,0.044,3688.47,3619.62,3757.31,1911.88,3754.50,0,0,0,30.00,30.00,27.89
$STATE,2302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2302,begin apogee
$GC,2305.46,3,0.00,-0.17,0.00,3686.7,3618.4,3754.9,1913.6,2989.6,450.01,16.65,359,2410.38,100.47,1.96,0.06,0.787,0.122,0.132,3151.78,3097.25,3206.31,2263.62,3003.69,0,0,0,23.30,27.14,26.54
$STATE,2410,end apogee,CONTROL_FINISHED_OK
$STATE,2411,begin climb
$GC,2411.45,263,132.33,1.09,40.00,3148.7,3094.2,3203.1,2264.1,3004.1,454.70,0.00,365,2526.13,107.57,1.62,1.82,0.797,0.047,0.048,2609.72,2584.44,2635.00,2666.06,3752.44,0,0,0,23.39,27.01,26.25
$GC,2543.70,1190,182.30,1.13,0.00,2603.8,2577.5,2630.0,2668.9,3751.1,452.29,4.70,382,2590.29,42.97,0.00,1.73,0.774,0.000,0.029,2408.41,2377.56,2439.25,2674.75,2991.25,0,0,0,23.37,30.00,26.99
$GC,2789.44,130,182.30,1.12,0.00,2396.2,2356.8,2435.7,2674.6,2991.6,410.64,17.79,401,2790.77,0.00,0.00,0.00,0.000,0.000,0.000,2396.50,2356.31,2436.69,2670.50,2990.50,0,0,0,30.00,30.00,30.00
$GC,2968.58,646,182.30,1.11,-40.00,2393.4,2350.8,2436.1,2674.1,2990.4,378.90,17.74,407,2973.56,0.00,0.00,2.97,0.000,0.000,0.030,2394.19,2352.19,2436.19,2685.56,1576.06,0,0,0,30.00,30.00,27.77
$GC,2992.95,1030,182.30,1.11,0.00,2393.4,2351.0,2435.8,2684.4,1576.8,374.60,17.34,412,2998.99,0.00,0.00,3.09,0.000,0.000,0.039,2393.75,2351.19,2436.31,2685.19,3004.81,0,0,0,30.00,30.00,27.72
$GC,3178.68,130,182.30,1.11,0.00,2391.9,2348.1,2435.8,2685.1,3004.6,341.07,17.06,424,3180.00,0.00,0.00,0.00,0.000,0.000,0.000,2392.38,2348.44,2436.31,2682.06,3005.31,0,0,0,30.00,30.00,30.00
$GC,3359.01,130,182.30,1.10,0.00,2390.9,2345.8,2436.1,2683.6,3004.9,311.38,15.48,460,3360.34,0.00,0.00,0.00,0.000,0.000,0.000,2391.59,2347.44,2435.75,2680.38,3004.94,0,0,0,30.00,30.00,30.00
$GC,3538.67,390,182.30,1.09,40.00,2389.9,2344.0,2435.8,2684.9,3005.0,284.07,15.76,496,3543.19,0.00,0.00,1.73,0.000,0.000,0.046,2390.19,2344.12,2436.25,2684.88,3752.75,0,0,0,30.00,30.00,27.85
$GC,3809.19,1158,182.30,1.08,0.00,2387.0,2344.0,2429.9,2685.6,3752.8,240.83,15.78,550,3813.69,0.00,0.00,1.68,0.000,0.000,0.030,2386.31,2343.75,2428.88,2691.25,2990.19,0,0,0,30.00,30.00,28.03
$GC,3993.89,262,182.30,1.08,40.00,2385.5,2340.9,2430.1,2690.9,2991.2,214.40,12.57,587,3998.52,0.00,0.00,1.79,0.000,0.000,0.046,2385.47,2341.81,2429.12,2690.75,3754.56,0,0,0,30.00,30.00,27.87
$GC,4164.22,1158,182.30,1.06,0.00,2384.9,2343.2,2426.6,2689.9,3755.4,192.52,12.16,621,4168.70,0.00,0.00,1.68,0.000,0.000,0.030,2385.62,2343.06,2428.19,2696.50,2990.19,0,0,0,30.00,30.00,28.05
$GC,4348.90,549,190.08,1.07,-40.00,2384.0,2340.5,2427.4,2697.0,2991.6,174.75,9.17,658,4354.14,0.00,0.19,2.94,0.000,0.134,0.030,2384.66,2341.50,2427.81,2667.06,1576.38,0,0,0,30.00,27.71,27.64
$GC,4568.85,1190,200.50,1.11,0.00,2383.2,2338.7,2427.7,2667.2,1576.8,157.15,8.89,702,4589.44,14.87,0.00,3.07,0.639,0.000,0.040,2336.72,2297.75,2375.69,2666.75,3002.06,0,0,0,23.81,30.00,27.88
$GC,4768.53,678,210.96,1.14,-40.00,2323.8,2280.6,2367.1,2666.8,3002.0,138.68,8.89,742,4775.94,2.91,0.00,2.96,0.399,0.000,0.031,2293.34,2256.75,2329.94,2677.25,1577.75,0,0,0,25.32,30.00,27.32
$GC,4819.08,1190,238.75,1.19,0.00,2299.9,2267.3,2332.6,2676.5,1577.6,135.15,7.05,752,4846.55,22.67,0.00,3.05,0.606,0.000,0.039,2177.81,2144.00,2211.62,2676.81,3003.75,0,0,0,23.94,30.00,27.95
$GC,5024.85,161,243.74,1.22,0.00,2167.4,2127.4,2207.4,2677.1,3003.1,116.40,9.47,793,5027.98,0.00,0.10,0.00,0.000,0.061,0.000,2167.50,2126.94,2208.06,2712.62,3003.62,0,0,0,30.00,28.03,30.00
$GC,5209.27,678,284.49,1.29,-40.00,2167.2,2126.9,2207.4,2714.0,3002.9,101.59,5.68,830,5246.20,31.63,0.00,2.99,0.553,0.000,0.031,1985.78,1945.88,2025.69,2723.12,1576.44,0,0,0,23.87,30.00,27.26
$GC,5385.15,1158,284.49,1.32,0.00,1982.8,1938.6,2027.1,2722.7,1576.1,86.36,10.07,865,5389.46,0.00,0.00,3.06,0.000,0.000,0.038,1984.47,1939.94,2029.00,2723.12,3001.06,0,0,0,30.00,30.00,27.74
$GC,5570.15,390,284.49,1.34,40.00,1981.9,1937.1,2026.7,2723.3,3001.5,63.34,11.79,902,5573.97,0.00,0.00,1.73,0.000,0.000,0.046,1982.62,1938.25,2027.00,2722.56,3752.50,0,0,0,30.00,30.00,27.80
$GC,5645.02,1158,284.49,1.35,0.00,1982.2,1937.9,2026.6,2723.6,3753.3,54.62,11.55,917,5649.07,0.00,0.00,1.64,0.000,0.000,0.030,1984.31,1939.50,2029.12,2728.06,2990.75,0,0,0,30.00,30.00,27.95
$GC,5830.40,390,284.49,1.37,40.00,1982.1,1937.5,2026.8,2729.3,2991.4,32.70,12.55,954,5834.01,0.00,0.00,1.76,0.000,0.000,0.045,1985.34,1940.56,2030.12,2729.44,3753.25,0,0,0,30.00,30.00,27.86
$GC,5865.00,1158,284.49,1.37,0.00,1983.0,1938.4,2027.6,2729.9,3754.2,27.88,13.91,961,5868.98,0.00,0.00,1.65,0.000,0.000,0.029,1983.22,1939.12,2027.31,2734.06,2989.81,0,0,0,30.00,30.00,28.01
$GC,6050.05,390,284.49,1.39,40.00,1982.7,1938.4,2026.9,2735.5,2990.2,5.35,12.81,998,6054.13,0.00,0.00,1.77,0.000,0.000,0.045,1983.06,1938.69,2027.44,2735.19,3754.94,0,0,0,30.00,30.00,27.89
$STATE,6074,end climb,SURFACE_DEPTH_REACHED
$STATE,6074,begin surface coast
$FINISH,0.2,1.011004
$STATE,6088,end surface coast,CONTROL_FINISHED_OK
$STATE,6088,begin surface
$SM_CCo,6175.78,71.79,0.127,0,1118.8,1127.2,1110.2,499.74
$SM_CCo,6176.85,0.20,0.082,0,1116.6,1121.4,1111.8,500.27
$SM_GC,1.14,0.20,7.15,2.26,0.082,0.043,0.028,1116.6,1121.4,1111.8,246.1,2688.4,0,0,0,26.66,27.82,28.05
$SUPER,51,70,254,1,0,0
$IRIDIUM_FIX,1937.52,-15604.81,081017,195530
$TCM_TEMP,25.40
$XPDR_PINGS,6
$SC_FREEKB,4013056
$HUMID,53.30
$TEMP,22.83
$INTERNAL_PRESSURE,11.876
$24V_AH,25.91,22.537
$10V_AH,11.04,9.007
$FG_AHR_24Vo,50.202
$FG_AHR_10Vo,21.618
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,489.620,19.155,80.075,248.528,1.500,5.214,2659.281,3820.027,1758.716,0.000,0.000,0.000
$DEVICE_MAMPS,797.448,216.560,131.608,124.521,420.000,12.410,12.050,2.190,4.110,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6104.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.299,0.000,0.000,0.000
$MEM,1167964,27,13720,41
$DATA_FILE_SIZE,37383,1006
$CAP_FILE_SIZE,223315,0
$SDSIZE,4028416,4013184
$ERRORS,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$CURRENT,0.094,338.2,1
$GPS,081017,235528,1941.021,-15603.971,0,0.9,3,9.5