version: 66.12
glider: 187
mission: 8
dive: 63
start: 6 28 115 7 18 27
data:
$ID,187
$MISSION,8
$DIVE,63
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026964601
$HD_B,0.0099003203
$HD_C,2.26204e-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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3392
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.55209
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,280615,070310,4705.5713,-12647.5303,31,0.9,32,16.5,1.1,192.2,11,7.4
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-74.5
$GPS2,280615,071759,4705.5098,-12647.5723,3,1.2,5,16.5,0.2,0.0,10,7.8
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,34.7,148345,-14.8,-7.333,-19.49,2243
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.48,-107.1,72,1896,1307,1522,0.0,0.0,0,101,0.00,0.00,-66.35,0.000,16386,0.000,0.000,70,1895,3229,3209,3249,0,0,0,0,0,0,14.54,28.83,14.56
$GC,108,-0.48,-107.1,70,1895,3210,3250,4.1,-6.6,7,137,13.30,2.75,-2.17,0.000,18948,0.357,2.219,3226,490,3378,3358,3398,0,0,0,0,0,0,14.20,13.57,14.42
$GC,225,-0.48,-107.1,3226,490,3359,3402,45.9,-22.7,27,236,0.00,2.50,0.00,0.000,1030,0.000,0.094,3226,1897,3381,3360,3402,0,0,0,0,0,0,14.41,14.34,14.43
$GC,428,-0.48,-107.1,3226,1898,3358,3406,88.7,-18.8,47,439,0.00,2.55,0.00,0.000,260,0.000,0.105,3224,3323,3382,3358,3406,0,0,0,0,0,0,14.60,14.40,14.62
$GC,480,-0.48,-107.1,3224,3318,3359,3401,97.2,-15.3,55,491,0.00,2.53,0.00,0.000,1030,0.000,0.094,3225,1891,3382,3359,3405,0,0,0,0,0,0,14.50,14.42,14.51
$GC,683,-0.48,-107.1,3223,1891,3358,3406,124.9,-13.9,75,694,0.00,2.50,0.00,0.000,516,0.000,0.109,3224,476,3381,3358,3405,0,0,0,0,0,0,14.65,14.44,14.67
$GC,749,-0.48,-107.1,3224,477,3359,3406,135.2,-15.8,86,762,0.00,2.53,0.00,0.000,1030,0.000,0.090,3224,1915,3385,3358,3412,0,0,0,0,0,0,14.54,14.46,14.57
$GC,943,-0.48,-107.1,3224,1915,3361,3406,162.7,-13.9,105,954,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1917,3386,3364,3408,0,0,0,0,0,0,14.71,14.71,14.70
$GC,1135,-0.48,-107.1,3223,1914,3358,3406,188.5,-13.0,124,1146,0.00,2.55,0.00,0.000,516,0.000,0.108,3223,475,3382,3358,3407,0,0,0,0,0,0,14.70,14.48,14.72
$GC,1182,-0.48,-107.1,3224,475,3365,3406,195.0,-14.0,131,1194,0.00,2.47,0.00,0.000,1030,0.000,0.087,3224,1897,3382,3359,3406,0,0,0,0,0,0,14.59,14.52,14.62
$GC,1375,-0.48,-107.1,3224,1896,3359,3408,219.1,-12.9,150,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1896,3382,3359,3406,0,0,0,0,0,0,14.73,14.74,14.74
$GC,1567,-0.48,-107.1,3224,1897,3358,3406,243.7,-12.9,169,1578,0.00,2.50,0.00,0.000,516,0.000,0.108,3220,493,3385,3358,3412,0,0,0,0,0,0,14.73,14.53,14.76
$GC,1619,-0.48,-107.1,3223,492,3358,3412,250.8,-14.2,177,1631,0.00,2.47,0.00,0.000,1030,0.000,0.092,3224,1913,3383,3360,3406,0,0,0,0,0,0,14.63,14.54,14.64
$GC,1952,-0.48,-107.1,3223,1913,3357,3406,293.3,-12.2,191,1963,0.00,2.47,0.00,0.000,260,0.000,0.108,3222,3308,3381,3357,3406,0,0,0,0,0,0,14.76,14.57,14.78
$GC,2033,-0.48,-107.1,3224,3308,3357,3406,303.0,-11.5,205,2044,0.00,2.50,0.00,0.000,1030,0.000,0.096,3224,1900,3379,3357,3402,0,0,0,0,0,0,14.67,14.56,14.67
$GC,2366,-0.48,-107.1,3224,1899,3354,3406,341.0,-11.4,219,2377,0.00,2.50,0.00,0.000,516,0.000,0.111,3224,478,3383,3354,3412,0,0,0,0,0,0,14.78,14.57,14.81
$GC,2462,-0.48,-107.1,3224,477,3354,3406,352.8,-13.3,235,2473,0.00,2.47,0.00,0.000,1030,0.000,0.092,3224,1895,3380,3354,3406,0,0,0,0,0,0,14.66,14.58,14.68
$GC,2784,-0.48,-107.1,3223,1895,3359,3406,391.4,-11.5,247,2795,0.00,2.50,0.00,0.000,260,0.000,0.107,3224,3318,3379,3353,3406,0,0,0,0,0,0,14.78,14.57,14.80
$GC,2903,-0.48,-107.1,3224,3317,3352,3406,404.3,-10.4,268,2914,0.00,2.53,0.00,0.000,1030,0.000,0.097,3224,1886,3379,3352,3407,0,0,0,0,0,0,14.67,14.59,14.69
$GC,3230,-0.48,-107.1,3223,1886,3350,3406,439.7,-10.9,281,3241,0.00,2.47,0.00,0.000,516,0.000,0.113,3224,481,3378,3350,3406,0,0,0,0,0,0,14.79,14.58,14.81
$GC,3374,-0.48,-107.1,3224,481,3349,3410,457.3,-12.3,307,3385,0.00,2.47,0.00,0.000,1030,0.000,0.093,3224,1902,3377,3349,3406,0,0,0,0,0,0,14.68,14.60,14.69
$GC,3706,-0.48,-107.1,3224,1899,3346,3406,492.6,-10.3,321,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1902,3376,3346,3406,0,0,0,0,0,0,14.79,14.82,14.81
$GC,4007,-0.48,-107.1,3223,1902,3344,3406,523.1,-10.0,331,4018,0.00,2.50,0.00,0.000,260,0.000,0.110,3224,3318,3375,3344,3406,0,0,0,0,0,0,14.81,14.59,14.82
$GC,4059,-0.48,-107.1,3224,3317,3344,3406,528.0,-9.2,339,4070,0.00,2.50,0.00,0.000,1030,0.000,0.099,3224,1903,3375,3344,3406,0,0,0,0,0,0,14.69,14.60,14.69
$GC,4391,-0.48,-107.1,3224,1900,3342,3406,559.1,-9.3,353,4402,0.00,2.53,0.00,0.000,516,0.000,0.114,3224,479,3373,3342,3405,0,0,0,0,0,0,14.81,14.59,14.82
$GC,4498,-0.48,-107.1,3227,479,3342,3405,569.7,-10.9,371,4509,0.00,2.47,0.00,0.000,1030,0.000,0.095,3224,1896,3373,3342,3405,0,0,0,0,0,0,14.69,14.61,14.71
$GC,4841,-0.48,-107.1,3224,1896,3335,3406,602.4,-9.3,387,4852,0.00,2.53,0.00,0.000,260,0.000,0.110,3224,3318,3372,3340,3405,0,0,0,0,0,0,14.81,14.60,14.82
$GC,4937,-0.48,-107.1,3224,3321,3340,3404,610.8,-8.9,403,4948,0.00,2.53,0.00,0.000,1030,0.000,0.100,3224,1886,3372,3338,3406,0,0,0,0,0,0,14.68,14.59,14.70
$GC,5259,-0.48,-107.1,3224,1885,3338,3404,640.2,-9.0,415,5270,0.00,2.47,0.00,0.000,516,0.000,0.116,3224,488,3369,3338,3400,0,0,0,0,0,0,14.80,14.60,14.83
$GC,5332,-0.48,-107.1,3223,488,3338,3404,647.5,-10.2,427,5343,0.00,2.50,0.00,0.000,1030,0.000,0.097,3223,1912,3370,3338,3403,0,0,0,0,0,0,14.69,14.61,14.71
$GC,5675,-0.48,-107.1,3223,1912,3337,3403,678.8,-9.2,443,5686,0.00,2.47,0.00,0.000,260,0.000,0.112,3223,3312,3370,3337,3404,0,0,0,0,0,0,14.81,14.59,14.82
$GC,5741,-0.48,-107.1,3224,3313,3337,3402,684.8,-8.9,454,5754,0.00,2.50,0.00,0.000,1030,0.000,0.100,3224,1903,3369,3337,3402,0,0,0,0,0,0,14.69,14.59,14.70
$GC,6051,-0.48,-107.1,3224,1902,3336,3403,712.2,-9.0,465,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1903,3371,3340,3403,0,0,0,0,0,0,14.80,14.82,14.81
$GC,6347,-0.48,-107.1,3224,1903,3334,3402,738.0,-8.5,475,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1903,3366,3334,3398,0,0,0,0,0,0,14.80,14.82,14.82
$GC,6647,-0.48,-107.1,3224,1907,3333,3402,763.3,-8.5,485,6658,0.00,2.53,0.00,0.000,260,0.000,0.112,3224,3314,3367,3333,3402,0,0,0,0,0,0,14.80,14.59,14.82
$GC,6719,-0.48,-107.1,3224,3313,3334,3402,769.2,-8.3,497,6730,0.00,2.53,0.00,0.000,1030,0.000,0.101,3221,1901,3367,3333,3402,0,0,0,0,0,0,14.69,14.60,14.71
$GC,7061,-0.48,-107.1,3223,1901,3333,3402,798.1,-8.7,513,7073,0.00,2.53,0.00,0.000,516,0.000,0.118,3224,475,3367,3333,3401,0,0,0,0,0,0,14.80,14.57,14.81
$GC,7148,-0.48,-107.1,3224,475,3333,3401,806.3,-10.1,528,7159,0.00,2.47,0.00,0.000,1030,0.000,0.097,3224,1896,3367,3333,3401,0,0,0,0,0,0,14.68,14.57,14.70
$GC,7475,-0.48,-107.1,3224,1896,3332,3400,836.7,-9.4,541,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1895,3365,3331,3400,0,0,0,0,0,0,14.79,14.79,14.81
$GC,7775,-0.48,-107.1,3224,1896,3329,3398,863.7,-8.9,551,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1896,3365,3330,3400,0,0,0,0,0,0,14.81,14.81,14.82
$GC,8075,-0.48,-107.1,3224,1896,3329,3400,888.6,-8.0,561,8086,0.00,2.53,0.00,0.000,260,0.000,0.112,3224,3319,3364,3329,3400,0,0,0,0,0,0,14.80,14.59,14.81
$GC,8141,-0.48,-107.1,3223,3319,3329,3400,894.5,-7.5,572,8153,0.00,2.53,0.00,0.000,1030,0.000,0.101,3224,1901,3364,3330,3399,0,0,0,0,0,0,14.69,14.60,14.70
$GC,8454,-0.48,-107.1,3223,1901,3329,3398,915.8,-7.0,583,8465,0.00,2.53,0.00,0.000,516,0.000,0.118,3223,476,3363,3328,3399,0,0,0,0,0,0,14.79,14.57,14.81
$GC,8515,-0.48,-107.1,3223,475,3330,3398,921.3,-8.2,593,8526,0.00,2.53,0.00,0.000,1030,0.000,0.099,3224,1913,3363,3329,3398,0,0,0,0,0,0,14.68,14.60,14.70
$GC,8838,-0.48,-107.1,3224,1913,3328,3398,944.2,-7.2,605,8849,0.00,2.47,0.00,0.000,260,0.000,0.112,3223,3308,3363,3328,3398,0,0,0,0,0,0,14.79,14.59,14.81
$GC,8900,-0.48,-107.1,3224,3309,3328,3398,949.3,-7.2,615,8911,0.00,2.53,0.00,0.000,1030,0.000,0.103,3223,1885,3363,3329,3398,0,0,0,0,0,0,14.67,14.57,14.69
$GC,9223,-0.48,-107.1,3225,1885,3329,3398,971.7,-7.2,627,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1885,3362,3328,3397,0,0,0,0,0,0,14.78,14.81,14.78
$STATE,9487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9487,begin apogee
$GC,9498,-0.17,0.0,3222,2346,3328,3398,992.3,-7.7,636,9590,0.35,0.00,83.55,1.899,10246,0.190,0.000,3332,2347,2941,2882,3001,0,0,0,0,0,0,14.54,13.96,13.30
$STATE,9592,end apogee,CONTROL_FINISHED_OK
$STATE,9592,begin climb
$GC,9598,0.48,107.1,3333,2347,2878,2999,996.5,0.0,639,9695,0.65,0.00,88.25,1.866,10502,0.124,0.000,3545,2347,2505,2392,2619,0,0,0,0,0,0,13.95,13.73,13.10
$GC,9976,0.48,107.1,3545,2347,2382,2617,968.6,8.7,662,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,2347,2502,2382,2623,0,0,0,0,0,0,14.42,14.44,14.44
$GC,10280,0.48,107.1,3544,2344,2376,2617,942.2,8.8,672,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2347,2498,2380,2617,0,0,0,0,0,0,14.57,14.58,14.58
$GC,10580,0.48,107.1,3544,2350,2380,2617,915.8,8.9,682,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2344,2497,2377,2617,0,0,0,0,0,0,14.63,14.65,14.65
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$STATE,22215,end climb,SURFACE_DEPTH_REACHED
$STATE,22215,begin surface coast
$FINISH,0.1,1.023635
$STATE,22302,end surface coast,CONTROL_FINISHED_OK
$STATE,22302,begin surface
$SM_CCo,22333,15.50,0.083,0,0,1411,375.06
$SM_GC,0.92,9.62,0.80,15.50,0.036,0.116,0.083,91,1905,1411,-10.24,0.76,375.06,0,0,0,0,0,0,14.48,14.42,14.45
$IRIDIUM_FIX,4644.93,-12646.50,280615,070803
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.08
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3913856
$24V_AH,13.10,16.598
$10V_AH,13.07,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22326.000,569.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.779,6.785,0.000,0.000
$MEM,286368
$DATA_FILE_SIZE,49954,1439
$CAP_FILE_SIZE,273771,0
$CFSIZE,260034560,250281984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,160.70,1
$GPS,280615,133232,4706.411,-12644.261,40,0.9,40,16.5,0.2,0.0,8,4.9