version: 66.12
glider: 187
mission: 8
dive: 65
start: 6 28 115 20 16 20
data:
$ID,187
$MISSION,8
$DIVE,65
$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,11
$R_STBD_OVSHOOT,18
$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
$GPS1,280615,200451,4708.2378,-12641.2012,31,2.0,43,16.5,0.4,125.5,6,8.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.4
$GPS2,280615,201548,4708.2065,-12641.0850,5,1.9,12,16.5,0.6,96.9,6,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,28.1,138884,-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,-107.1,89,1892,1311,1513,0.0,0.0,0,101,0.00,0.00,-66.28,0.000,16386,0.000,0.000,95,1894,3227,3208,3247,0,0,0,0,0,0,14.54,28.83,14.56
$GC,108,-0.48,-107.1,89,1894,3209,3248,4.4,-7.1,7,136,13.30,2.75,-2.25,0.000,18948,0.360,2.219,3228,479,3380,3362,3399,0,0,0,0,0,0,14.19,13.54,14.41
$GC,246,-0.48,-107.1,3227,478,3362,3404,47.9,-19.5,31,258,0.00,2.53,0.00,0.000,1030,0.000,0.096,3227,1892,3383,3362,3404,0,0,0,0,0,0,14.43,14.35,14.45
$GC,449,-0.48,-107.1,3227,1894,3363,3406,87.7,-19.4,51,460,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1895,3384,3362,3406,0,0,0,0,0,0,14.60,14.62,14.62
$GC,641,-0.48,-107.1,3227,1894,3362,3407,119.3,-14.8,70,652,0.00,2.53,0.00,0.000,516,0.000,0.110,3228,478,3385,3363,3407,0,0,0,0,0,0,14.64,14.43,14.66
$GC,881,-0.48,-107.1,3228,478,3363,3408,154.4,-14.8,114,893,0.00,2.53,0.00,0.000,1030,0.000,0.095,3228,1920,3385,3363,3408,0,0,0,0,0,0,14.56,14.47,14.58
$GC,1084,-0.48,-107.1,3227,1915,3362,3408,181.8,-12.2,134,1095,0.00,2.45,0.00,0.000,260,0.000,0.106,3228,3302,3386,3361,3412,0,0,0,0,0,0,14.69,14.50,14.71
$GC,1136,-0.48,-107.1,3227,3302,3362,3408,187.7,-11.0,142,1147,0.00,2.47,0.00,0.000,1030,0.000,0.095,3229,1900,3385,3362,3408,0,0,0,0,0,0,14.57,14.50,14.62
$GC,1338,-0.48,-107.1,3227,1899,3362,3408,209.7,-10.8,162,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1899,3385,3362,3408,0,0,0,0,0,0,14.71,14.73,14.71
$GC,1531,-0.48,-107.1,3227,1899,3362,3408,231.3,-12.0,181,1542,0.00,2.53,0.00,0.000,516,0.000,0.111,3228,474,3385,3362,3408,0,0,0,0,0,0,14.73,14.50,14.75
$GC,1593,-0.48,-107.1,3228,474,3362,3408,239.5,-13.4,191,1604,0.00,2.50,0.00,0.000,1030,0.000,0.092,3228,1896,3385,3362,3409,0,0,0,0,0,0,14.62,14.54,14.64
$GC,1805,-0.48,-107.1,3227,1896,3361,3408,265.2,-12.0,204,1816,0.00,2.50,0.00,0.000,260,0.000,0.106,3228,3319,3385,3362,3408,0,0,0,0,0,0,14.74,14.52,14.76
$GC,1862,-0.48,-107.1,3227,3319,3358,3408,271.7,-11.2,213,1873,0.00,2.53,0.00,0.000,1030,0.000,0.095,3228,1884,3384,3361,3408,0,0,0,0,0,0,14.61,14.52,14.64
$GC,2189,-0.48,-107.1,3227,1881,3360,3408,308.4,-11.1,226,2200,0.00,2.45,0.00,0.000,516,0.000,0.110,3228,495,3385,3363,3407,0,0,0,0,0,0,14.79,14.55,14.78
$GC,2295,-0.48,-107.1,3227,495,3359,3408,321.0,-12.6,244,2306,0.00,2.47,0.00,0.000,1030,0.000,0.091,3230,1916,3381,3355,3407,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2637,-0.48,-107.1,3227,1916,3358,3408,359.6,-11.1,260,2648,0.00,2.45,0.00,0.000,260,0.000,0.107,3228,3306,3383,3358,3408,0,0,0,0,0,0,14.78,14.57,14.79
$GC,2737,-0.48,-107.1,3227,3306,3352,3408,370.2,-10.6,277,2750,0.00,2.47,0.00,0.000,1030,0.000,0.097,3228,1902,3383,3358,3408,0,0,0,0,0,0,14.65,14.58,14.68
$GC,3043,-0.48,-107.1,3227,1902,3358,3408,402.8,-10.6,288,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1901,3382,3356,3408,0,0,0,0,0,0,14.76,14.81,14.80
$GC,3340,-0.48,-107.1,3228,1901,3354,3408,433.3,-9.9,298,3351,0.00,2.53,0.00,0.000,260,0.000,0.109,3228,3317,3381,3354,3408,0,0,0,0,0,0,14.79,14.57,14.81
$GC,3382,-0.48,-107.1,3227,3317,3354,3408,437.4,-10.0,304,3393,0.00,2.50,0.00,0.000,1030,0.000,0.098,3228,1901,3381,3354,3409,0,0,0,0,0,0,14.69,14.59,14.69
$GC,3724,-0.48,-107.1,3227,1901,3352,3409,471.6,-10.0,320,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1901,3380,3352,3408,0,0,0,0,0,0,14.79,14.81,14.81
$GC,4024,-0.48,-107.1,3227,1901,3353,3408,500.3,-9.2,330,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1901,3378,3348,3408,0,0,0,0,0,0,14.80,14.79,14.81
$GC,4324,-0.48,-107.1,3227,1901,3349,3408,527.3,-8.9,340,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1901,3378,3349,3408,0,0,0,0,0,0,14.80,14.82,14.85
$GC,4624,-0.48,-107.1,3227,1901,3348,3407,554.4,-9.2,350,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1902,3378,3349,3407,0,0,0,0,0,0,14.81,14.81,14.82
$GC,4924,-0.48,-107.1,3227,1901,3346,3408,583.0,-9.7,360,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1900,3380,3352,3408,0,0,0,0,0,0,14.81,14.82,14.82
$GC,5224,-0.48,-107.1,3233,1901,3344,3409,612.1,-9.6,370,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1898,3375,3344,3407,0,0,0,0,0,0,14.81,14.83,14.83
$GC,5524,-0.48,-107.1,3227,1901,3342,3404,640.8,-9.6,380,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1901,3374,3342,3407,0,0,0,0,0,0,14.81,14.83,14.83
$GC,5824,-0.48,-107.1,3227,1901,3342,3407,669.7,-9.7,390,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1901,3377,3348,3407,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6124,-0.48,-107.1,3228,1901,3341,3407,698.9,-9.7,400,6135,0.00,2.53,0.00,0.000,260,0.000,0.112,3228,3303,3373,3340,3407,0,0,0,0,0,0,14.81,14.61,14.83
$GC,6196,-0.48,-107.1,3227,3302,3341,3406,705.8,-9.4,412,6207,0.00,2.50,0.00,0.000,1030,0.000,0.103,3227,1896,3373,3341,3406,0,0,0,0,0,0,14.69,14.61,14.70
$GC,6538,-0.48,-107.1,3227,1895,3341,3406,737.5,-8.9,428,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1896,3373,3340,3406,0,0,0,0,0,0,14.80,14.82,14.82
$GC,6838,-0.48,-107.1,3225,1895,3336,3406,763.5,-8.6,438,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1895,3372,3339,3406,0,0,0,0,0,0,14.81,14.83,14.82
$GC,7139,-0.48,-107.1,3227,1895,3338,3406,787.4,-7.9,448,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1895,3372,3338,3406,0,0,0,0,0,0,14.80,14.82,14.81
$GC,7438,-0.48,-107.1,3227,1895,3338,3405,810.9,-8.0,458,7450,0.00,2.55,0.00,0.000,260,0.000,0.112,3226,3315,3372,3338,3407,0,0,0,0,0,0,14.80,14.59,14.81
$GC,7540,-0.48,-107.1,3227,3315,3338,3409,818.0,-7.7,475,7551,0.00,2.53,0.00,0.000,1030,0.000,0.103,3228,1899,3371,3338,3405,0,0,0,0,0,0,14.69,14.59,14.70
$GC,7846,-0.48,-107.1,3227,1901,3337,3404,841.1,-7.4,486,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1901,3370,3337,3404,0,0,0,0,0,0,14.79,14.81,14.81
$GC,8146,-0.48,-107.1,3227,1901,3336,3404,863.1,-7.3,496,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1902,3370,3336,3404,0,0,0,0,0,0,14.81,14.81,14.81
$GC,8441,-0.48,-107.1,3227,1901,3335,3403,885.6,-7.5,506,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1901,3370,3336,3404,0,0,0,0,0,0,14.79,14.81,14.81
$GC,8741,-0.48,-107.1,3227,1898,3330,3403,909.5,-8.1,516,8752,0.00,2.53,0.00,0.000,516,0.000,0.119,3227,484,3368,3334,3403,0,0,0,0,0,0,14.79,14.58,14.81
$GC,8808,-0.48,-107.1,3227,484,3334,3403,916.3,-9.3,527,8820,0.00,2.50,0.00,0.000,1030,0.000,0.099,3228,1896,3368,3334,3403,0,0,0,0,0,0,14.69,14.59,14.70
$GC,9119,-0.48,-107.1,3227,1895,3334,3403,940.9,-8.2,538,9130,0.00,2.53,0.00,0.000,260,0.000,0.112,3228,3319,3368,3334,3402,0,0,0,0,0,0,14.79,14.57,14.80
$GC,9220,-0.48,-107.1,3227,3320,3333,3402,949.2,-7.8,555,9232,0.00,2.53,0.00,0.000,1030,0.000,0.101,3228,1891,3367,3334,3401,0,0,0,0,0,0,14.68,14.59,14.69
$GC,9525,-0.48,-107.1,3230,1895,3333,3402,972.9,-7.8,566,9536,0.00,2.50,0.00,0.000,516,0.000,0.119,3228,494,3368,3334,3402,0,0,0,0,0,0,14.78,14.57,14.81
$GC,9587,-0.48,-107.1,3227,495,3334,3402,979.2,-8.7,576,9598,0.00,2.50,0.00,0.000,1030,0.000,0.099,3228,1915,3369,3334,3405,0,0,0,0,0,0,14.67,14.58,14.71
$STATE,9754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9754,begin apogee
$GC,9766,-0.17,0.0,3228,2352,3333,3402,991.6,-7.5,583,9858,0.32,0.00,84.47,1.896,10246,0.180,0.000,3332,2352,2942,2882,3002,0,0,0,0,0,0,14.54,13.94,13.29
$STATE,9861,end apogee,CONTROL_FINISHED_OK
$STATE,9861,begin climb
$GC,9866,0.48,107.1,3332,2351,2878,3000,995.8,0.0,586,9968,0.62,0.00,89.50,1.869,10246,0.122,0.000,3542,2352,2501,2384,2618,0,0,0,0,0,0,13.94,13.72,13.09
$GC,10269,0.48,107.1,3542,2352,2382,2617,966.9,8.4,600,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2352,2500,2382,2618,0,0,0,0,0,0,14.44,14.45,14.45
$GC,10573,0.48,107.1,3541,2352,2376,2618,942.7,8.1,610,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2352,2499,2381,2617,0,0,0,0,0,0,14.57,14.59,14.58
$GC,10873,0.48,107.1,3543,2352,2380,2618,918.5,8.0,620,10884,0.00,2.55,0.00,0.000,516,0.000,0.114,3543,938,2499,2380,2618,0,0,0,0,0,0,14.63,14.42,14.64
$GC,10969,0.48,107.1,3542,939,2380,2617,910.5,8.7,636,10980,0.00,2.50,0.00,0.000,1030,0.000,0.099,3543,2350,2499,2381,2618,0,0,0,0,0,0,14.54,14.46,14.56
$GC,11293,0.48,107.1,3542,2349,2380,2618,880.8,9.3,648,11304,0.00,2.55,0.00,0.000,260,0.000,0.116,3543,3756,2499,2380,2618,0,0,0,0,0,0,14.69,14.48,14.73
$GC,11314,0.48,107.1,3542,3756,2379,2617,879.2,8.9,650,11325,0.00,2.53,0.00,0.000,1030,0.000,0.103,3543,2346,2501,2380,2623,0,0,0,0,0,0,14.57,14.48,14.62
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$STATE,22540,end climb,SURFACE_DEPTH_REACHED
$STATE,22540,begin surface coast
$FINISH,2.4,1.023487
$STATE,22545,end surface coast,CONTROL_FINISHED_OK
$STATE,22545,begin surface
$SM_CCo,22577,9.57,0.089,0,0,1411,375.06
$SM_GC,3.19,10.30,0.82,9.57,0.076,0.099,0.089,91,1900,1411,-10.26,0.51,375.06,0,0,0,0,0,0,14.45,14.45,14.45
$IRIDIUM_FIX,4644.93,-12642.08,280615,133648
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.95
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3913088
$24V_AH,13.09,17.188
$10V_AH,13.47,0.000
$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
$DEVICE_SECS,24.850,152.800,361.225,9.575,0.000,0.000,0.000,352.200,0.000,0.000,17.636,3075.606,15321.843,630.311,3118.276,1077.262,0.000,2743.066,0.000,2049.583,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22568.000,558.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.777,6.865,0.000,0.000
$MEM,286368
$DATA_FILE_SIZE,46658,1346
$CAP_FILE_SIZE,260229,0
$CFSIZE,260034560,250068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,135.73,1
$GPS,290615,023503,4709.614,-12637.640,73,0.8,79,16.5,0.3,84.1,11,5.3