version: 66.12
glider: 187
mission: 8
dive: 74
start: 7 1 115 8 26 42
data:
$ID,187
$MISSION,8
$DIVE,74
$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,43
$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,12
$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
$GPS1,010715,080909,4724.7305,-12608.8486,49,0.9,51,16.6,0.1,0.0,9,7.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-75.8
$GPS2,010715,082614,4724.7500,-12608.8818,6,1.3,9,16.6,0.4,265.5,8,8.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,49.5,88528,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,30,-0.45,-107.1,69,1892,1299,1532,0.0,0.0,0,91,0.00,0.00,-57.80,0.000,16386,0.000,0.000,72,1895,2972,2935,3009,0,0,0,0,0,0,14.49,28.83,14.52
$GC,98,-0.45,-107.1,68,1894,2935,3010,3.1,-4.2,6,128,13.82,2.75,-7.00,0.000,18948,0.373,2.209,3238,486,3379,3349,3409,0,0,0,0,0,0,14.16,13.51,14.38
$GC,367,-0.45,-107.1,3237,486,3353,3412,66.7,-18.5,56,374,0.00,2.50,0.00,0.000,1030,0.000,0.094,3237,1894,3382,3353,3412,0,0,0,0,0,0,14.44,14.35,14.45
$GC,565,-0.45,-107.1,3237,1895,3353,3412,100.2,-16.5,76,573,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1892,3386,3360,3413,0,0,0,0,0,0,14.61,14.63,14.62
$GC,756,-0.45,-107.1,3238,1895,3352,3414,126.5,-13.2,95,764,0.00,2.55,0.00,0.000,260,0.000,0.105,3237,3320,3382,3352,3413,0,0,0,0,0,0,14.64,14.43,14.66
$GC,852,-0.45,-107.1,3233,3320,3353,3413,138.8,-12.3,112,861,0.00,2.53,0.00,0.000,1030,0.000,0.093,3237,1901,3383,3353,3414,0,0,0,0,0,0,14.54,14.45,14.55
$GC,1043,-0.45,-107.1,3237,1901,3352,3414,163.3,-12.8,131,1050,0.00,2.53,0.00,0.000,516,0.000,0.109,3237,474,3383,3352,3414,0,0,0,0,0,0,14.66,14.45,14.69
$GC,1139,-0.45,-107.1,3237,474,3358,3414,176.2,-13.8,148,1148,0.00,2.50,0.00,0.000,1030,0.000,0.093,3237,1908,3383,3353,3414,0,0,0,0,0,0,14.57,14.48,14.58
$GC,1329,-0.45,-107.1,3235,1905,3352,3413,199.0,-11.4,167,1336,0.00,2.50,0.00,0.000,260,0.000,0.106,3237,3315,3383,3353,3414,0,0,0,0,0,0,14.69,14.47,14.71
$GC,1398,-0.45,-107.1,3235,3316,3348,3414,206.9,-11.3,179,1406,0.00,2.53,0.00,0.000,1030,0.000,0.096,3237,1887,3383,3352,3414,0,0,0,0,0,0,14.57,14.50,14.59
$GC,1597,-0.45,-107.1,3236,1886,3353,3413,230.2,-11.6,199,1605,0.00,2.47,0.00,0.000,516,0.000,0.112,3233,494,3382,3352,3413,0,0,0,0,0,0,14.71,14.48,14.72
$GC,1680,-0.45,-107.1,3242,493,3352,3414,240.3,-11.8,214,1689,0.00,2.47,0.00,0.000,1030,0.000,0.094,3237,1910,3383,3352,3414,0,0,0,0,0,0,14.59,14.52,14.61
$GC,1895,-0.45,-107.1,3237,1909,3350,3413,262.8,-10.6,227,1903,0.00,2.47,0.00,0.000,260,0.000,0.107,3237,3312,3382,3351,3413,0,0,0,0,0,0,14.73,14.51,14.73
$GC,1965,-0.45,-107.1,3237,3311,3350,3413,270.2,-9.9,239,1973,0.00,2.50,0.00,0.000,1030,0.000,0.096,3233,1901,3381,3350,3413,0,0,0,0,0,0,14.61,14.52,14.62
$GC,2308,-0.45,-107.1,3236,1901,3348,3411,306.2,-10.6,255,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1901,3381,3347,3415,0,0,0,0,0,0,14.72,14.76,14.76
$GC,2604,-0.45,-107.1,3236,1901,3346,3410,337.0,-10.0,265,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1901,3379,3345,3413,0,0,0,0,0,0,14.74,14.76,14.76
$GC,2904,-0.45,-107.1,3236,1901,3344,3413,367.1,-10.0,275,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1901,3378,3343,3413,0,0,0,0,0,0,14.75,14.77,14.77
$GC,3204,-0.45,-107.1,3236,1902,3341,3413,396.4,-9.5,285,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1901,3377,3342,3413,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3505,-0.45,-107.1,3237,1901,3340,3413,424.7,-9.4,295,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1901,3377,3336,3419,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3804,-0.45,-107.1,3242,1901,3338,3409,452.0,-9.0,305,3812,0.00,2.55,0.00,0.000,260,0.000,0.111,3237,3309,3377,3338,3417,0,0,0,0,0,0,14.76,14.54,14.78
$GC,3863,-0.45,-107.1,3236,3309,3338,3412,457.1,-8.5,315,3871,0.00,2.50,0.00,0.000,1030,0.000,0.100,3237,1901,3375,3338,3412,0,0,0,0,0,0,14.63,14.59,14.66
$GC,4186,-0.45,-107.1,3237,1901,3337,3412,486.5,-9.2,327,4194,0.00,2.53,0.00,0.000,516,0.000,0.115,3237,475,3374,3337,3412,0,0,0,0,0,0,14.76,14.53,14.77
$GC,4289,-0.45,-107.1,3236,475,3336,3412,497.3,-10.4,346,4297,0.00,2.50,0.00,0.000,1030,0.000,0.096,3237,1893,3374,3336,3412,0,0,0,0,0,0,14.64,14.57,14.66
$GC,4627,-0.45,-107.1,3241,1895,3334,3414,527.0,-8.9,361,4635,0.00,2.53,0.00,0.000,260,0.000,0.112,3237,3318,3372,3334,3411,0,0,0,0,0,0,14.76,14.54,14.77
$GC,4686,-0.45,-107.1,3236,3318,3329,3411,532.5,-8.8,371,4695,0.00,2.50,0.00,0.000,1030,0.000,0.099,3237,1902,3372,3334,3411,0,0,0,0,0,0,14.61,14.56,14.64
$GC,5010,-0.45,-107.1,3236,1902,3333,3406,560.1,-8.5,383,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1902,3371,3333,3410,0,0,0,0,0,0,14.76,14.77,14.77
$GC,5306,-0.45,-107.1,3236,1901,3333,3410,586.4,-9.0,393,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1902,3371,3332,3410,0,0,0,0,0,0,14.76,14.78,14.77
$GC,5607,-0.45,-107.1,3236,1902,3331,3409,613.8,-9.2,403,5614,0.00,2.53,0.00,0.000,516,0.000,0.117,3233,476,3369,3331,3408,0,0,0,0,0,0,14.76,14.53,14.78
$GC,5715,-0.45,-107.1,3237,475,3331,3408,624.6,-9.8,423,5723,0.00,2.53,0.00,0.000,1030,0.000,0.097,3237,1915,3367,3331,3404,0,0,0,0,0,0,14.64,14.55,14.66
$GC,6048,-0.45,-107.1,3236,1916,3328,3408,653.2,-8.6,437,6056,0.00,2.47,0.00,0.000,260,0.000,0.110,3239,3312,3368,3329,3408,0,0,0,0,0,0,14.76,14.53,14.78
$GC,6111,-0.45,-107.1,3242,3311,3329,3403,658.8,-8.4,448,6120,0.00,2.53,0.00,0.000,1030,0.000,0.104,3237,1887,3368,3329,3407,0,0,0,0,0,0,14.64,14.55,14.64
$GC,6422,-0.45,-107.1,3236,1887,3329,3407,683.6,-7.9,459,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1887,3368,3329,3407,0,0,0,0,0,0,14.73,14.77,14.75
$GC,6717,-0.45,-107.1,3242,1887,3323,3407,706.9,-7.8,469,6724,0.00,2.58,0.00,0.000,260,0.000,0.112,3241,3318,3367,3328,3407,0,0,0,0,0,0,14.76,14.52,14.77
$GC,6770,-0.45,-107.1,3236,3318,3328,3406,711.0,-7.5,478,6779,0.00,2.53,0.00,0.000,1030,0.000,0.101,3237,1902,3367,3328,3406,0,0,0,0,0,0,14.64,14.55,14.65
$GC,7099,-0.45,-107.1,3236,1902,3328,3406,735.1,-7.3,491,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1902,3366,3327,3406,0,0,0,0,0,0,14.75,14.77,14.76
$GC,7395,-0.45,-107.1,3236,1902,3326,3405,757.7,-7.6,501,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1902,3366,3326,3406,0,0,0,0,0,0,14.75,14.77,14.78
$GC,7695,-0.45,-107.1,3237,1902,3325,3405,780.8,-7.7,511,7703,0.00,2.53,0.00,0.000,260,0.000,0.112,3237,3311,3365,3325,3405,0,0,0,0,0,0,14.76,14.57,14.77
$GC,7758,-0.45,-107.1,3236,3310,3325,3405,785.7,-7.4,522,7767,0.00,2.53,0.00,0.000,1030,0.000,0.104,3237,1888,3365,3325,3405,0,0,0,0,0,0,14.63,14.55,14.65
$GC,8068,-0.45,-107.1,3236,1888,3325,3405,809.1,-7.9,533,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1888,3366,3326,3407,0,0,0,0,0,0,14.75,14.77,14.76
$GC,8364,-0.45,-107.1,3236,1884,3324,3404,832.4,-7.7,543,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1888,3364,3324,3404,0,0,0,0,0,0,14.75,14.76,14.76
$GC,8664,-0.45,-107.1,3233,1889,3323,3404,856.2,-7.9,553,8672,0.00,2.60,0.00,0.000,260,0.000,0.113,3237,3318,3364,3324,3404,0,0,0,0,0,0,14.75,14.53,14.76
$GC,8748,-0.45,-107.1,3236,3315,3323,3404,863.2,-7.5,568,8755,0.00,2.55,0.00,0.000,1030,0.000,0.101,3237,1902,3364,3324,3404,0,0,0,0,0,0,14.64,14.54,14.65
$GC,9076,-0.45,-107.1,3236,1902,3322,3403,887.1,-7.6,581,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1902,3362,3322,3403,0,0,0,0,0,0,14.74,14.75,14.76
$GC,9372,-0.45,-107.1,3237,1907,3322,3404,910.5,-7.8,591,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1902,3362,3321,3403,0,0,0,0,0,0,14.74,14.77,14.78
$GC,9672,-0.45,-107.1,3237,1902,3321,3403,934.5,-7.9,601,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1902,3362,3321,3403,0,0,0,0,0,0,14.74,14.76,14.76
$GC,9973,-0.45,-107.1,3233,1902,3321,3403,956.7,-7.3,611,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1901,3362,3321,3403,0,0,0,0,0,0,14.74,14.76,14.76
$GC,10272,-0.45,-107.1,3236,1902,3321,3402,977.2,-6.5,621,10280,0.00,2.58,0.00,0.000,260,0.000,0.112,3232,3318,3362,3321,3403,0,0,0,0,0,0,14.77,14.52,14.77
$GC,10351,-0.45,-107.1,3235,3318,3321,3402,982.7,-6.2,635,10358,0.00,2.55,0.00,0.000,1030,0.000,0.103,3234,1885,3362,3321,3403,0,0,0,0,0,0,14.62,14.52,14.64
$STATE,10495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10495,begin apogee
$GC,10507,-0.16,0.0,3237,2345,3320,3402,990.9,-5.4,643,10596,0.35,0.00,83.72,1.900,10246,0.187,0.000,3338,2346,2942,2880,3004,0,0,0,0,0,0,14.49,13.92,13.27
$STATE,10599,end apogee,CONTROL_FINISHED_OK
$STATE,10599,begin climb
$GC,10604,0.45,107.1,3338,2345,2876,3002,993.8,0.0,646,10713,0.57,2.80,88.40,1.876,10500,0.123,0.116,3535,3759,2500,2385,2616,0,0,0,0,0,0,13.93,13.70,13.10
$GC,10753,0.45,107.1,3534,3761,2384,2615,984.3,9.7,673,10764,0.00,2.65,0.00,0.000,1030,0.000,0.106,3543,2346,2499,2383,2615,0,0,0,0,0,0,14.02,13.93,14.04
$GC,11080,0.45,107.1,3543,2346,2384,2616,953.5,9.0,686,11090,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2343,2497,2383,2611,0,0,0,0,0,0,14.47,14.50,14.49
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$STATE,23425,end climb,SURFACE_DEPTH_REACHED
$STATE,23426,begin surface coast
$FINISH,-0.1,1.022410
$STATE,23486,end surface coast,CONTROL_FINISHED_OK
$STATE,23486,begin surface
$SM_CCo,23577,0.00,0.000,0,0,1365,386.59
$SM_GC,1.23,9.80,0.82,0.00,0.045,0.109,0.000,88,1905,1365,-10.27,0.71,386.59,0,0,0,0,0,0,14.46,14.42,14.52
$IRIDIUM_FIX,4707.04,-12607.02,010715,081331
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.67
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3909632
$24V_AH,13.10,19.924
$10V_AH,13.06,0.000
$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
$DEVICE_SECS,25.025,153.925,392.600,0.000,0.000,0.000,0.000,690.250,0.000,0.000,10.878,3189.909,16362.628,591.567,3295.573,1131.037,0.000,2920.194,0.000,2160.784,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23515.000,10891.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.719,8.946,0.000,0.000
$MEM,286420
$DATA_FILE_SIZE,50045,1410
$CAP_FILE_SIZE,262235,0
$CFSIZE,260034560,249012224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,101.99,1
$GPS,010715,150109,4725.667,-12604.348,38,0.9,38,16.5,0.5,167.2,12,7.8