version: 66.12
glider: 187
mission: 8
dive: 85
start: 7 4 115 10 11 15
data:
$ID,187
$MISSION,8
$DIVE,85
$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,3388
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$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,20
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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
$GPS1,040715,095936,4743.5938,-12527.2500,48,0.9,48,16.5,0.7,65.9,9,6.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-74.7
$GPS2,040715,101047,4743.6318,-12527.1436,4,0.9,6,16.5,0.9,0.0,9,8.7
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,41.6,25995,-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,28,-0.44,-107.1,82,1898,1301,1525,0.0,0.0,0,101,0.00,0.00,-65.80,0.000,16386,0.000,0.000,82,1898,3239,3222,3256,0,0,0,0,0,0,14.55,28.83,14.58
$GC,108,-0.44,-107.1,87,1897,3228,3257,4.8,-8.2,7,136,13.38,2.80,-2.03,0.000,18948,0.360,2.225,3236,478,3382,3366,3398,0,0,0,0,0,0,14.20,13.52,14.42
$GC,374,-0.44,-107.1,3236,477,3366,3405,74.4,-17.4,56,386,0.00,2.50,0.00,0.000,1030,0.000,0.093,3236,1896,3384,3366,3403,0,0,0,0,0,0,14.48,14.40,14.51
$GC,568,-0.44,-107.1,3236,1896,3366,3406,102.4,-13.1,75,579,0.00,2.53,0.00,0.000,516,0.000,0.109,3236,486,3386,3366,3406,0,0,0,0,0,0,14.64,14.42,14.66
$GC,704,-0.44,-107.1,3236,482,3366,3406,123.0,-13.7,99,715,0.00,2.50,0.00,0.000,1030,0.000,0.093,3236,1910,3388,3367,3409,0,0,0,0,0,0,14.54,14.47,14.57
$GC,907,-0.44,-107.1,3236,1910,3366,3406,149.0,-12.2,119,918,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1910,3386,3366,3407,0,0,0,0,0,0,14.69,14.70,14.70
$GC,1099,-0.44,-107.1,3236,1915,3366,3406,172.7,-12.4,138,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1910,3386,3366,3406,0,0,0,0,0,0,14.70,14.72,14.72
$GC,1292,-0.44,-107.1,3236,1910,3366,3406,196.5,-12.1,157,1303,0.00,2.55,0.00,0.000,516,0.000,0.112,3236,482,3386,3366,3406,0,0,0,0,0,0,14.71,14.50,14.73
$GC,1400,-0.44,-107.1,3236,481,3366,3413,211.0,-13.2,176,1412,0.00,2.50,0.00,0.000,1030,0.000,0.096,3237,1896,3386,3366,3406,0,0,0,0,0,0,14.61,14.52,14.63
$GC,1594,-0.44,-107.1,3236,1893,3366,3404,233.8,-11.3,195,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1896,3389,3369,3410,0,0,0,0,0,0,14.73,14.76,14.75
$GC,1807,-0.44,-107.1,3236,1896,3364,3406,256.9,-10.9,212,1818,0.00,2.53,0.00,0.000,516,0.000,0.112,3237,474,3385,3365,3406,0,0,0,0,0,0,14.75,14.52,14.76
$GC,1874,-0.44,-107.1,3236,474,3365,3406,265.0,-12.0,223,1886,0.00,2.53,0.00,0.000,1030,0.000,0.093,3236,1916,3385,3364,3406,0,0,0,0,0,0,14.63,14.53,14.65
$GC,2185,-0.44,-107.1,3236,1915,3369,3406,298.6,-11.1,234,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1915,3381,3356,3406,0,0,0,0,0,0,14.75,14.78,14.78
$GC,2479,-0.44,-107.1,3236,1915,3361,3406,331.4,-11.0,244,2490,0.00,2.45,0.00,0.000,260,0.000,0.108,3236,3315,3383,3361,3406,0,0,0,0,0,0,14.78,14.57,14.79
$GC,2526,-0.44,-107.1,3236,3315,3361,3406,336.6,-10.7,251,2538,0.00,2.50,0.00,0.000,1030,0.000,0.096,3236,1899,3383,3361,3406,0,0,0,0,0,0,14.66,14.57,14.66
$GC,2863,-0.44,-107.1,3236,1896,3359,3406,372.1,-10.6,266,2875,0.00,2.53,0.00,0.000,516,0.000,0.112,3237,474,3381,3358,3405,0,0,0,0,0,0,14.78,14.55,14.80
$GC,3029,-0.44,-107.1,3236,473,3358,3406,391.5,-11.3,296,3040,0.00,2.47,0.00,0.000,1030,0.000,0.095,3236,1895,3379,3353,3406,0,0,0,0,0,0,14.66,14.57,14.69
$GC,3371,-0.44,-107.1,3234,1896,3357,3406,424.1,-9.2,312,3383,0.00,2.50,0.00,0.000,260,0.000,0.107,3235,3314,3381,3357,3406,0,0,0,0,0,0,14.79,14.59,14.81
$GC,3478,-0.44,-107.1,3236,3318,3356,3406,433.1,-8.5,330,3489,0.00,2.50,0.00,0.000,1030,0.000,0.099,3237,1898,3381,3356,3406,0,0,0,0,0,0,14.68,14.59,14.69
$GC,3820,-0.44,-107.1,3236,1898,3354,3406,464.4,-9.1,346,3831,0.00,2.50,0.00,0.000,516,0.000,0.113,3236,486,3379,3354,3404,0,0,0,0,0,0,14.79,14.57,14.81
$GC,3921,-0.44,-107.1,3236,486,3350,3406,474.4,-10.3,363,3933,0.00,2.47,0.00,0.000,1030,0.000,0.097,3233,1896,3380,3354,3406,0,0,0,0,0,0,14.67,14.59,14.69
$GC,4227,-0.44,-107.1,3236,1899,3352,3406,503.1,-9.3,374,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1897,3378,3352,3405,0,0,0,0,0,0,14.81,14.81,14.81
$GC,4523,-0.44,-107.1,3236,1896,3351,3404,532.2,-9.9,384,4534,0.00,2.53,0.00,0.000,516,0.000,0.115,3236,478,3378,3351,3406,0,0,0,0,0,0,14.78,14.57,14.81
$GC,4610,-0.44,-107.1,3236,478,3350,3406,541.4,-10.4,399,4621,0.00,2.50,0.00,0.000,1030,0.000,0.098,3236,1901,3378,3351,3406,0,0,0,0,0,0,14.68,14.59,14.70
$GC,4937,-0.44,-107.1,3236,1902,3349,3406,571.8,-9.2,412,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1901,3373,3344,3403,0,0,0,0,0,0,14.78,14.81,14.81
$GC,5237,-0.44,-107.1,3236,1901,3347,3406,599.4,-9.1,422,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1901,3376,3347,3406,0,0,0,0,0,0,14.80,14.81,14.81
$GC,5537,-0.44,-107.1,3236,1901,3345,3406,624.8,-8.1,432,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1900,3375,3345,3406,0,0,0,0,0,0,14.80,14.82,14.81
$GC,5837,-0.44,-107.1,3236,1901,3344,3406,648.3,-7.9,442,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1901,3375,3344,3406,0,0,0,0,0,0,14.80,14.82,14.82
$GC,6137,-0.44,-107.1,3236,1901,3343,3406,672.7,-8.2,452,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1900,3374,3342,3406,0,0,0,0,0,0,14.82,14.82,14.82
$GC,6437,-0.44,-107.1,3236,1901,3342,3406,697.3,-8.2,462,6450,0.00,2.50,0.00,0.000,260,0.000,0.112,3236,3319,3374,3342,3406,0,0,0,0,0,0,14.81,14.57,14.82
$GC,6511,-0.44,-107.1,3238,3319,3342,3405,703.2,-7.9,474,6523,0.00,2.55,0.00,0.000,1030,0.000,0.102,3236,1901,3373,3342,3405,0,0,0,0,0,0,14.70,14.60,14.70
$GC,6854,-0.44,-107.1,3236,1901,3341,3404,730.2,-7.6,490,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1901,3373,3342,3405,0,0,0,0,0,0,14.80,14.81,14.80
$GC,7154,-0.44,-107.1,3236,1901,3341,3405,753.3,-7.8,500,7165,0.00,2.53,0.00,0.000,516,0.000,0.117,3236,475,3372,3341,3404,0,0,0,0,0,0,14.81,14.56,14.81
$GC,7231,-0.44,-107.1,3239,475,3341,3404,760.0,-8.9,513,7242,0.00,2.53,0.00,0.000,1030,0.000,0.099,3236,1916,3373,3342,3404,0,0,0,0,0,0,14.67,14.58,14.69
$GC,7568,-0.44,-107.1,3236,1916,3346,3404,788.0,-8.8,528,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1916,3371,3340,3403,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7868,-0.44,-107.1,3237,1916,3339,3403,814.9,-8.9,538,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1916,3370,3339,3401,0,0,0,0,0,0,14.80,14.81,14.81
$GC,8168,-0.44,-107.1,3236,1916,3337,3403,840.7,-8.6,548,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1916,3370,3338,3403,0,0,0,0,0,0,14.79,14.84,14.81
$GC,8468,-0.44,-107.1,3236,1916,3338,3403,867.5,-9.2,558,8479,0.00,2.58,0.00,0.000,516,0.000,0.115,3237,474,3370,3338,3403,0,0,0,0,0,0,14.79,14.55,14.81
$GC,8555,-0.44,-107.1,3236,474,3338,3402,876.7,-9.8,573,8566,0.00,2.50,0.00,0.000,1030,0.000,0.096,3235,1897,3370,3338,3402,0,0,0,0,0,0,14.67,14.59,14.69
$GC,8882,-0.44,-107.1,3236,1897,3338,3402,904.0,-8.3,586,8893,0.00,2.53,0.00,0.000,260,0.000,0.112,3236,3320,3370,3338,3402,0,0,0,0,0,0,14.78,14.55,14.80
$GC,8955,-0.44,-107.1,3236,3324,3340,3402,910.7,-8.3,598,8966,0.00,2.55,0.00,0.000,1030,0.000,0.101,3237,1885,3368,3334,3402,0,0,0,0,0,0,14.66,14.55,14.69
$GC,9297,-0.44,-107.1,3236,1885,3337,3402,936.9,-7.7,614,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1885,3370,3338,3402,0,0,0,0,0,0,14.78,14.80,14.81
$GC,9598,-0.44,-107.1,3236,1885,3336,3398,960.3,-7.6,624,9609,0.00,2.47,0.00,0.000,516,0.000,0.116,3236,494,3369,3336,3402,0,0,0,0,0,0,14.78,14.57,14.80
$GC,9698,-0.44,-107.1,3236,494,3337,3401,969.4,-8.5,641,9710,0.00,2.47,0.00,0.000,1030,0.000,0.097,3237,1900,3369,3337,3401,0,0,0,0,0,0,14.69,14.58,14.69
$STATE,9970,end dive,NO_VERTICAL_VELOCITY
$STATE,9970,begin apogee
$GC,9981,-0.16,0.0,3235,2361,3336,3401,972.6,0.0,651,10074,0.30,0.00,84.93,1.879,10246,0.123,0.000,3345,2359,2938,2881,2995,0,0,0,0,0,0,14.58,13.96,13.31
$STATE,10077,end apogee,CONTROL_FINISHED_OK
$STATE,10077,begin climb
$GC,10082,0.44,107.1,3345,2359,2877,2996,973.2,0.0,654,10187,0.52,2.78,87.05,1.845,10756,0.109,0.111,3531,940,2502,2387,2617,0,0,0,0,0,0,13.97,13.71,13.13
$GC,10197,0.44,107.1,3531,939,2384,2616,968.8,7.5,674,10208,0.00,2.62,0.00,0.000,1030,0.000,0.096,3531,2354,2502,2387,2617,0,0,0,0,0,0,13.95,13.85,13.97
$GC,10534,0.44,107.1,3531,2354,2385,2616,942.8,7.8,689,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2354,2500,2385,2616,0,0,0,0,0,0,14.47,14.50,14.49
$GC,10838,0.44,107.1,3531,2354,2384,2617,918.9,8.0,699,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2354,2498,2384,2612,0,0,0,0,0,0,14.58,14.60,14.59
$GC,11139,0.44,107.1,3531,2354,2383,2616,896.1,7.9,709,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2353,2500,2384,2616,0,0,0,0,0,0,14.64,14.66,14.66
$GC,11438,0.44,107.1,3531,2354,2382,2617,873.0,7.7,719,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2354,2497,2378,2616,0,0,0,0,0,0,14.69,14.70,14.70
$GC,11739,0.44,107.1,3531,2356,2382,2616,848.9,8.1,729,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2353,2499,2382,2616,0,0,0,0,0,0,14.71,14.73,14.73
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$STATE,22988,end climb,SURFACE_DEPTH_REACHED
$STATE,22988,begin surface coast
$FINISH,0.1,1.023673
$STATE,23010,end surface coast,CONTROL_FINISHED_OK
$STATE,23010,begin surface
$SM_CCo,23041,22.30,0.086,0,0,1411,375.06
$SM_GC,0.63,10.23,0.82,22.30,0.049,0.101,0.086,97,1904,1411,-10.23,0.74,375.06,0,0,0,0,0,0,14.35,14.32,14.34
$IRIDIUM_FIX,4722.92,-12529.66,040715,031324
$TT8_MAMPS,0.020972,0.020972
$HUMID,47.87
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3905408
$24V_AH,13.13,23.241
$10V_AH,13.32,0.000
$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,24.800,158.000,324.325,22.300,0.000,0.000,0.000,357.075,0.000,0.000,7.651,3270.762,15433.976,570.293,3326.662,1106.258,0.000,2791.415,0.000,2274.662,0.000,0.537,0.000
$DEVICE_MAMPS,360.315,2225.385,1878.840,85.680,0.000,0.000,0.000,150.705,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23037.000,579.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.770,6.824,0.000,0.000
$MEM,286364
$DATA_FILE_SIZE,53242,1477
$CAP_FILE_SIZE,266463,0
$CFSIZE,260034560,247726080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,215.32,1
$GPS,040715,163731,4744.530,-12524.562,54,1.3,54,16.5,0.8,189.9,6,8.3