version: 66.12
glider: 187
mission: 8
dive: 58
start: 6 26 115 22 58 1
data:
$ID,187
$MISSION,8
$DIVE,58
$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,17
$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,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
$GPS1,260615,224702,4659.3721,-12700.3232,49,1.3,49,16.5,0.6,318.2,7,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.4
$GPS2,260615,225729,4659.3560,-12700.3662,3,1.1,5,16.5,1.0,235.0,8,8.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,27.6,167905,-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,-0.48,-107.1,77,1897,1316,1507,0.0,0.0,0,101,0.00,0.00,-67.62,0.000,16386,0.000,0.000,77,1895,3317,3305,3329,0,0,0,0,0,0,14.54,28.83,14.58
$GC,108,-0.48,-107.1,78,1895,3306,3330,5.1,-8.8,7,133,13.43,2.75,-0.93,0.000,18948,0.363,2.225,3227,499,3381,3368,3395,0,0,0,0,0,0,14.19,13.56,14.40
$GC,202,-0.48,-107.1,3227,494,3368,3399,40.9,-22.2,23,211,0.00,2.50,0.00,0.000,1030,0.000,0.093,3227,1902,3383,3368,3398,0,0,0,0,0,0,14.39,14.31,14.40
$GC,392,-0.48,-107.1,3227,1899,3366,3402,77.9,-17.7,42,400,0.00,2.53,0.00,0.000,260,0.000,0.105,3227,3316,3385,3368,3402,0,0,0,0,0,0,14.57,14.35,14.59
$GC,466,-0.48,-107.1,3227,3316,3368,3402,89.7,-15.3,55,475,0.00,2.53,0.00,0.000,1030,0.000,0.094,3226,1903,3385,3368,3402,0,0,0,0,0,0,14.48,14.38,14.50
$GC,656,-0.48,-107.1,3227,1901,3368,3403,116.5,-13.6,74,664,0.00,2.53,0.00,0.000,516,0.000,0.109,3227,482,3386,3368,3404,0,0,0,0,0,0,14.62,14.42,14.64
$GC,727,-0.48,-107.1,3227,479,3368,3404,126.9,-14.4,86,735,0.00,2.47,0.00,0.000,1030,0.000,0.090,3225,1895,3384,3368,3401,0,0,0,0,0,0,14.52,14.45,14.54
$GC,926,-0.48,-107.1,3231,1896,3368,3404,153.9,-13.4,106,935,0.00,2.53,0.00,0.000,260,0.000,0.106,3228,3317,3386,3368,3404,0,0,0,0,0,0,14.66,14.45,14.68
$GC,970,-0.48,-107.1,3232,3317,3368,3404,159.4,-12.4,113,978,0.00,2.50,0.00,0.000,1030,0.000,0.093,3228,1899,3386,3368,3404,0,0,0,0,0,0,14.55,14.47,14.57
$GC,1160,-0.48,-107.1,3231,1898,3368,3404,181.7,-11.2,132,1167,0.00,2.53,0.00,0.000,516,0.000,0.108,3227,480,3386,3368,3405,0,0,0,0,0,0,14.68,14.46,14.69
$GC,1272,-0.48,-107.1,3227,476,3368,3405,195.5,-12.8,152,1280,0.00,2.50,0.00,0.000,1030,0.000,0.089,3227,1910,3386,3368,3405,0,0,0,0,0,0,14.54,14.48,14.58
$GC,1471,-0.48,-107.1,3227,1910,3367,3403,217.1,-10.9,172,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1910,3386,3367,3405,0,0,0,0,0,0,14.69,14.72,14.71
$GC,1661,-0.48,-107.1,3227,1910,3366,3405,238.4,-10.6,191,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1910,3386,3366,3406,0,0,0,0,0,0,14.71,14.73,14.72
$GC,1876,-0.48,-107.1,3227,1910,3365,3404,260.3,-10.4,206,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1910,3384,3364,3404,0,0,0,0,0,0,14.71,14.73,14.73
$GC,2171,-0.48,-107.1,3227,1910,3364,3404,292.6,-10.6,216,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1908,3384,3364,3405,0,0,0,0,0,0,14.74,14.76,14.75
$GC,2471,-0.48,-107.1,3226,1910,3362,3404,324.0,-10.5,226,2480,0.00,2.55,0.00,0.000,516,0.000,0.111,3227,477,3383,3362,3404,0,0,0,0,0,0,14.73,14.53,14.76
$GC,2550,-0.48,-107.1,3227,476,3361,3404,333.1,-11.6,240,2558,0.00,2.47,0.00,0.000,1030,0.000,0.092,3227,1893,3381,3356,3406,0,0,0,0,0,0,14.63,14.54,14.64
$GC,2883,-0.48,-107.1,3227,1893,3359,3404,367.3,-10.6,254,2891,0.00,2.53,0.00,0.000,260,0.000,0.106,3227,3319,3381,3359,3404,0,0,0,0,0,0,14.75,14.54,14.77
$GC,2946,-0.48,-107.1,3227,3318,3358,3404,374.5,-10.4,265,2955,0.00,2.53,0.00,0.000,1030,0.000,0.096,3227,1884,3380,3355,3405,0,0,0,0,0,0,14.63,14.55,14.65
$GC,3256,-0.48,-107.1,3227,1883,3357,3403,405.9,-10.2,276,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1883,3381,3358,3404,0,0,0,0,0,0,14.73,14.76,14.77
$GC,3552,-0.48,-107.1,3227,1883,3354,3404,435.4,-9.8,286,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1883,3380,3356,3404,0,0,0,0,0,0,14.75,14.77,14.78
$GC,3852,-0.48,-107.1,3228,1883,3354,3404,464.9,-9.9,296,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1883,3379,3354,3404,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4153,-0.48,-107.1,3227,1882,3355,3404,496.3,-10.6,306,4161,0.00,2.47,0.00,0.000,516,0.000,0.114,3227,493,3378,3352,3404,0,0,0,0,0,0,14.77,14.54,14.78
$GC,4236,-0.48,-107.1,3227,493,3352,3404,506.3,-11.9,321,4244,0.00,2.47,0.00,0.000,1030,0.000,0.093,3227,1912,3376,3353,3400,0,0,0,0,0,0,14.65,14.57,14.66
$GC,4564,-0.48,-107.1,3227,1912,3350,3404,542.4,-11.3,334,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1912,3377,3351,3404,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4860,-0.48,-107.1,3227,1912,3349,3404,573.7,-10.3,344,4867,0.00,2.47,0.00,0.000,260,0.000,0.110,3227,3315,3376,3349,3403,0,0,0,0,0,0,14.76,14.56,14.77
$GC,4933,-0.48,-107.1,3227,3314,3349,3401,581.0,-9.7,357,4940,0.00,2.50,0.00,0.000,1030,0.000,0.099,3232,1902,3376,3349,3404,0,0,0,0,0,0,14.65,14.55,14.66
$GC,5271,-0.48,-107.1,3227,1902,3346,3405,612.7,-9.3,372,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1904,3374,3345,3404,0,0,0,0,0,0,14.76,14.76,14.78
$GC,5567,-0.48,-107.1,3227,1902,3344,3404,638.4,-8.3,382,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1902,3374,3344,3404,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5867,-0.48,-107.1,3226,1902,3343,3399,662.7,-8.1,392,5874,0.00,2.53,0.00,0.000,516,0.000,0.114,3227,490,3373,3343,3403,0,0,0,0,0,0,14.76,14.56,14.78
$GC,5950,-0.48,-107.1,3227,495,3343,3405,670.3,-9.3,407,5958,0.00,2.47,0.00,0.000,1030,0.000,0.094,3228,1908,3376,3343,3410,0,0,0,0,0,0,14.65,14.57,14.66
$GC,6278,-0.48,-107.1,3227,1908,3342,3403,697.6,-8.3,420,6286,0.00,2.50,0.00,0.000,260,0.000,0.110,3227,3317,3370,3342,3398,0,0,0,0,0,0,14.76,14.57,14.76
$GC,6336,-0.48,-107.1,3225,3317,3342,3402,702.6,-7.8,430,6345,0.00,2.50,0.00,0.000,1030,0.000,0.099,3232,1902,3372,3342,3403,0,0,0,0,0,0,14.64,14.54,14.66
$GC,6660,-0.48,-107.1,3227,1902,3338,3402,727.5,-7.8,442,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1902,3371,3341,3402,0,0,0,0,0,0,14.75,14.77,14.77
$GC,6956,-0.48,-107.1,3227,1902,3340,3402,749.8,-7.3,452,6963,0.00,2.53,0.00,0.000,516,0.000,0.116,3228,479,3371,3340,3402,0,0,0,0,0,0,14.76,14.54,14.78
$GC,7025,-0.48,-107.1,3227,478,3340,3402,755.5,-8.6,464,7033,0.00,2.50,0.00,0.000,1030,0.000,0.094,3227,1893,3371,3340,3402,0,0,0,0,0,0,14.64,14.55,14.66
$GC,7368,-0.48,-107.1,3227,1893,3339,3402,780.1,-7.3,480,7376,0.00,2.55,0.00,0.000,260,0.000,0.111,3227,3318,3370,3339,3402,0,0,0,0,0,0,14.75,14.53,14.76
$GC,7461,-0.48,-107.1,3227,3318,3339,3401,787.4,-7.4,497,7470,0.00,2.53,0.00,0.000,1030,0.000,0.099,3230,1900,3370,3339,3402,0,0,0,0,0,0,14.64,14.54,14.65
$GC,7767,-0.48,-107.1,3227,1900,3339,3401,811.7,-8.2,508,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1900,3370,3339,3401,0,0,0,0,0,0,14.74,14.77,14.76
$GC,8067,-0.48,-107.1,3227,1900,3338,3406,837.1,-8.5,518,8076,0.00,2.53,0.00,0.000,516,0.000,0.116,3227,477,3369,3338,3401,0,0,0,0,0,0,14.75,14.53,14.76
$GC,8151,-0.48,-107.1,3230,477,3341,3400,845.7,-9.9,533,8159,0.00,2.50,0.00,0.000,1030,0.000,0.096,3227,1894,3368,3337,3400,0,0,0,0,0,0,14.63,14.55,14.65
$GC,8479,-0.48,-107.1,3230,1894,3337,3400,874.1,-9.0,546,8488,0.00,2.55,0.00,0.000,260,0.000,0.111,3227,3323,3368,3337,3400,0,0,0,0,0,0,14.74,14.54,14.76
$GC,8568,-0.48,-107.1,3227,3321,3337,3399,882.6,-8.7,562,8576,0.00,2.53,0.00,0.000,1030,0.000,0.103,3228,1900,3368,3337,3399,0,0,0,0,0,0,14.63,14.54,14.65
$GC,8887,-0.48,-107.1,3227,1900,3336,3399,909.2,-8.2,574,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1901,3367,3336,3399,0,0,0,0,0,0,14.73,14.76,14.76
$GC,9187,-0.48,-107.1,3227,1900,3335,3399,933.6,-8.1,584,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1900,3367,3334,3400,0,0,0,0,0,0,14.74,14.76,14.76
$GC,9487,-0.48,-107.1,3227,1900,3334,3395,957.3,-8.1,594,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1900,3367,3336,3399,0,0,0,0,0,0,14.73,14.76,14.76
$GC,9787,-0.48,-107.1,3227,1900,3335,3395,982.0,-8.3,604,9795,0.00,2.58,0.00,0.000,260,0.000,0.112,3227,3321,3364,3329,3399,0,0,0,0,0,0,14.74,14.54,14.76
$GC,9856,-0.48,-107.1,3227,3321,3333,3398,988.3,-8.2,616,9864,0.00,2.58,0.00,0.000,1030,0.000,0.104,3225,1892,3366,3334,3398,0,0,0,0,0,0,14.62,14.54,14.64
$STATE,9875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9875,begin apogee
$GC,9887,-0.17,0.0,3228,2370,3334,3398,990.3,-8.4,619,9977,0.32,0.00,84.10,1.906,10246,0.183,0.000,3329,2371,2940,2882,2998,0,0,0,0,0,0,14.50,13.93,13.26
$STATE,9980,end apogee,CONTROL_FINISHED_OK
$STATE,9980,begin climb
$GC,9985,0.48,107.1,3331,2370,2879,3001,994.3,0.0,622,10092,0.62,2.67,88.70,1.877,10500,0.125,0.115,3541,3753,2500,2381,2620,0,0,0,0,0,0,13.91,13.68,13.08
$GC,10132,0.48,107.1,3541,3753,2381,2618,987.4,8.5,649,10144,0.00,2.62,0.00,0.000,1030,0.000,0.100,3543,2345,2499,2380,2618,0,0,0,0,0,0,14.00,13.92,14.02
$GC,10460,0.48,107.1,3543,2345,2381,2618,961.8,7.8,662,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2345,2499,2381,2618,0,0,0,0,0,0,14.47,14.49,14.49
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$STATE,22714,end climb,SURFACE_DEPTH_REACHED
$STATE,22714,begin surface coast
$FINISH,0.3,1.023403
$STATE,22745,end surface coast,CONTROL_FINISHED_OK
$STATE,22745,begin surface
$SM_CCo,22779,15.85,0.086,0,0,1411,375.06
$SM_GC,1.28,9.80,3.40,15.85,0.043,0.103,0.086,92,1906,1411,-10.24,0.79,375.06,0,0,0,0,0,0,14.42,14.35,14.39
$IRIDIUM_FIX,4644.93,-12655.98,260615,162729
$TT8_MAMPS,0.020972,0.020972
$HUMID,48.03
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3915776
$24V_AH,13.08,15.161
$10V_AH,13.04,0.000
$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
$DEVICE_SECS,24.550,158.450,367.050,15.850,0.000,0.000,0.000,359.675,0.000,0.000,6.679,3111.375,15661.900,611.373,2972.270,1042.520,0.000,2582.026,0.000,2081.935,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22771.000,10274.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.743,8.921,0.000,0.000
$MEM,286380
$DATA_FILE_SIZE,46598,1368
$CAP_FILE_SIZE,253735,0
$CFSIZE,260034560,250871808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,279.82,1
$GPS,270615,052002,4701.326,-12658.284,69,1.0,70,16.5,0.6,139.3,9,5.8