version: 66.12
glider: 187
mission: 8
dive: 459
start: 10 20 115 16 26 54
data:
$ID,187
$MISSION,8
$DIVE,459
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,3394
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,12
$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,0.00050000002
$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,48
$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
$GPS1,201015,160939,4747.8970,-12522.1436,21,0.9,21,16.5,0.5,31.7,8,7.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-79.1
$GPS2,201015,162625,4747.9585,-12522.0430,4,1.0,6,16.5,0.3,309.5,8,6.9
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,81.1,16373,-14.8,-7.333,-19.49,2243
$D_GRID,652
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,29,-0.39,-107.1,85,1894,1216,1411,0.0,0.0,0,108,0.00,0.00,-72.57,0.000,16390,0.000,0.000,85,1894,3378,3375,3381,0,0,0,0,0,0,14.47,12.40,14.45
$GC,116,-0.39,-107.1,86,1892,3378,3382,2.1,-3.1,2,145,14.48,2.62,0.00,0.000,2308,0.366,0.096,3248,3321,3382,3377,3388,0,0,0,0,0,0,13.73,14.04,14.11
$GC,359,-0.39,-107.1,3249,3320,3375,3391,58.5,-11.1,48,370,0.00,2.60,0.00,0.000,1030,0.000,0.087,3249,1891,3383,3375,3392,0,0,0,0,0,0,14.20,14.07,14.23
$GC,562,-0.39,-107.1,3249,1891,3374,3396,78.5,-9.9,56,573,0.00,2.62,0.00,0.000,260,0.000,0.098,3247,3322,3384,3373,3396,0,0,0,0,0,0,14.55,14.04,14.57
$GC,659,-0.39,-107.1,3247,3322,3374,3395,88.1,-9.1,73,670,0.00,2.58,0.00,0.000,1030,0.000,0.083,3247,1892,3385,3374,3396,0,0,0,0,0,0,14.23,14.09,14.27
$GC,845,-0.39,-107.1,3247,1890,3374,3397,106.0,-9.6,80,857,0.00,2.55,0.00,0.000,516,0.000,0.099,3247,477,3385,3373,3397,0,0,0,0,0,0,14.57,13.99,14.60
$GC,906,-0.39,-107.1,3247,476,3373,3397,112.0,-9.3,90,918,0.00,2.55,0.00,0.000,1030,0.000,0.083,3247,1913,3385,3373,3397,0,0,0,0,0,0,14.26,14.14,14.32
$GC,1110,-0.39,-107.1,3247,1914,3373,3397,130.9,-9.2,98,1122,0.00,2.55,0.00,0.000,260,0.000,0.101,3247,3308,3385,3373,3397,0,0,0,0,0,0,14.61,14.00,14.62
$GC,1148,-0.39,-107.1,3247,3308,3373,3397,134.1,-8.7,103,1160,0.00,2.55,0.00,0.000,1030,0.000,0.083,3247,1891,3385,3373,3397,0,0,0,0,0,0,14.25,14.12,14.30
$GC,1334,-0.39,-107.1,3247,1891,3373,3397,149.4,-8.3,110,1345,0.00,2.53,0.00,0.000,516,0.000,0.099,3248,495,3385,3373,3397,0,0,0,0,0,0,14.63,14.06,14.62
$GC,1381,-0.39,-107.1,3249,493,3372,3397,153.8,-9.1,117,1392,0.00,2.50,0.00,0.000,1030,0.000,0.086,3243,1898,3384,3372,3397,0,0,0,0,0,0,14.19,14.05,14.23
$GC,1603,-0.39,-107.1,3247,1897,3371,3397,172.0,-8.4,128,1614,0.00,2.58,0.00,0.000,260,0.000,0.100,3247,3321,3386,3375,3398,0,0,0,0,0,0,14.59,14.07,14.62
$GC,1639,-0.39,-107.1,3247,3321,3371,3393,175.4,-7.4,133,1651,0.00,2.55,0.00,0.000,1030,0.000,0.083,3247,1906,3384,3371,3397,0,0,0,0,0,0,14.26,14.12,14.30
$GC,1825,-0.39,-107.1,3247,1909,3370,3396,190.6,-8.5,140,1837,0.00,2.58,0.00,0.000,516,0.000,0.099,3247,478,3381,3365,3397,0,0,0,0,0,0,14.62,13.99,14.63
$GC,1874,-0.39,-107.1,3247,478,3370,3397,194.9,-9.2,147,1885,0.00,2.55,0.00,0.000,1030,0.000,0.086,3247,1900,3383,3369,3397,0,0,0,0,0,0,14.27,14.13,14.31
$GC,2095,-0.39,-107.1,3247,1900,3369,3397,212.8,-8.1,158,2107,0.00,2.58,0.00,0.000,260,0.000,0.102,3245,3321,3383,3369,3397,0,0,0,0,0,0,14.60,14.05,14.62
$GC,2148,-0.39,-107.1,3247,3321,3368,3400,217.1,-7.2,166,2160,0.00,2.58,0.00,0.000,1030,0.000,0.086,3247,1890,3383,3369,3397,0,0,0,0,0,0,14.24,14.10,14.29
$GC,2361,-0.39,-107.1,3246,1889,3367,3403,232.8,-7.5,176,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1890,3385,3367,3403,0,0,0,0,0,0,14.64,14.64,14.66
$GC,2541,-0.39,-107.1,3247,1890,3366,3397,247.0,-7.9,182,2553,0.00,2.62,0.00,0.000,260,0.000,0.102,3247,3321,3381,3366,3397,0,0,0,0,0,0,14.64,14.07,14.66
$GC,2603,-0.39,-107.1,3247,3317,3366,3397,251.8,-7.5,192,2614,0.00,2.58,0.00,0.000,1030,0.000,0.086,3247,1906,3381,3366,3397,0,0,0,0,0,0,14.25,14.11,14.30
$GC,2926,-0.39,-107.1,3247,1905,3364,3396,275.1,-7.2,199,2937,0.00,2.58,0.00,0.000,516,0.000,0.101,3247,485,3380,3363,3397,0,0,0,0,0,0,14.66,14.08,14.68
$GC,2959,-0.39,-107.1,3247,485,3364,3397,277.6,-7.8,203,2970,0.00,2.55,0.00,0.000,1030,0.000,0.088,3247,1907,3379,3364,3394,0,0,0,0,0,0,14.27,14.13,14.30
$GC,3315,-0.39,-107.1,3247,1909,3361,3397,302.4,-7.0,216,3327,0.00,2.55,0.00,0.000,260,0.000,0.102,3247,3312,3379,3362,3397,0,0,0,0,0,0,14.63,14.06,14.64
$GC,3408,-0.39,-107.1,3247,3311,3357,3397,308.9,-6.6,232,3419,0.00,2.58,0.00,0.000,1030,0.000,0.089,3247,1888,3378,3361,3396,0,0,0,0,0,0,14.23,14.08,14.28
$GC,3764,-0.39,-107.1,3247,1888,3359,3396,333.8,-7.2,245,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1888,3377,3359,3396,0,0,0,0,0,0,14.63,14.65,14.65
$GC,4061,-0.39,-107.1,3247,1888,3358,3398,356.3,-7.5,250,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1888,3375,3358,3392,0,0,0,0,0,0,14.65,14.67,14.67
$GC,4361,-0.39,-107.1,3248,1888,3357,3397,378.6,-7.4,255,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1888,3377,3357,3397,0,0,0,0,0,0,14.65,14.67,14.67
$GC,4661,-0.39,-107.1,3247,1888,3351,3397,400.5,-7.3,260,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3377,3356,3398,0,0,0,0,0,0,14.66,14.67,14.67
$GC,4960,-0.39,-107.1,3247,1888,3351,3397,422.2,-7.2,265,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1888,3379,3355,3403,0,0,0,0,0,0,14.66,14.68,14.68
$GC,5260,-0.39,-107.1,3247,1888,3354,3397,443.5,-7.1,270,5272,0.00,2.67,0.00,0.000,260,0.000,0.104,3247,3323,3375,3354,3396,0,0,0,0,0,0,14.64,14.00,14.66
$GC,5304,-0.39,-107.1,3246,3322,3353,3397,446.6,-7.0,276,5315,0.00,2.58,0.00,0.000,1030,0.000,0.088,3247,1906,3375,3354,3396,0,0,0,0,0,0,14.22,14.08,14.29
$GC,5651,-0.39,-107.1,3243,1905,3352,3392,471.4,-7.2,287,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1904,3372,3348,3397,0,0,0,0,0,0,14.64,14.65,14.65
$GC,5947,-0.39,-107.1,3247,1905,3351,3402,493.6,-7.4,292,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1904,3374,3353,3396,0,0,0,0,0,0,14.62,14.64,14.67
$GC,6246,-0.39,-107.1,3248,1905,3350,3396,515.6,-7.3,297,6257,0.00,2.62,0.00,0.000,516,0.000,0.105,3247,471,3373,3350,3397,0,0,0,0,0,0,14.64,13.97,14.66
$GC,6297,-0.39,-107.1,3247,474,3349,3396,519.6,-7.8,305,6309,0.00,2.58,0.00,0.000,1030,0.000,0.090,3247,1899,3373,3350,3396,0,0,0,0,0,0,14.18,14.04,14.25
$GC,6631,-0.39,-107.1,3247,1899,3349,3397,542.6,-6.9,314,6642,0.00,2.60,0.00,0.000,260,0.000,0.103,3253,3319,3375,3355,3396,0,0,0,0,0,0,14.60,14.00,14.64
$GC,6747,-0.39,-107.1,3247,3318,3349,3396,550.3,-6.8,334,6759,0.00,2.62,0.00,0.000,1030,0.000,0.090,3246,1889,3372,3349,3396,0,0,0,0,0,0,14.17,14.01,14.23
$GC,7081,-0.39,-107.1,3247,1888,3347,3396,572.5,-6.5,343,7093,0.00,2.55,0.00,0.000,516,0.000,0.104,3247,493,3371,3347,3396,0,0,0,0,0,0,14.64,13.99,14.66
$GC,7123,-0.39,-107.1,3247,493,3347,3397,575.5,-7.2,349,7134,0.00,2.58,0.00,0.000,1030,0.000,0.090,3247,1899,3372,3347,3397,0,0,0,0,0,0,14.21,14.05,14.25
$GC,7470,-0.39,-107.1,3246,1899,3345,3396,596.6,-6.2,360,7482,0.00,2.62,0.00,0.000,260,0.000,0.105,3247,3323,3370,3345,3396,0,0,0,0,0,0,14.62,13.97,14.61
$GC,7572,-0.39,-107.1,3247,3323,3345,3396,602.6,-5.5,377,7583,0.00,2.60,0.00,0.000,1030,0.000,0.088,3247,1905,3370,3345,3396,0,0,0,0,0,0,14.18,14.03,14.23
$GC,7925,-0.39,-107.1,3247,1904,3344,3396,624.8,-6.5,389,7936,0.00,2.60,0.00,0.000,516,0.000,0.104,3247,477,3368,3344,3393,0,0,0,0,0,0,14.59,13.94,14.62
$GC,7976,-0.39,-107.1,3248,477,3344,3396,628.9,-7.4,397,7987,0.00,2.60,0.00,0.000,1030,0.000,0.091,3247,1911,3370,3344,3396,0,0,0,0,0,0,14.19,14.04,14.23
$GC,8309,-0.39,-107.1,3247,1911,3343,3401,647.9,-5.6,406,8321,0.00,2.60,0.00,0.000,260,0.000,0.106,3247,3321,3369,3343,3396,0,0,0,0,0,0,14.64,13.96,14.65
$STATE,8382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8382,begin apogee
$GC,8396,-0.16,0.0,3247,2239,3344,3395,652.1,-5.8,419,8488,0.30,0.00,84.32,1.491,10246,0.151,0.000,3340,2237,2941,2884,2998,0,0,0,0,0,0,13.97,13.94,13.07
$STATE,8490,end apogee,CONTROL_FINISHED_OK
$STATE,8490,begin climb
$GC,8496,0.39,107.1,3340,2237,2882,2994,654.0,0.0,420,8597,0.50,2.78,86.15,1.467,10500,0.106,0.107,3517,3662,2502,2385,2620,0,0,0,0,0,0,13.96,13.74,12.93
$GC,8621,0.42,158.6,3517,3662,2378,2617,651.5,5.0,431,8677,0.00,2.62,42.15,1.444,9222,0.000,0.090,3518,2254,2290,2150,2431,0,0,0,0,0,0,13.94,13.83,12.90
$GC,9004,0.44,158.6,3517,2253,2149,2430,627.9,6.1,451,9015,0.00,2.60,0.00,0.000,516,0.000,0.103,3517,836,2290,2150,2430,0,0,0,0,0,0,14.47,14.05,14.49
$GC,9095,0.46,158.6,3517,835,2145,2430,622.4,6.3,466,9107,0.00,2.58,0.00,0.000,1030,0.000,0.093,3517,2256,2290,2150,2430,0,0,0,0,0,0,14.23,14.12,14.31
$GC,9459,0.48,158.6,3517,2256,2149,2430,599.4,6.4,480,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2256,2287,2150,2425,0,0,0,0,0,0,14.57,14.60,14.60
$GC,9753,0.48,158.6,3517,2256,2149,2430,578.7,6.9,485,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2256,2290,2150,2430,0,0,0,0,0,0,14.63,14.64,14.64
$GC,10055,0.50,158.6,3517,2256,2149,2430,559.6,6.3,490,10067,0.08,2.62,0.00,0.000,2564,0.152,0.100,3586,840,2289,2149,2430,0,0,0,0,0,0,14.35,14.10,14.35
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$STATE,17535,end climb,SURFACE_DEPTH_REACHED
$STATE,17535,begin surface coast
$FINISH,2.7,1.023547
$STATE,17557,end surface coast,CONTROL_FINISHED_OK
$STATE,17558,begin surface
$SM_CCo,17592,35.00,0.083,0,0,1309,400.08
$SM_GC,1.21,10.30,1.95,35.00,0.070,0.087,0.083,87,1899,1309,-10.26,-0.68,400.08,0,0,0,0,0,0,14.19,14.14,14.17
$IRIDIUM_FIX,4729.30,-12526.30,201015,092150
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.76
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3752448
$24V_AH,12.40,127.987
$10V_AH,12.46,0.000
$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,26.000,169.850,327.400,35.000,0.000,0.000,0.000,563.525,0.000,0.000,8.113,1867.504,12616.749,584.635,2563.970,976.071,0.000,2525.825,0.000,1321.227,0.000,0.537,0.000
$DEVICE_MAMPS,366.435,107.865,1490.985,82.620,0.000,0.000,0.000,158.355,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17647.000,480.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.181,8.179,0.000,0.000
$MEM,286356
$DATA_FILE_SIZE,30039,893
$CAP_FILE_SIZE,195915,0
$CFSIZE,260034560,201187328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,330.93,1
$GPS,201015,212212,4748.650,-12520.314,29,1.2,33,16.5,0.7,356.1,6,10.0