version: 66.12
glider: 187
mission: 8
dive: 465
start: 10 21 115 15 48 28
data:
$ID,187
$MISSION,8
$DIVE,465
$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,18
$R_STBD_OVSHOOT,16
$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
$GPS1,211015,153432,4752.0825,-12516.6992,30,1.2,30,16.5,0.4,328.2,7,5.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-76.8
$GPS2,211015,154800,4752.2554,-12516.6279,2,1.4,3,16.5,0.7,1.3,6,6.8
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,122.9,7923,-14.8,-7.333,-19.49,2243
$D_GRID,325
$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,24,begin dive
$GC,29,-0.39,-107.1,82,1889,1219,1405,0.0,0.0,0,108,0.00,0.00,-71.93,0.000,16390,0.000,0.000,87,1890,3379,3375,3383,0,0,0,0,0,0,14.52,12.42,14.50
$GC,116,-0.39,-107.1,82,1890,3376,3383,2.4,-4.3,2,145,14.57,2.62,0.00,0.000,2308,0.373,0.100,3249,3319,3381,3377,3386,0,0,0,0,0,0,13.78,14.10,14.16
$GC,278,-0.39,-107.1,3249,3319,3376,3392,50.5,-12.7,32,289,0.00,2.55,0.00,0.000,1030,0.000,0.086,3249,1905,3384,3376,3392,0,0,0,0,0,0,14.26,14.13,14.29
$GC,506,-0.39,-107.1,3250,1905,3373,3397,76.6,-11.7,44,517,0.00,2.55,0.00,0.000,516,0.000,0.098,3249,477,3385,3373,3397,0,0,0,0,0,0,14.60,14.06,14.62
$GC,562,-0.39,-107.1,3249,476,3373,3397,83.9,-11.9,53,573,0.00,2.55,0.00,0.000,1030,0.000,0.084,3249,1899,3385,3373,3397,0,0,0,0,0,0,14.29,14.16,14.33
$GC,770,-0.39,-107.1,3249,1900,3373,3398,108.0,-11.2,62,781,0.00,2.55,0.00,0.000,260,0.000,0.099,3248,3318,3385,3372,3398,0,0,0,0,0,0,14.62,14.16,14.64
$GC,848,-0.39,-107.1,3244,3318,3372,3398,116.4,-10.5,75,859,0.00,2.55,0.00,0.000,1030,0.000,0.083,3248,1889,3386,3373,3399,0,0,0,0,0,0,14.31,14.18,14.35
$GC,1070,-0.39,-107.1,3248,1891,3372,3399,138.4,-9.8,86,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1889,3388,3373,3404,0,0,0,0,0,0,14.63,14.64,14.64
$GC,1245,-0.39,-107.1,3248,1889,3373,3399,154.5,-8.6,92,1256,0.00,2.50,0.00,0.000,516,0.000,0.099,3248,493,3387,3373,3402,0,0,0,0,0,0,14.66,14.13,14.67
$GC,1273,-0.39,-107.1,3247,493,3372,3399,156.7,-8.3,95,1284,0.00,2.53,0.00,0.000,1030,0.000,0.083,3248,1908,3387,3373,3401,0,0,0,0,0,0,14.33,14.22,14.37
$GC,1480,-0.39,-107.1,3247,1907,3370,3399,172.2,-7.3,104,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1907,3382,3371,3394,0,0,0,0,0,0,14.65,14.69,14.67
$GC,1661,-0.39,-107.1,3248,1907,3370,3399,185.8,-7.7,110,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1907,3384,3370,3399,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1840,-0.39,-107.1,3247,1907,3369,3399,199.9,-7.9,116,1851,0.00,2.55,0.00,0.000,260,0.000,0.102,3248,3310,3383,3369,3398,0,0,0,0,0,0,14.68,14.15,14.70
$GC,1891,-0.39,-107.1,3248,3310,3369,3399,203.9,-7.7,124,1902,0.00,2.53,0.00,0.000,1030,0.000,0.086,3248,1906,3384,3369,3399,0,0,0,0,0,0,14.31,14.16,14.35
$GC,2109,-0.39,-107.1,3247,1906,3368,3399,220.5,-7.8,134,2121,0.00,2.58,0.00,0.000,260,0.000,0.100,3248,3314,3383,3368,3399,0,0,0,0,0,0,14.65,14.14,14.66
$GC,2141,-0.39,-107.1,3248,3314,3368,3394,223.3,-7.3,138,2153,0.00,2.53,0.00,0.000,1030,0.000,0.085,3248,1896,3383,3368,3399,0,0,0,0,0,0,14.33,14.19,14.39
$GC,2345,-0.39,-107.1,3247,1895,3366,3399,237.2,-7.1,146,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1895,3382,3366,3399,0,0,0,0,0,0,14.71,14.70,14.71
$GC,2524,-0.39,-107.1,3247,1896,3365,3399,250.4,-7.2,152,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1896,3382,3365,3400,0,0,0,0,0,0,14.67,14.69,14.69
$GC,2824,-0.39,-107.1,3252,1895,3364,3399,272.4,-7.4,157,2835,0.00,2.62,0.00,0.000,260,0.000,0.099,3248,3321,3381,3364,3399,0,0,0,0,0,0,14.69,14.13,14.71
$GC,2901,-0.39,-107.1,3248,3321,3358,3398,278.2,-7.9,170,2912,0.00,2.55,0.00,0.000,1030,0.000,0.087,3248,1905,3380,3363,3398,0,0,0,0,0,0,14.31,14.16,14.35
$GC,3275,-0.39,-107.1,3248,1904,3360,3399,307.4,-7.8,186,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1903,3379,3360,3398,0,0,0,0,0,0,14.66,14.68,14.68
$STATE,3503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3504,begin apogee
$GC,3515,-0.16,0.0,3248,2248,3359,3404,325.6,-7.6,190,3604,0.30,0.00,80.30,1.079,10246,0.162,0.000,3340,2249,2945,2890,3000,0,0,0,0,0,0,14.07,14.11,13.39
$STATE,3606,end apogee,CONTROL_FINISHED_OK
$STATE,3606,begin climb
$GC,3611,0.39,107.1,3341,2249,2879,2998,328.7,0.0,191,3711,0.50,2.65,79.93,1.060,10500,0.115,0.103,3515,3665,2499,2375,2623,0,0,0,0,0,0,14.10,13.93,13.27
$GC,3756,0.43,180.8,3519,3665,2375,2626,327.6,4.0,217,3827,0.00,2.62,54.45,1.055,9222,0.000,0.086,3518,2234,2200,2051,2350,0,0,0,0,0,0,14.13,14.02,13.28
$GC,4177,0.46,248.1,3518,2233,2054,2350,310.6,4.2,244,4238,0.00,2.58,49.97,1.044,8708,0.000,0.099,3518,842,1924,1781,2068,0,0,0,0,0,0,14.57,14.14,13.47
$GC,4293,0.50,248.1,3518,842,1782,2066,305.0,5.4,265,4305,0.10,2.55,0.00,0.000,3078,0.117,0.086,3596,2263,1923,1781,2066,0,0,0,0,0,0,14.18,14.07,14.23
$GC,4626,0.50,248.1,3595,2263,1781,2071,274.4,9.7,273,4638,0.10,2.55,0.00,0.000,4356,0.209,0.099,3560,3662,1923,1781,2066,0,0,0,0,0,0,14.12,14.16,14.21
$GC,4684,0.50,248.1,3560,3660,1777,2065,268.3,9.7,282,4696,0.00,2.55,0.00,0.000,1030,0.000,0.086,3559,2248,1923,1781,2065,0,0,0,0,0,0,14.35,14.21,14.38
$GC,5013,0.50,248.1,3559,2248,1781,2070,243.2,7.6,291,5024,0.00,2.55,0.00,0.000,516,0.000,0.099,3561,820,1923,1781,2065,0,0,0,0,0,0,14.66,14.17,14.68
$GC,5086,0.50,248.1,3561,820,1781,2065,237.6,7.7,303,5097,0.00,2.58,0.00,0.000,1030,0.000,0.089,3561,2247,1921,1777,2065,0,0,0,0,0,0,14.33,14.21,14.38
$GC,5313,0.50,248.1,3561,2246,1777,2064,220.9,7.4,315,5324,0.00,2.60,0.00,0.000,260,0.000,0.102,3561,3664,1922,1781,2064,0,0,0,0,0,0,14.64,14.12,14.66
$GC,5356,0.50,248.1,3561,3665,1780,2063,216.4,10.4,321,5367,0.00,2.60,0.00,0.000,1030,0.000,0.087,3571,2234,1922,1781,2063,0,0,0,0,0,0,14.35,14.21,14.40
$GC,5584,0.50,248.1,3569,2235,1780,2064,197.8,8.3,333,5596,0.00,2.53,0.00,0.000,516,0.000,0.101,3569,840,1921,1780,2063,0,0,0,0,0,0,14.64,14.16,14.66
$GC,5657,0.50,248.1,3569,841,1781,2063,191.0,9.1,345,5668,0.00,2.55,0.00,0.000,1030,0.000,0.088,3570,2253,1921,1780,2063,0,0,0,0,0,0,14.35,14.21,14.40
$GC,5886,0.50,248.1,3569,2253,1780,2063,171.3,8.5,357,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2253,1917,1776,2058,0,0,0,0,0,0,14.66,14.68,14.66
$GC,6060,0.50,248.1,3569,2253,1781,2063,157.1,7.7,363,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2252,1924,1780,2068,0,0,0,0,0,0,14.65,14.67,14.67
$GC,6240,0.51,248.1,3569,2252,1780,2063,145.1,6.6,369,6252,0.00,2.60,0.00,0.000,516,0.000,0.101,3569,838,1921,1780,2063,0,0,0,0,0,0,14.65,14.16,14.67
$GC,6287,0.53,248.1,3569,835,1780,2063,142.0,6.5,376,6298,0.00,2.55,0.00,0.000,1030,0.000,0.092,3570,2259,1921,1780,2063,0,0,0,0,0,0,14.35,14.19,14.38
$GC,6511,0.55,248.1,3569,2258,1780,2063,128.2,6.2,387,6522,0.00,2.58,0.00,0.000,260,0.000,0.105,3569,3667,1921,1780,2063,0,0,0,0,0,0,14.63,14.13,14.66
$GC,6547,0.55,248.1,3569,3662,1780,2058,125.3,7.6,392,6559,0.00,2.55,0.00,0.000,1030,0.000,0.088,3570,2254,1920,1779,2061,0,0,0,0,0,0,14.29,14.19,14.37
$GC,6735,0.57,248.1,3573,2254,1776,2061,113.2,6.5,399,6746,0.00,2.58,0.00,0.000,516,0.000,0.100,3567,831,1923,1780,2067,0,0,0,0,0,0,14.64,14.14,14.66
$GC,6822,0.57,248.1,3570,831,1780,2061,107.1,7.5,414,6833,0.00,2.53,0.00,0.000,1030,0.000,0.088,3570,2245,1920,1780,2061,0,0,0,0,0,0,14.32,14.17,14.40
$GC,7036,0.59,248.1,3570,2245,1780,2061,93.8,6.3,423,7047,0.00,2.62,0.00,0.000,260,0.000,0.100,3570,3666,1920,1780,2061,0,0,0,0,0,0,14.63,14.13,14.67
$GC,7109,0.59,248.1,3569,3666,1779,2060,88.0,7.9,435,7120,0.00,2.58,0.00,0.000,1030,0.000,0.087,3570,2237,1919,1779,2060,0,0,0,0,0,0,14.31,14.18,14.37
$GC,7337,0.60,248.1,3569,2237,1780,2060,72.8,6.7,447,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2233,1920,1780,2061,0,0,0,0,0,0,14.64,14.66,14.65
$GC,7511,0.63,298.1,3569,2237,1780,2059,63.0,5.0,453,7559,0.00,2.47,35.78,0.787,8708,0.000,0.102,3570,841,1720,1574,1867,0,0,0,0,0,0,14.64,14.27,13.69
$GC,7628,0.63,298.1,3568,842,1574,1866,55.6,6.9,474,7640,0.00,2.53,0.00,0.000,1030,0.000,0.087,3570,2253,1720,1574,1866,0,0,0,0,0,0,14.26,14.14,14.29
$GC,7841,0.66,298.1,3570,2253,1570,1866,43.1,5.6,483,7853,0.08,2.58,0.00,0.000,2308,0.147,0.099,3643,3661,1719,1573,1866,0,0,0,0,0,0,14.31,14.12,14.35
$GC,7953,0.66,298.1,3642,3663,1573,1864,33.8,8.4,502,7965,0.15,2.55,0.00,0.000,5126,0.206,0.086,3608,2254,1718,1573,1864,0,0,0,0,0,0,13.95,14.09,14.16
$GC,8177,0.70,298.1,3607,2254,1573,1864,20.9,5.6,513,8188,0.00,2.55,0.00,0.000,516,0.000,0.098,3609,838,1717,1571,1864,0,0,0,0,0,0,14.64,14.14,14.67
$GC,8307,0.73,364.3,3608,841,1573,1864,14.7,4.3,536,8352,0.00,2.55,30.48,0.144,9222,0.000,0.086,3608,2255,1454,1313,1596,0,0,0,0,0,0,14.31,14.18,14.00
$STATE,8528,end climb,SURFACE_DEPTH_REACHED
$STATE,8528,begin surface coast
$FINISH,-0.2,1.023820
$STATE,8589,end surface coast,CONTROL_FINISHED_OK
$STATE,8589,begin surface
$SM_CCo,8621,15.40,0.088,0,0,1310,400.08
$SM_GC,1.58,9.77,0.68,15.40,0.037,0.093,0.088,87,1890,1310,-10.26,0.34,400.08,0,0,0,0,0,0,14.35,14.25,14.21
$IRIDIUM_FIX,4732.49,-12506.88,211015,123119
$TT8_MAMPS,0.023219,0.023219
$HUMID,50.98
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3750144
$24V_AH,12.42,129.176
$10V_AH,12.64,0.000
$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,25.575,103.775,330.900,15.400,0.000,0.000,0.000,424.875,0.000,0.000,5.292,1137.752,5503.756,471.668,1637.957,680.972,0.000,1741.415,0.000,823.428,0.000,0.537,0.000
$DEVICE_MAMPS,372.555,104.805,1078.650,87.975,0.000,0.000,0.000,155.295,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8660.000,265.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.379,7.512,0.000,0.000
$MEM,286368
$DATA_FILE_SIZE,20087,556
$CAP_FILE_SIZE,122776,0
$CFSIZE,260034560,200675328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,339.22,1
$GPS,211015,181401,4752.271,-12516.265,39,0.9,39,16.5,0.3,16.3,9,6.0