version: 66.12
glider: 187
mission: 8
dive: 535
start: 11 13 115 10 56 19
data:
$ID,187
$MISSION,8
$DIVE,535
$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,570
$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,2
$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,1970
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,15
$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,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
$GPS1,131115,103620,4749.8052,-12516.0059,67,1.2,67,16.5,0.9,142.9,7,5.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-72.6
$GPS2,131115,105550,4749.9780,-12515.8164,4,1.1,6,16.5,1.1,328.7,7,5.1
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,79.9,7782,-14.8,-7.333,-19.49,2243
$D_GRID,416
$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,-107.1,54,1980,1202,1417,0.0,0.0,0,110,0.00,0.00,-74.15,0.000,16390,0.000,0.000,52,1978,3380,3369,3391,0,0,0,0,0,0,14.52,12.43,14.45
$GC,118,-0.39,-107.1,52,1977,3369,3393,1.9,-2.3,2,147,14.73,2.60,0.00,0.000,2308,0.367,0.096,3250,3389,3381,3369,3394,0,0,0,0,0,0,13.69,14.07,14.07
$GC,286,-0.39,-107.1,3250,3390,3369,3400,46.3,-9.4,33,297,0.00,2.58,0.00,0.000,1030,0.000,0.086,3250,1975,3385,3369,3401,0,0,0,0,0,0,14.08,13.94,14.13
$GC,625,-0.39,-107.1,3250,1974,3366,3404,78.1,-9.0,43,635,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1974,3385,3366,3404,0,0,0,0,0,0,14.59,14.60,14.59
$GC,923,-0.39,-107.1,3250,1974,3366,3405,105.1,-8.9,48,934,0.00,2.60,0.00,0.000,516,0.000,0.097,3250,546,3385,3366,3405,0,0,0,0,0,0,14.59,14.00,14.62
$GC,980,-0.39,-107.1,3251,546,3366,3406,110.1,-8.6,57,991,0.00,2.58,0.00,0.000,1030,0.000,0.086,3250,1980,3386,3366,3406,0,0,0,0,0,0,14.10,13.97,14.14
$GC,1308,-0.39,-107.1,3250,1981,3365,3406,135.8,-8.0,65,1319,0.00,2.60,0.00,0.000,260,0.000,0.103,3250,3393,3387,3369,3406,0,0,0,0,0,0,14.61,13.94,14.62
$GC,1409,-0.39,-107.1,3250,3389,3365,3405,143.7,-7.7,82,1421,0.00,2.58,0.00,0.000,1030,0.000,0.083,3250,1966,3385,3366,3405,0,0,0,0,0,0,14.17,14.03,14.23
$GC,1761,-0.39,-107.1,3250,1965,3364,3405,172.6,-8.3,94,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1965,3384,3364,3405,0,0,0,0,0,0,14.61,14.60,14.59
$GC,2059,-0.39,-107.1,3250,1965,3363,3405,196.7,-8.1,99,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1964,3384,3363,3405,0,0,0,0,0,0,14.62,14.62,14.61
$GC,2357,-0.39,-107.1,3250,1964,3361,3405,217.8,-6.9,104,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1965,3384,3362,3406,0,0,0,0,0,0,14.64,14.64,14.66
$GC,2657,-0.39,-107.1,3250,1965,3360,3405,237.4,-6.5,109,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1965,3382,3360,3405,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2958,-0.39,-107.1,3250,1963,3359,3405,258.1,-6.9,114,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1966,3382,3359,3405,0,0,0,0,0,0,14.60,14.62,14.62
$GC,3258,-0.39,-107.1,3250,1965,3358,3406,278.0,-6.6,119,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1964,3381,3358,3405,0,0,0,0,0,0,14.64,14.66,14.66
$GC,3557,-0.39,-107.1,3250,1964,3356,3405,297.7,-6.6,124,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1965,3384,3357,3411,0,0,0,0,0,0,14.64,14.66,14.67
$GC,3858,-0.39,-107.1,3250,1961,3355,3405,317.2,-6.5,129,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1964,3381,3356,3406,0,0,0,0,0,0,14.62,14.64,14.64
$GC,4157,-0.39,-107.1,3250,1965,3354,3405,336.4,-6.4,134,4169,0.00,2.70,0.00,0.000,260,0.000,0.105,3253,3392,3379,3354,3405,0,0,0,0,0,0,14.61,13.88,14.62
$GC,4200,-0.39,-107.1,3253,3387,3354,3405,339.2,-6.1,140,4211,0.00,2.60,0.00,0.000,1030,0.000,0.086,3250,1973,3379,3354,3404,0,0,0,0,0,0,14.12,13.96,14.16
$GC,4547,-0.39,-107.1,3250,1972,3354,3405,360.5,-6.2,151,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1973,3377,3349,3405,0,0,0,0,0,0,14.58,14.59,14.59
$GC,4842,-0.39,-107.1,3250,1973,3352,3405,380.3,-6.7,156,4853,0.00,2.62,0.00,0.000,516,0.000,0.100,3250,545,3378,3352,3405,0,0,0,0,0,0,14.62,13.90,14.65
$GC,4880,-0.39,-107.1,3250,544,3352,3412,382.8,-6.8,161,4891,0.00,2.60,0.00,0.000,1030,0.000,0.088,3250,1968,3379,3353,3406,0,0,0,0,0,0,14.12,13.96,14.17
$GC,5231,-0.39,-107.1,3250,1968,3351,3405,403.1,-5.7,173,5242,0.00,2.65,0.00,0.000,260,0.000,0.105,3254,3389,3378,3351,3405,0,0,0,0,0,0,14.59,13.85,14.59
$GC,5294,-0.39,-107.1,3250,3389,3350,3405,407.1,-6.1,183,5305,0.00,2.62,0.00,0.000,1030,0.000,0.086,3250,1961,3377,3350,3404,0,0,0,0,0,0,14.11,13.97,14.16
$STATE,5491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5491,begin apogee
$GC,5503,-0.16,0.0,3250,2261,3349,3406,419.2,-6.0,188,5595,0.28,0.00,83.75,1.236,10246,0.151,0.000,3337,2262,2940,2876,3005,0,0,0,0,0,0,13.91,14.00,13.17
$STATE,5597,end apogee,CONTROL_FINISHED_OK
$STATE,5597,begin climb
$GC,5603,0.39,107.1,3337,2262,2871,3002,421.3,0.0,189,5703,0.50,2.70,83.03,1.219,10500,0.106,0.106,3514,3661,2502,2376,2628,0,0,0,0,0,0,14.02,13.86,13.07
$GC,5751,0.42,164.3,3517,3661,2376,2623,418.6,4.7,215,5807,0.00,2.60,44.90,1.210,9222,0.000,0.086,3517,2251,2273,2117,2429,0,0,0,0,0,0,14.08,13.94,13.12
$GC,6173,0.44,213.5,3516,2253,2117,2424,397.6,5.1,242,6225,0.00,2.60,39.42,1.185,8708,0.000,0.103,3517,822,2066,1902,2231,0,0,0,0,0,0,14.53,14.11,13.33
$GC,6285,0.48,213.5,3517,822,1902,2226,391.6,5.6,262,6297,0.00,2.58,0.00,0.000,1030,0.000,0.091,3517,2245,2066,1902,2230,0,0,0,0,0,0,14.16,14.02,14.19
$GC,6619,0.50,265.9,3517,2245,1902,2230,375.0,4.9,271,6668,0.10,0.00,40.83,1.163,10246,0.119,0.000,3594,2245,1856,1706,2006,0,0,0,0,0,0,14.29,14.12,13.38
$GC,6920,0.50,265.9,3594,2245,1703,2002,345.4,10.4,276,6932,0.10,2.62,0.00,0.000,4356,0.210,0.101,3559,3663,1852,1703,2002,0,0,0,0,0,0,14.02,14.04,14.12
$GC,6972,0.50,265.9,3558,3663,1703,2002,340.0,9.7,284,6983,0.00,2.58,0.00,0.000,1030,0.000,0.089,3559,2249,1852,1703,2001,0,0,0,0,0,0,14.24,14.09,14.28
$GC,7305,0.50,265.9,3558,2253,1703,2001,313.6,7.8,293,7316,0.00,2.58,0.00,0.000,516,0.000,0.103,3559,841,1855,1703,2008,0,0,0,0,0,0,14.61,14.02,14.62
$GC,7362,0.50,265.9,3558,841,1703,2001,309.0,8.1,302,7374,0.00,2.55,0.00,0.000,1030,0.000,0.091,3559,2261,1852,1703,2001,0,0,0,0,0,0,14.26,14.12,14.30
$GC,7691,0.50,265.9,3555,2261,1703,2003,283.2,7.8,310,7703,0.00,2.60,0.00,0.000,260,0.000,0.106,3559,3664,1851,1702,2001,0,0,0,0,0,0,14.60,14.01,14.62
$GC,7733,0.50,265.9,3558,3663,1702,2001,279.3,9.7,316,7744,0.00,2.60,0.00,0.000,1030,0.000,0.089,3569,2246,1851,1702,2001,0,0,0,0,0,0,14.23,14.08,14.27
$GC,8077,0.50,265.9,3569,2246,1702,2001,250.0,8.5,327,8089,0.00,2.58,0.00,0.000,516,0.000,0.103,3570,829,1849,1702,1997,0,0,0,0,0,0,14.61,14.00,14.62
$GC,8134,0.50,265.9,3570,828,1702,2001,245.0,8.7,336,8145,0.00,2.55,0.00,0.000,1030,0.000,0.093,3570,2248,1851,1701,2001,0,0,0,0,0,0,14.21,14.07,14.27
$GC,8461,0.50,265.9,3569,2245,1702,2000,217.3,8.4,344,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2245,1851,1702,2001,0,0,0,0,0,0,14.60,14.64,14.63
$GC,8762,0.50,265.9,3569,2245,1698,2001,192.9,8.1,349,8774,0.00,2.60,0.00,0.000,516,0.000,0.104,3569,830,1852,1705,2000,0,0,0,0,0,0,14.62,13.99,14.64
$GC,8808,0.50,265.9,3569,826,1702,2001,189.6,8.3,355,8820,0.00,2.55,0.00,0.000,1030,0.000,0.090,3569,2246,1849,1701,1997,0,0,0,0,0,0,14.20,14.04,14.27
$GC,9156,0.50,265.9,3569,2243,1702,2001,164.7,7.1,366,9168,0.00,2.62,0.00,0.000,260,0.000,0.103,3569,3668,1851,1702,2001,0,0,0,0,0,0,14.59,13.99,14.62
$GC,9229,0.50,265.9,3569,3667,1702,2000,158.1,9.2,378,9241,0.00,2.60,0.00,0.000,1030,0.000,0.090,3570,2238,1848,1701,1996,0,0,0,0,0,0,14.17,14.04,14.23
$GC,9608,0.50,265.9,3569,2239,1702,2000,127.1,8.4,395,9619,0.00,2.55,0.00,0.000,516,0.000,0.104,3570,843,1850,1702,1999,0,0,0,0,0,0,14.59,13.93,14.59
$GC,9714,0.50,265.9,3569,842,1702,2000,118.8,7.6,413,9725,0.00,2.55,0.00,0.000,1030,0.000,0.090,3570,2267,1851,1702,2000,0,0,0,0,0,0,14.16,14.04,14.21
$GC,10062,0.50,265.9,3570,2266,1702,1999,90.8,8.4,424,10073,0.00,2.58,0.00,0.000,260,0.000,0.103,3572,3663,1850,1702,1999,0,0,0,0,0,0,14.59,13.94,14.61
$GC,10135,0.50,265.9,3569,3663,1702,2000,84.1,9.0,436,10146,0.00,2.58,0.00,0.000,1030,0.000,0.086,3570,2249,1850,1702,1999,0,0,0,0,0,0,14.16,14.01,14.21
$GC,10507,0.53,312.9,3570,2248,1702,1999,62.7,5.2,453,10554,0.00,2.53,35.22,0.811,8708,0.000,0.100,3570,821,1662,1505,1820,0,0,0,0,0,0,14.61,14.00,13.56
$GC,10598,0.53,312.9,3569,822,1504,1819,57.1,7.2,469,10610,0.00,2.55,0.00,0.000,1030,0.000,0.089,3570,2245,1661,1504,1819,0,0,0,0,0,0,14.26,14.12,14.30
$GC,10921,0.56,312.9,3569,2246,1507,1819,36.6,5.9,485,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2245,1666,1507,1825,0,0,0,0,0,0,14.59,14.60,14.59
$GC,11227,0.59,386.9,3570,2245,1506,1819,23.2,3.9,495,11290,0.00,2.60,51.60,0.744,8708,0.000,0.099,3571,840,1359,1204,1514,0,0,0,0,0,0,14.57,14.20,13.60
$GC,11323,0.62,440.5,3569,841,1204,1511,18.0,4.9,512,11364,0.00,2.53,25.15,0.161,9222,0.000,0.087,3570,2264,1145,989,1301,0,0,0,0,0,0,14.24,14.12,13.93
$STATE,11564,end climb,SURFACE_DEPTH_REACHED
$STATE,11565,begin surface coast
$FINISH,0.0,1.024111
$STATE,11625,end surface coast,CONTROL_FINISHED_OK
$STATE,11625,begin surface
$SM_CCo,11717,0.00,0.000,0,0,1145,440.31
$SM_GC,0.86,9.70,0.55,0.00,0.032,0.099,0.000,87,1966,1145,-10.27,0.59,440.31,0,0,0,0,0,0,14.21,14.12,14.32
$IRIDIUM_FIX,4732.49,-12518.46,131115,104257
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.92
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3719424
$24V_AH,12.43,151.421
$10V_AH,12.58,0.000
$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,25.400,94.450,403.900,0.000,0.000,0.000,0.000,698.275,0.000,0.000,7.580,1064.602,8718.176,507.124,1875.583,705.608,0.000,2047.079,0.000,793.056,0.000,0.537,0.000
$DEVICE_MAMPS,367.200,228.735,1236.240,0.000,0.000,0.000,0.000,153.000,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11706.000,280.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.869,7.912,0.000,0.000
$MEM,286328
$DATA_FILE_SIZE,16734,528
$CAP_FILE_SIZE,122159,0
$CFSIZE,260034560,190971904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,317.94,1
$GPS,131115,141331,4750.068,-12514.503,63,1.2,63,16.5,0.9,330.0,7,5.7