version: 66.12
glider: 187
mission: 8
dive: 536
start: 11 13 115 14 33 1
data:
$ID,187
$MISSION,8
$DIVE,536
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,131115,141331,4750.0679,-12514.5029,63,1.2,63,16.5,0.9,330.0,7,5.7
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-74.2
$GPS2,131115,143228,4750.0508,-12514.3545,3,0.8,4,16.5,0.6,196.5,12,8.4
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,58.8,6154,-14.8,-7.333,-19.49,2243
$D_GRID,380
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.39,-107.1,61,1958,1003,1289,0.0,0.0,0,122,0.00,0.00,-81.65,0.000,16390,0.000,0.000,61,1957,3379,3367,3391,0,0,0,0,0,0,14.50,12.42,14.44
$GC,129,-0.39,-107.1,59,1957,3368,3388,6.6,-9.5,3,155,14.57,2.58,0.00,0.000,2308,0.373,0.096,3249,3378,3382,3368,3396,0,0,0,0,0,0,13.81,14.14,14.17
$GC,274,-0.39,-107.1,3248,3379,3367,3399,42.3,-8.8,30,281,0.00,2.53,0.00,0.000,1030,0.000,0.089,3248,1974,3383,3367,3400,0,0,0,0,0,0,14.21,14.04,14.24
$GC,628,-0.39,-107.1,3248,1972,3364,3403,78.8,-10.8,40,631,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1974,3387,3370,3404,0,0,0,0,0,0,14.56,14.57,14.57
$GC,928,-0.39,-107.1,3248,1978,3364,3405,105.8,-9.1,45,936,0.00,2.55,0.00,0.000,516,0.000,0.097,3248,557,3384,3365,3404,0,0,0,0,0,0,14.55,14.03,14.57
$GC,986,-0.39,-107.1,3244,557,3365,3408,111.1,-8.8,55,995,0.00,2.53,0.00,0.000,1030,0.000,0.090,3248,1966,3382,3360,3404,0,0,0,0,0,0,14.21,14.08,14.26
$GC,1307,-0.39,-107.1,3248,1965,3364,3399,136.6,-7.8,62,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1966,3384,3365,3404,0,0,0,0,0,0,14.58,14.59,14.59
$GC,1606,-0.39,-107.1,3248,1966,3363,3405,161.4,-8.2,67,1615,0.00,2.60,0.00,0.000,260,0.000,0.100,3248,3389,3384,3363,3405,0,0,0,0,0,0,14.57,13.97,14.59
$GC,1701,-0.39,-107.1,3248,3384,3362,3404,168.7,-7.6,84,1708,0.00,2.55,0.00,0.000,1030,0.000,0.086,3248,1969,3383,3362,3404,0,0,0,0,0,0,14.19,14.04,14.24
$GC,2046,-0.39,-107.1,3248,1968,3361,3404,197.2,-8.3,96,2054,0.00,2.55,0.00,0.000,516,0.000,0.098,3248,556,3381,3357,3406,0,0,0,0,0,0,14.57,13.99,14.59
$GC,2144,-0.39,-107.1,3249,558,3360,3405,206.3,-9.6,114,2152,0.00,2.55,0.00,0.000,1030,0.000,0.090,3248,1972,3382,3361,3404,0,0,0,0,0,0,14.18,14.03,14.22
$GC,2484,-0.39,-107.1,3249,1970,3358,3404,235.6,-8.6,125,2492,0.00,2.58,0.00,0.000,260,0.000,0.103,3247,3388,3381,3358,3404,0,0,0,0,0,0,14.58,13.93,14.59
$GC,2593,-0.39,-107.1,3248,3387,3363,3404,244.0,-7.4,145,2600,0.00,2.55,0.00,0.000,1030,0.000,0.086,3248,1971,3381,3358,3405,0,0,0,0,0,0,14.18,14.02,14.22
$GC,2922,-0.39,-107.1,3248,1971,3357,3403,268.2,-7.4,154,2930,0.00,2.58,0.00,0.000,516,0.000,0.100,3248,545,3379,3355,3404,0,0,0,0,0,0,14.57,13.94,14.59
$GC,2961,-0.39,-107.1,3248,545,3352,3405,271.3,-7.9,160,2968,0.00,2.55,0.00,0.000,1030,0.000,0.087,3248,1969,3378,3357,3400,0,0,0,0,0,0,14.16,13.99,14.19
$GC,3299,-0.39,-107.1,3248,1969,3355,3404,295.4,-7.1,171,3308,0.00,2.60,0.00,0.000,260,0.000,0.103,3250,3389,3379,3355,3404,0,0,0,0,0,0,14.57,13.90,14.59
$GC,3384,-0.39,-107.1,3248,3389,3355,3404,300.9,-7.0,186,3392,0.00,2.58,0.00,0.000,1030,0.000,0.086,3248,1955,3379,3355,3404,0,0,0,0,0,0,14.14,14.00,14.19
$GC,3739,-0.39,-107.1,3252,1956,3354,3404,323.8,-6.4,200,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1956,3377,3350,3404,0,0,0,0,0,0,14.54,14.58,14.57
$GC,4040,-0.39,-107.1,3244,1956,3353,3404,339.0,-5.0,205,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1956,3378,3353,3404,0,0,0,0,0,0,14.59,14.59,14.62
$GC,4339,-0.39,-107.1,3249,1956,3347,3404,356.5,-5.9,210,4346,0.00,2.55,0.00,0.000,516,0.000,0.102,3248,563,3376,3348,3404,0,0,0,0,0,0,14.56,13.90,14.57
$GC,4371,-0.39,-107.1,3248,563,3354,3404,358.9,-7.3,215,4380,0.00,2.55,0.00,0.000,1030,0.000,0.088,3253,1971,3377,3351,3404,0,0,0,0,0,0,14.12,13.97,14.17
$STATE,4711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4711,begin apogee
$GC,4724,-0.16,0.0,3248,2255,3350,3404,381.3,-6.5,227,4812,0.30,0.00,83.10,1.187,10246,0.162,0.000,3340,2256,2940,2872,3008,0,0,0,0,0,0,13.89,14.01,13.24
$STATE,4816,end apogee,CONTROL_FINISHED_OK
$STATE,4816,begin climb
$GC,4821,0.39,107.1,3340,2255,2868,3006,384.3,0.0,228,4924,0.50,2.62,83.15,1.171,10756,0.108,0.099,3518,844,2500,2371,2629,0,0,0,0,0,0,14.03,13.89,13.14
$GC,4935,0.43,195.4,3518,844,2369,2629,383.9,3.3,248,5017,0.00,2.55,68.03,1.159,9222,0.000,0.090,3518,2248,2142,1977,2307,0,0,0,0,0,0,14.07,13.95,13.12
$GC,5317,0.44,195.4,3516,2250,1980,2307,359.6,6.8,269,5328,0.00,2.60,0.00,0.000,260,0.000,0.106,3518,3665,2141,1980,2302,0,0,0,0,0,0,14.52,14.06,14.54
$GC,5447,0.44,195.4,3518,3665,1981,2306,349.9,7.4,292,5459,0.00,2.55,0.00,0.000,1030,0.000,0.086,3524,2254,2143,1981,2306,0,0,0,0,0,0,14.23,14.09,14.28
$GC,5754,0.47,195.4,3519,2252,1980,2306,331.2,6.1,298,5765,0.00,2.55,0.00,0.000,516,0.000,0.100,3526,837,2147,1986,2309,0,0,0,0,0,0,14.61,14.08,14.65
$GC,5821,0.49,195.4,3526,837,1981,2306,326.9,6.3,309,5833,0.00,2.55,0.00,0.000,1030,0.000,0.091,3530,2258,2142,1981,2303,0,0,0,0,0,0,14.24,14.10,14.28
$GC,6128,0.51,195.4,3526,2261,1982,2306,308.2,6.2,315,6140,0.08,2.58,0.00,0.000,2308,0.152,0.104,3599,3664,2142,1977,2308,0,0,0,0,0,0,14.32,14.04,14.34
$GC,6170,0.51,195.4,3599,3664,1982,2307,304.1,11.5,321,6181,0.20,2.58,0.00,0.000,5126,0.201,0.088,3558,2234,2142,1982,2302,0,0,0,0,0,0,13.93,14.09,14.15
$GC,6517,0.51,195.4,3558,2236,1982,2307,278.5,7.1,332,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2234,2144,1982,2306,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6814,0.51,195.4,3557,2233,1981,2308,254.1,8.2,337,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2234,2143,1981,2306,0,0,0,0,0,0,14.63,14.65,14.65
$GC,7113,0.51,195.4,3557,2234,1981,2306,229.4,8.4,342,7124,0.00,2.53,0.00,0.000,516,0.000,0.101,3558,841,2142,1981,2304,0,0,0,0,0,0,14.65,14.02,14.66
$GC,7145,0.51,195.4,3557,841,1981,2307,226.7,8.0,346,7156,0.00,2.55,0.00,0.000,1030,0.000,0.089,3558,2250,2143,1981,2306,0,0,0,0,0,0,14.22,14.09,14.27
$GC,7504,0.51,195.4,3559,2250,1981,2308,200.4,7.0,359,7516,0.00,2.60,0.00,0.000,260,0.000,0.103,3558,3665,2143,1980,2307,0,0,0,0,0,0,14.61,14.00,14.64
$GC,7583,0.51,195.4,3557,3662,1987,2306,193.7,8.5,372,7594,0.00,2.58,0.00,0.000,1030,0.000,0.086,3557,2254,2143,1981,2306,0,0,0,0,0,0,14.09,13.95,14.13
$GC,7955,0.54,195.4,3557,2250,1981,2306,170.4,5.9,388,7966,0.00,2.58,0.00,0.000,516,0.000,0.100,3558,840,2144,1981,2307,0,0,0,0,0,0,14.63,13.98,14.64
$GC,8029,0.57,195.4,3557,839,1982,2307,165.7,6.1,400,8040,0.00,2.55,0.00,0.000,1030,0.000,0.090,3555,2246,2144,1982,2307,0,0,0,0,0,0,14.16,14.02,14.19
$GC,8402,0.60,195.4,3557,2248,1978,2306,144.6,5.5,417,8413,0.00,2.62,0.00,0.000,260,0.000,0.103,3558,3671,2143,1981,2306,0,0,0,0,0,0,14.65,13.96,14.64
$GC,8485,0.60,195.4,3557,3670,1981,2306,138.2,8.3,431,8497,0.00,2.60,0.00,0.000,1030,0.000,0.087,3558,2245,2143,1981,2306,0,0,0,0,0,0,14.16,14.01,14.21
$GC,8852,0.60,195.4,3557,2245,1980,2306,111.0,7.5,446,8863,0.00,2.58,0.00,0.000,516,0.000,0.101,3555,842,2143,1981,2306,0,0,0,0,0,0,14.62,13.94,14.60
$GC,8889,0.60,195.4,3558,842,1981,2306,107.8,7.8,451,8901,0.00,2.58,0.00,0.000,1030,0.000,0.090,3557,2266,2143,1981,2306,0,0,0,0,0,0,14.13,14.00,14.17
$GC,9242,0.62,195.4,3557,2265,1983,2306,84.6,6.5,463,9253,0.10,0.00,0.00,0.000,2054,0.119,0.000,3633,2265,2143,1981,2306,0,0,0,0,0,0,14.31,14.37,14.35
$GC,9539,0.63,195.4,3634,2265,1982,2306,64.2,6.7,468,9551,0.10,2.62,0.00,0.000,4612,0.218,0.094,3607,840,2144,1982,2306,0,0,0,0,0,0,13.98,13.97,14.04
$GC,9567,0.65,195.4,3607,841,1983,2306,62.2,6.3,471,9579,0.00,2.55,0.00,0.000,1030,0.000,0.088,3608,2253,2143,1981,2306,0,0,0,0,0,0,14.16,14.02,14.21
$GC,9901,0.67,195.4,3607,2253,1981,2306,40.9,6.5,486,9912,0.00,2.60,0.00,0.000,260,0.000,0.101,3608,3665,2144,1982,2306,0,0,0,0,0,0,14.58,13.92,14.59
$GC,10069,0.71,195.4,3612,3669,1981,2306,31.6,5.4,517,10081,0.00,2.60,0.00,0.000,1030,0.000,0.086,3608,2235,2145,1981,2310,0,0,0,0,0,0,14.12,13.98,14.17
$GC,10408,0.78,330.2,3608,2236,1981,2306,27.0,1.2,532,10522,0.00,2.53,95.82,0.748,8708,0.000,0.099,3608,840,1589,1436,1742,0,0,0,0,0,0,14.62,14.07,13.49
$GC,10593,0.81,330.2,3608,840,1442,1741,19.6,5.7,567,10607,0.15,2.53,0.00,0.000,3078,0.100,0.087,3692,2249,1588,1435,1741,0,0,0,0,0,0,14.13,14.02,14.21
$STATE,10774,end climb,SURFACE_DEPTH_REACHED
$STATE,10774,begin surface coast
$FINISH,-0.3,1.024228
$STATE,10805,end surface coast,CONTROL_FINISHED_OK
$STATE,10805,begin surface
$SM_CCo,10838,29.10,0.080,0,0,1309,400.08
$SM_GC,1.54,10.05,0.52,29.10,0.034,0.100,0.080,93,1963,1309,-10.26,0.59,400.08,0,0,0,0,0,0,14.24,14.14,14.13
$IRIDIUM_FIX,4732.49,-12455.31,131115,141915
$TT8_MAMPS,0.030709,0.030709
$HUMID,50.55
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3719040
$24V_AH,12.42,151.624
$10V_AH,12.57,0.000
$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,26.050,103.725,330.100,29.100,0.000,0.000,0.000,669.675,0.000,0.000,11.482,1128.895,7946.513,499.947,1777.775,645.908,0.000,1916.659,0.000,847.430,0.000,0.537,0.000
$DEVICE_MAMPS,372.555,105.570,1186.515,80.325,0.000,0.000,0.000,140.760,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10878.000,4921.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.096,9.259,0.000,0.000
$MEM,286356
$DATA_FILE_SIZE,20100,575
$CAP_FILE_SIZE,117243,0
$CFSIZE,260034560,190889984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,336.41,1
$GPS,131115,173540,4751.077,-12513.393,32,1.2,33,16.5,0.9,112.2,7,8.9