version: 66.12
glider: 187
mission: 8
dive: 537
start: 11 13 115 17 50 55
data:
$ID,187
$MISSION,8
$DIVE,537
$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,25
$R_STBD_OVSHOOT,17
$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
$GPS1,131115,173540,4751.0767,-12513.3926,32,1.2,33,16.5,0.9,112.2,7,8.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-76.3
$GPS2,131115,175027,4751.0312,-12513.4502,3,1.4,6,16.5,1.1,179.4,6,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,94.3,4288,-14.8,-7.333,-19.49,2243
$D_GRID,280
$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,-107.1,76,1954,1206,1420,0.0,0.0,0,111,0.00,0.00,-75.40,0.000,16390,0.000,0.000,74,1954,3380,3364,3396,0,0,0,0,0,0,14.50,12.40,14.47
$GC,119,-0.39,-107.1,74,1955,3366,3396,1.7,-2.7,2,148,14.73,2.53,0.00,0.000,2820,0.370,0.096,3263,564,3383,3367,3399,0,0,0,0,0,0,13.73,14.09,14.11
$GC,359,-0.39,-107.1,3263,564,3365,3403,50.0,-10.4,47,370,0.00,2.53,0.00,0.000,1030,0.000,0.086,3264,1970,3384,3366,3403,0,0,0,0,0,0,14.20,14.06,14.24
$GC,687,-0.39,-107.1,3263,1967,3365,3406,77.7,-8.3,55,698,0.00,2.60,0.00,0.000,260,0.000,0.101,3264,3390,3385,3365,3405,0,0,0,0,0,0,14.59,13.97,14.61
$GC,808,-0.39,-107.1,3263,3390,3365,3406,86.3,-7.2,76,819,0.00,2.53,0.00,0.000,1030,0.000,0.084,3264,1976,3388,3365,3411,0,0,0,0,0,0,14.21,14.07,14.26
$GC,1135,-0.39,-107.1,3263,1976,3360,3406,113.2,-8.2,84,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1976,3385,3365,3406,0,0,0,0,0,0,14.61,14.63,14.65
$GC,1436,-0.39,-107.1,3263,1975,3365,3406,135.3,-7.3,89,1447,0.00,2.58,0.00,0.000,516,0.000,0.098,3263,549,3385,3364,3406,0,0,0,0,0,0,14.60,14.01,14.62
$GC,1484,-0.39,-107.1,3263,549,3364,3407,139.0,-7.9,96,1495,0.00,2.55,0.00,0.000,1030,0.000,0.086,3264,1982,3385,3365,3406,0,0,0,0,0,0,14.22,14.08,14.26
$GC,1821,-0.39,-107.1,3263,1983,3363,3406,162.6,-6.9,106,1833,0.00,2.55,0.00,0.000,260,0.000,0.101,3264,3385,3384,3363,3406,0,0,0,0,0,0,14.61,13.97,14.63
$GC,1884,-0.39,-107.1,3263,3385,3363,3402,166.6,-6.2,116,1895,0.00,2.55,0.00,0.000,1030,0.000,0.083,3264,1968,3384,3363,3406,0,0,0,0,0,0,14.19,14.07,14.26
$GC,2207,-0.39,-107.1,3263,1968,3361,3407,185.7,-5.8,123,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1967,3383,3361,3406,0,0,0,0,0,0,14.64,14.64,14.65
$GC,2507,-0.39,-107.1,3263,1968,3360,3406,202.0,-5.5,128,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1968,3384,3362,3406,0,0,0,0,0,0,14.62,14.63,14.62
$GC,2806,-0.39,-107.1,3263,1967,3360,3406,219.4,-5.9,133,2817,0.00,2.60,0.00,0.000,260,0.000,0.103,3264,3374,3383,3360,3406,0,0,0,0,0,0,14.64,13.98,14.66
$GC,2888,-0.39,-107.1,3263,3373,3359,3406,224.5,-6.5,147,2899,0.00,2.55,0.00,0.000,1030,0.000,0.088,3264,1973,3382,3359,3406,0,0,0,0,0,0,14.16,14.02,14.21
$GC,3256,-0.39,-107.1,3263,1972,3358,3406,248.3,-6.7,162,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1972,3382,3358,3406,0,0,0,0,0,0,14.64,14.66,14.66
$GC,3551,-0.39,-107.1,3263,1972,3359,3406,266.4,-5.9,167,3562,0.00,2.60,0.00,0.000,260,0.000,0.102,3264,3375,3385,3357,3413,0,0,0,0,0,0,14.63,13.95,14.64
$GC,3609,-0.39,-107.1,3263,3374,3357,3406,269.2,-4.9,176,3620,0.00,2.55,0.00,0.000,1030,0.000,0.085,3264,1956,3382,3357,3407,0,0,0,0,0,0,14.18,14.04,14.21
$STATE,3872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3872,begin apogee
$GC,3884,-0.16,0.0,3264,2248,3356,3406,283.1,-5.2,183,3976,0.25,0.00,83.62,1.054,10246,0.148,0.000,3345,2248,2941,2875,3007,0,0,0,0,0,0,13.98,14.06,13.33
$STATE,3978,end apogee,CONTROL_FINISHED_OK
$STATE,3978,begin climb
$GC,3984,0.39,107.1,3346,2249,2870,3004,285.1,0.0,184,4087,0.47,2.65,82.12,1.046,10500,0.106,0.103,3518,3659,2500,2374,2626,0,0,0,0,0,0,14.07,13.92,13.22
$GC,4129,0.43,107.1,3518,3659,2374,2624,281.6,5.3,210,4141,0.00,2.55,0.00,0.000,1030,0.000,0.083,3518,2253,2498,2374,2622,0,0,0,0,0,0,14.14,14.00,14.16
$GC,4496,0.45,152.1,3518,2253,2373,2624,263.1,5.3,225,4543,0.00,2.55,34.65,1.016,8708,0.000,0.098,3518,839,2318,2172,2464,0,0,0,0,0,0,14.54,13.97,13.45
$GC,4658,0.47,152.1,3518,839,2173,2462,252.6,6.6,255,4669,0.00,2.53,0.00,0.000,1030,0.000,0.089,3518,2248,2318,2174,2462,0,0,0,0,0,0,14.24,14.10,14.27
$GC,5006,0.50,152.1,3518,2248,2172,2462,232.7,5.7,266,5018,0.08,2.60,0.00,0.000,2308,0.153,0.102,3592,3665,2317,2172,2462,0,0,0,0,0,0,14.31,14.00,14.31
$GC,5116,0.50,152.1,3592,3664,2172,2461,222.8,9.7,285,5128,0.12,2.58,0.00,0.000,5126,0.221,0.086,3558,2237,2316,2172,2461,0,0,0,0,0,0,13.95,14.11,14.16
$GC,5462,0.52,152.1,3558,2236,2171,2460,201.4,6.1,295,5473,0.00,2.62,0.00,0.000,260,0.000,0.101,3558,3664,2316,2172,2461,0,0,0,0,0,0,14.63,14.05,14.65
$GC,5508,0.52,152.1,3555,3665,2172,2460,197.9,6.9,302,5520,0.00,2.55,0.00,0.000,1030,0.000,0.086,3563,2253,2316,2172,2460,0,0,0,0,0,0,14.26,14.10,14.30
$GC,5853,0.56,152.1,3558,2253,2171,2460,179.3,5.5,312,5864,0.00,2.58,0.00,0.000,516,0.000,0.100,3558,825,2315,2171,2460,0,0,0,0,0,0,14.59,14.02,14.59
$GC,5935,0.58,152.1,3557,824,2172,2457,174.1,6.4,326,5947,0.00,2.58,0.00,0.000,1030,0.000,0.090,3558,2263,2316,2171,2461,0,0,0,0,0,0,14.22,14.09,14.27
$GC,6304,0.61,152.1,3558,2260,2171,2460,153.3,5.6,341,6315,0.08,2.58,0.00,0.000,2308,0.147,0.102,3628,3662,2315,2171,2459,0,0,0,0,0,0,14.25,13.99,14.26
$GC,6411,0.61,152.1,3628,3662,2171,2458,143.9,9.6,359,6423,0.17,2.58,0.00,0.000,5126,0.212,0.086,3588,2238,2314,2171,2458,0,0,0,0,0,0,13.78,14.00,14.03
$GC,6760,0.63,152.1,3587,2239,2171,2458,119.9,6.7,370,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2238,2314,2170,2459,0,0,0,0,0,0,14.62,14.64,14.66
$GC,7055,0.65,196.2,3587,2238,2171,2458,104.1,5.3,375,7096,0.00,0.00,33.80,0.851,8198,0.000,0.000,3587,2238,2136,1980,2292,0,0,0,0,0,0,14.62,14.21,13.58
$GC,7355,0.65,196.2,3587,2237,1981,2297,82.9,7.5,380,7366,0.00,2.62,0.00,0.000,260,0.000,0.103,3587,3663,2138,1981,2296,0,0,0,0,0,0,14.59,14.05,14.60
$GC,7422,0.65,196.2,3586,3663,1981,2294,77.9,7.3,391,7434,0.00,2.58,0.00,0.000,1030,0.000,0.086,3587,2238,2137,1981,2294,0,0,0,0,0,0,14.23,14.09,14.28
$GC,7729,0.67,196.2,3587,2237,1988,2294,58.6,6.2,397,7740,0.00,2.53,0.00,0.000,516,0.000,0.099,3587,844,2137,1981,2293,0,0,0,0,0,0,14.62,14.02,14.63
$GC,7806,0.70,247.2,3587,844,1982,2294,54.6,5.0,410,7858,0.08,2.53,37.90,0.793,11270,0.143,0.087,3647,2257,1929,1783,2076,0,0,0,0,0,0,14.04,13.97,13.62
$GC,8170,0.72,301.9,3647,2260,1782,2075,29.6,4.8,430,8223,0.00,2.60,40.17,0.770,8708,0.000,0.098,3647,842,1705,1553,1857,0,0,0,0,0,0,14.59,14.17,13.63
$GC,8348,0.72,301.9,3648,842,1553,1854,19.8,7.0,463,8359,0.00,2.53,0.00,0.000,1030,0.000,0.090,3650,2245,1704,1555,1854,0,0,0,0,0,0,14.22,14.07,14.27
$STATE,8580,end climb,SURFACE_DEPTH_REACHED
$STATE,8584,begin surface coast
$FINISH,0.1,1.024086
$STATE,8611,end surface coast,CONTROL_FINISHED_OK
$STATE,8611,begin surface
$SM_CCo,8642,40.97,0.083,0,0,1309,400.08
$SM_GC,1.61,9.93,0.52,40.97,0.034,0.101,0.083,87,1961,1309,-10.27,0.51,400.08,0,0,0,0,0,0,14.25,14.18,14.16
$IRIDIUM_FIX,4732.49,-12513.98,131115,142729
$TT8_MAMPS,0.02247,0.02247
$HUMID,51.10
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3718656
$24V_AH,12.40,151.787
$10V_AH,12.70,0.000
$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,25.900,78.075,312.275,40.975,0.000,0.000,0.000,493.325,0.000,0.000,8.200,944.720,6051.557,469.678,1500.861,596.892,0.000,1634.179,0.000,702.127,0.000,0.538,0.000
$DEVICE_MAMPS,370.260,102.510,1054.170,82.620,0.000,0.000,0.000,149.940,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8684.000,198.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.646,8.151,0.000,0.000
$MEM,286364
$DATA_FILE_SIZE,16761,474
$CAP_FILE_SIZE,99576,0
$CFSIZE,260034560,190820352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220,342.48,1
$GPS,131115,201701,4751.729,-12513.017,24,0.8,24,16.5,2.3,287.9,11,7.6