version: 66.12
glider: 187
mission: 8
dive: 92
start: 7 5 115 19 2 17
data:
$ID,187
$MISSION,8
$DIVE,92
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,050715,185409,4750.3755,-12512.5527,29,0.9,52,16.5,0.2,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-77.1
$GPS2,050715,190149,4750.3252,-12512.4609,2,0.9,4,16.5,0.7,116.9,11,8.6
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,13.6,4031,-14.8,-7.333,-19.49,2243
$D_GRID,283
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,30,-0.39,-107.1,89,1879,1404,1627,0.0,0.0,0,91,0.00,0.00,-57.50,0.000,16386,0.000,0.000,89,1879,3040,3014,3067,0,0,0,0,0,0,14.62,28.83,14.64
$GC,98,-0.39,-107.1,88,1880,3014,3068,3.1,-4.4,6,128,13.82,2.80,-5.72,0.000,18692,0.379,2.224,3253,3310,3381,3354,3408,0,0,0,0,0,0,14.24,13.54,14.47
$GC,367,-0.39,-107.1,3253,3310,3359,3407,54.4,-14.2,56,375,0.00,2.53,0.00,0.000,1030,0.000,0.097,3250,1899,3382,3357,3407,0,0,0,0,0,0,14.50,14.41,14.52
$GC,566,-0.39,-107.1,3253,1902,3358,3413,81.0,-13.6,76,573,0.00,2.53,0.00,0.000,260,0.000,0.107,3252,3307,3385,3358,3413,0,0,0,0,0,0,14.66,14.45,14.68
$GC,678,-0.39,-107.1,3252,3311,3358,3413,94.8,-12.6,96,686,0.00,2.53,0.00,0.000,1030,0.000,0.096,3252,1891,3384,3356,3413,0,0,0,0,0,0,14.56,14.47,14.58
$GC,877,-0.39,-107.1,3252,1893,3357,3414,120.2,-12.8,116,885,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1891,3385,3357,3414,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1067,-0.39,-107.1,3252,1891,3358,3414,142.2,-10.7,135,1074,0.00,2.58,0.00,0.000,260,0.000,0.107,3252,3319,3385,3357,3414,0,0,0,0,0,0,14.70,14.46,14.72
$GC,1130,-0.39,-107.1,3252,3317,3358,3414,149.1,-10.6,146,1139,0.00,2.53,0.00,0.000,1030,0.000,0.094,3252,1900,3386,3358,3414,0,0,0,0,0,0,14.59,14.51,14.62
$GC,1320,-0.39,-107.1,3252,1899,3357,3414,169.1,-10.5,165,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1899,3385,3357,3414,0,0,0,0,0,0,14.71,14.75,14.73
$GC,1510,-0.39,-107.1,3252,1899,3358,3414,188.5,-10.5,184,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1899,3386,3358,3414,0,0,0,0,0,0,14.72,14.74,14.74
$GC,1700,-0.39,-107.1,3252,1899,3356,3414,208.1,-10.2,203,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1899,3386,3358,3414,0,0,0,0,0,0,14.73,14.75,14.75
$GC,1890,-0.39,-107.1,3252,1899,3357,3414,227.1,-9.9,222,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1899,3388,3362,3414,0,0,0,0,0,0,14.73,14.76,14.75
$GC,2080,-0.39,-107.1,3252,1899,3357,3413,246.3,-10.7,241,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1899,3385,3357,3414,0,0,0,0,0,0,14.74,14.76,14.76
$GC,2271,-0.39,-107.1,3252,1899,3355,3414,266.2,-10.4,250,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1896,3385,3356,3414,0,0,0,0,0,0,14.75,14.75,14.76
$STATE,2445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2445,begin apogee
$GC,2456,-0.16,0.0,3252,2243,3355,3414,285.0,-10.6,256,2540,0.30,0.00,78.55,1.081,10246,0.198,0.000,3336,2243,2940,2878,3003,0,0,0,0,0,0,14.50,14.21,13.78
$STATE,2543,end apogee,CONTROL_FINISHED_OK
$STATE,2543,begin climb
$GC,2549,0.39,107.1,3336,2243,2872,3002,290.8,0.0,259,2636,0.55,0.00,77.97,1.053,10246,0.142,0.000,3515,2246,2504,2385,2623,0,0,0,0,0,0,14.17,14.02,13.59
$GC,2930,0.42,169.6,3515,2241,2381,2622,278.2,4.5,272,2988,0.00,2.62,45.80,1.059,8708,0.000,0.112,3520,825,2245,2106,2384,0,0,0,0,0,0,14.55,14.13,13.76
$GC,3014,0.44,213.4,3513,824,2106,2383,274.2,5.3,286,3057,0.00,2.58,32.70,1.048,9222,0.000,0.095,3516,2262,2070,1925,2216,0,0,0,0,0,0,14.28,14.23,13.68
$GC,3375,0.48,213.4,3516,2262,1924,2217,253.2,5.6,306,3386,0.00,2.55,0.00,0.000,260,0.000,0.109,3516,3661,2068,1923,2213,0,0,0,0,0,0,14.57,14.35,14.58
$GC,3407,0.50,213.4,3513,3661,1923,2213,251.1,6.4,310,3418,0.12,2.55,0.00,0.000,3078,0.126,0.096,3589,2250,2068,1923,2213,0,0,0,0,0,0,14.42,14.38,14.47
$GC,3730,0.50,213.4,3588,2249,1923,2212,216.7,10.9,342,3741,0.10,0.00,0.00,0.000,4102,0.229,0.000,3553,2250,2066,1920,2213,0,0,0,0,0,0,14.42,14.53,14.50
$GC,3922,0.50,213.4,3553,2249,1923,2213,200.9,8.2,361,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2249,2067,1922,2213,0,0,0,0,0,0,14.69,14.71,14.71
$GC,4115,0.50,213.4,3553,2249,1923,2212,185.7,7.7,380,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2249,2065,1923,2208,0,0,0,0,0,0,14.71,14.73,14.73
$GC,4307,0.50,213.4,3553,2249,1923,2213,171.2,7.6,399,4318,0.00,2.53,0.00,0.000,516,0.000,0.112,3554,820,2067,1922,2213,0,0,0,0,0,0,14.73,14.52,14.74
$GC,4340,0.50,213.4,3552,820,1926,2213,168.8,7.1,403,4351,0.00,2.50,0.00,0.000,1030,0.000,0.096,3553,2244,2067,1922,2213,0,0,0,0,0,0,14.62,14.52,14.63
$GC,4542,0.50,213.4,3553,2244,1922,2212,152.2,8.7,423,4553,0.00,2.55,0.00,0.000,260,0.000,0.109,3554,3665,2067,1921,2213,0,0,0,0,0,0,14.73,14.57,14.76
$GC,4584,0.50,213.4,3553,3665,1922,2212,148.0,10.7,429,4596,0.00,2.53,0.00,0.000,1030,0.000,0.097,3554,2249,2066,1921,2212,0,0,0,0,0,0,14.62,14.53,14.64
$GC,4787,0.50,213.4,3554,2249,1921,2212,127.5,9.4,449,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2249,2066,1921,2212,0,0,0,0,0,0,14.74,14.76,14.78
$GC,4980,0.50,213.4,3554,2249,1921,2212,111.1,8.1,468,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2249,2066,1921,2212,0,0,0,0,0,0,14.76,14.77,14.77
$GC,5172,0.50,213.4,3554,2249,1921,2212,95.8,7.4,487,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2249,2064,1916,2212,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5365,0.50,213.4,3554,2249,1925,2212,82.5,7.3,506,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2249,2066,1920,2212,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5557,0.50,213.4,3553,2249,1918,2212,68.3,7.0,525,5568,0.00,2.53,0.00,0.000,516,0.000,0.112,3554,822,2066,1920,2212,0,0,0,0,0,0,14.76,14.54,14.78
$GC,5595,0.52,213.4,3557,821,1920,2212,65.9,6.0,530,5607,0.00,2.53,0.00,0.000,1030,0.000,0.096,3559,2264,2065,1919,2212,0,0,0,0,0,0,14.65,14.55,14.66
$GC,5788,0.56,213.4,3553,2264,1920,2212,54.4,5.8,549,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2265,2065,1918,2212,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5981,0.56,213.4,3554,2269,1919,2211,43.3,7.3,568,5992,0.00,2.55,0.00,0.000,516,0.000,0.107,3555,819,2064,1919,2209,0,0,0,0,0,0,14.76,14.54,14.78
$GC,6037,0.56,213.4,3554,816,1919,2212,39.8,8.6,577,6050,0.00,2.47,0.00,0.000,1030,0.000,0.090,3554,2246,2065,1919,2211,0,0,0,0,0,0,14.65,14.57,14.66
$GC,6231,0.60,305.9,3555,2250,1919,2211,30.7,3.1,596,6310,0.00,2.58,65.50,0.767,8452,0.000,0.103,3555,3664,1687,1542,1832,0,0,0,0,0,0,14.76,14.28,14.01
$GC,6446,0.60,305.9,3555,3670,1544,1829,12.4,9.8,634,6457,0.00,2.55,0.00,0.000,1030,0.000,0.099,3555,2250,1684,1544,1825,0,0,0,0,0,0,14.48,14.39,14.50
$GC,6650,0.65,394.1,3551,2245,1544,1829,5.1,3.3,654,6682,0.10,0.00,24.23,0.098,10754,0.143,0.000,3615,2246,1452,1312,1592,0,0,0,0,0,0,14.47,28.83,14.51
$STATE,6684,end climb,SURFACE_DEPTH_REACHED
$STATE,6684,begin surface coast
$FINISH,-0.2,1.023129
$STATE,6770,end surface coast,CONTROL_FINISHED_OK
$STATE,6770,begin surface
$SM_CCo,6861,0.00,0.000,0,0,1450,365.50
$SM_GC,1.29,9.80,0.65,0.00,0.049,0.103,0.000,93,1884,1450,-10.26,0.20,365.50,0,0,0,0,0,0,14.49,14.46,14.56
$IRIDIUM_FIX,4732.49,-12509.51,050715,163821
$TT8_MAMPS,0.020972,0.020972
$HUMID,48.38
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3902720
$24V_AH,13.54,24.698
$10V_AH,13.23,0.000
$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,24.800,52.375,324.750,0.000,0.000,0.000,0.000,228.775,0.000,0.000,5.863,1510.267,3387.362,448.695,1442.101,520.720,0.000,1403.750,0.000,1064.003,0.000,0.535,0.000
$DEVICE_MAMPS,378.675,2223.855,1080.945,0.000,0.000,0.000,0.000,144.585,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6775.000,2626.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.561,8.937,0.000,0.000
$MEM,286424
$DATA_FILE_SIZE,23379,668
$CAP_FILE_SIZE,113689,0
$CFSIZE,260034560,247246848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,159.56,1
$GPS,050715,205809,4750.789,-12511.803,38,0.9,41,16.5,0.7,161.6,12,8.2