version: 66.12
glider: 187
mission: 8
dive: 93
start: 7 5 115 21 7 33
data:
$ID,187
$MISSION,8
$DIVE,93
$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,19
$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,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
$GPS1,050715,205809,4750.7891,-12511.8027,38,0.9,41,16.5,0.7,161.6,12,8.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-78.7
$GPS2,050715,210701,4750.6934,-12511.7188,3,0.7,5,16.5,1.2,111.8,12,8.7
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,14.2,2913,-14.8,-7.333,-19.49,2243
$D_GRID,220
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.39,-107.1,85,1877,1313,1587,0.0,0.0,0,101,0.00,0.00,-66.12,0.000,16386,0.000,0.000,85,1881,3272,3263,3281,0,0,0,0,0,0,14.62,28.83,14.64
$GC,107,-0.39,-107.1,85,1877,3268,3282,4.6,-7.8,7,136,13.50,2.70,-1.55,0.000,18948,0.366,2.215,3259,493,3378,3363,3393,0,0,0,0,0,0,14.24,13.59,14.47
$GC,374,-0.39,-107.1,3258,492,3363,3398,58.3,-13.3,56,385,0.00,2.47,0.00,0.000,1030,0.000,0.093,3258,1902,3380,3363,3398,0,0,0,0,0,0,14.53,14.45,14.55
$GC,567,-0.39,-107.1,3259,1902,3363,3400,79.6,-11.9,75,578,0.00,2.53,0.00,0.000,516,0.000,0.109,3259,490,3382,3363,3401,0,0,0,0,0,0,14.68,14.47,14.69
$GC,764,-0.39,-107.1,3258,490,3363,3401,103.7,-12.6,111,775,0.00,2.47,0.00,0.000,1030,0.000,0.094,3259,1906,3382,3363,3401,0,0,0,0,0,0,14.59,14.52,14.59
$GC,966,-0.39,-107.1,3255,1906,3363,3402,125.0,-9.8,131,977,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1906,3384,3363,3406,0,0,0,0,0,0,14.72,14.74,14.74
$GC,1158,-0.39,-107.1,3258,1906,3363,3401,143.8,-9.7,150,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1907,3382,3363,3401,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1351,-0.39,-107.1,3258,1906,3362,3402,162.3,-9.5,169,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1906,3383,3362,3405,0,0,0,0,0,0,14.75,14.77,14.76
$GC,1543,-0.39,-107.1,3258,1903,3357,3402,179.7,-8.9,188,1555,0.00,2.50,0.00,0.000,260,0.000,0.108,3258,3321,3383,3365,3401,0,0,0,0,0,0,14.76,14.54,14.78
$GC,1634,-0.39,-107.1,3260,3321,3361,3401,187.1,-8.6,203,1646,0.00,2.50,0.00,0.000,1030,0.000,0.097,3259,1902,3381,3361,3401,0,0,0,0,0,0,14.66,14.55,14.66
$GC,1827,-0.39,-107.1,3258,1904,3361,3402,204.4,-8.3,222,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1904,3380,3360,3401,0,0,0,0,0,0,14.76,14.78,14.78
$STATE,2015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2015,begin apogee
$GC,2026,-0.16,0.0,3260,2260,3359,3406,220.3,-8.0,241,2111,0.28,0.00,76.85,0.988,10246,0.196,0.000,3347,2260,2939,2878,3001,0,0,0,0,0,0,14.52,14.26,13.84
$STATE,2118,end apogee,CONTROL_FINISHED_OK
$STATE,2118,begin climb
$GC,2123,0.39,107.1,3342,2260,2872,2999,224.0,0.0,250,2219,0.50,2.58,76.85,0.954,10500,0.142,0.106,3514,3659,2500,2381,2619,0,0,0,0,0,0,14.22,14.00,13.67
$GC,2256,0.42,107.1,3514,3665,2381,2617,219.8,5.9,272,2267,0.00,2.58,0.00,0.000,1030,0.000,0.093,3513,2246,2499,2380,2618,0,0,0,0,0,0,14.23,14.16,14.25
$GC,2459,0.45,162.6,3514,2246,2381,2618,209.6,4.8,292,2511,0.00,2.58,40.38,0.960,8708,0.000,0.107,3514,828,2274,2136,2413,0,0,0,0,0,0,14.53,14.14,13.81
$GC,2547,0.48,162.6,3514,828,2135,2412,205.1,5.6,306,2558,0.10,2.55,0.00,0.000,3078,0.142,0.093,3578,2244,2273,2135,2412,0,0,0,0,0,0,14.26,14.23,14.32
$GC,2750,0.48,162.6,3579,2244,2137,2412,188.1,9.1,326,2761,0.00,2.58,0.00,0.000,260,0.000,0.107,3579,3665,2274,2137,2412,0,0,0,0,0,0,14.56,14.35,14.59
$GC,2826,0.48,162.6,3583,3663,2137,2412,180.2,11.3,338,2838,0.10,2.55,0.00,0.000,5126,0.235,0.096,3553,2244,2274,2137,2412,0,0,0,0,0,0,14.35,14.39,14.47
$GC,3029,0.48,162.6,3552,2244,2138,2412,162.7,8.4,358,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2244,2274,2137,2412,0,0,0,0,0,0,14.64,14.66,14.66
$GC,3221,0.48,162.6,3553,2244,2138,2412,147.0,8.0,377,3232,0.00,2.60,0.00,0.000,260,0.000,0.109,3553,3676,2275,2138,2412,0,0,0,0,0,0,14.68,14.47,14.69
$GC,3307,0.48,162.6,3553,3675,2145,2412,139.6,9.4,391,3318,0.00,2.55,0.00,0.000,1030,0.000,0.096,3552,2251,2275,2137,2413,0,0,0,0,0,0,14.58,14.49,14.59
$GC,3509,0.48,162.6,3554,2251,2145,2412,122.5,7.8,411,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2251,2275,2138,2413,0,0,0,0,0,0,14.71,14.73,14.73
$GC,3702,0.51,162.6,3553,2251,2138,2412,110.2,5.8,430,3713,0.00,2.50,0.00,0.000,516,0.000,0.109,3554,835,2275,2138,2412,0,0,0,0,0,0,14.73,14.52,14.75
$GC,3739,0.53,162.6,3554,843,2138,2412,108.0,6.4,435,3752,0.00,2.47,0.00,0.000,1030,0.000,0.094,3554,2259,2275,2138,2412,0,0,0,0,0,0,14.62,14.54,14.64
$GC,3933,0.56,162.6,3553,2259,2138,2412,97.3,6.0,454,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2258,2275,2138,2412,0,0,0,0,0,0,14.74,14.76,14.76
$GC,4126,0.57,162.6,3553,2258,2138,2412,84.6,6.6,473,4137,0.00,2.55,0.00,0.000,516,0.000,0.109,3554,835,2275,2138,2412,0,0,0,0,0,0,14.75,14.53,14.76
$GC,4168,0.59,162.6,3554,838,2138,2417,81.9,6.2,479,4180,0.00,2.47,0.00,0.000,1030,0.000,0.094,3554,2260,2277,2137,2418,0,0,0,0,0,0,14.64,14.56,14.65
$GC,4372,0.59,162.6,3553,2260,2138,2412,67.6,7.6,499,4383,0.00,2.50,0.00,0.000,260,0.000,0.107,3554,3662,2275,2138,2412,0,0,0,0,0,0,14.76,14.54,14.77
$GC,4488,0.59,162.6,3554,3661,2144,2412,58.7,7.1,519,4499,0.00,2.53,0.00,0.000,1030,0.000,0.095,3554,2244,2275,2138,2412,0,0,0,0,0,0,14.66,14.56,14.66
$GC,4691,0.64,256.0,3550,2244,2138,2409,50.8,3.1,539,4774,0.08,2.62,66.18,0.782,10756,0.157,0.111,3625,822,1891,1754,2029,0,0,0,0,0,0,14.59,14.28,13.99
$GC,4844,0.64,256.0,3625,822,1757,2028,37.4,11.1,566,4856,0.00,2.53,0.00,0.000,1030,0.000,0.097,3626,2243,1893,1759,2028,0,0,0,0,0,0,14.45,14.35,14.46
$GC,5037,0.64,256.0,3625,2243,1757,2028,18.7,9.7,585,5048,0.00,2.55,0.00,0.000,260,0.000,0.106,3625,3662,1892,1757,2028,0,0,0,0,0,0,14.62,14.42,14.65
$GC,5114,0.64,256.0,3625,3661,1757,2028,11.7,10.1,597,5125,0.00,2.53,0.00,0.000,1030,0.000,0.096,3626,2250,1890,1753,2028,0,0,0,0,0,0,14.54,14.45,14.56
$STATE,5235,end climb,SURFACE_DEPTH_REACHED
$STATE,5235,begin surface coast
$FINISH,0.8,1.023396
$STATE,5312,end surface coast,CONTROL_FINISHED_OK
$STATE,5312,begin surface
$SM_CCo,5343,38.83,0.095,0,0,1513,350.04
$SM_GC,2.63,10.10,0.62,38.83,0.076,0.103,0.095,95,1892,1513,-10.25,0.54,350.04,0,0,0,0,0,0,14.52,14.51,14.48
$IRIDIUM_FIX,4729.30,-12512.13,050715,185752
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.34
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3902336
$24V_AH,13.59,24.828
$10V_AH,13.28,0.000
$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,24.650,62.250,260.250,38.825,0.000,0.000,0.000,266.150,0.000,0.000,6.883,1356.602,2212.378,408.951,1421.395,516.502,0.000,1376.796,0.000,973.483,0.000,0.536,0.000
$DEVICE_MAMPS,365.670,2215.440,987.615,94.860,0.000,0.000,0.000,138.465,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5329.000,162.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.072,6.607,0.000,0.000
$MEM,286376
$DATA_FILE_SIZE,20067,617
$CAP_FILE_SIZE,107861,0
$CFSIZE,260034560,247189504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,54.72,1
$GPS,050715,223926,4751.257,-12511.272,75,1.5,75,16.5,0.5,207.2,5,10.0