version: 66.12
glider: 187
mission: 8
dive: 546
start: 11 14 115 13 28 57
data:
$ID,187
$MISSION,8
$DIVE,546
$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,24
$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
$GPS1,141115,131456,4752.0938,-12515.4629,35,1.4,35,16.5,0.6,248.3,8,6.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-75.6
$GPS2,141115,132828,4752.1494,-12515.6924,3,1.5,3,16.5,0.5,313.1,8,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,196.0,163355,-14.8,-7.333,-19.49,2243
$D_GRID,373
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.39,-107.1,85,1950,1221,1401,0.0,0.0,0,111,0.00,0.00,-75.18,0.000,16390,0.000,0.000,85,1948,3379,3369,3390,0,0,0,0,0,0,14.51,12.42,14.45
$GC,118,-0.39,-107.1,85,1947,3369,3392,1.9,-2.8,2,144,14.48,2.62,0.00,0.000,2308,0.368,0.095,3251,3386,3382,3370,3395,0,0,0,0,0,0,13.71,14.10,14.12
$GC,219,-0.39,-107.1,3250,3390,3365,3399,36.1,-11.7,20,227,0.00,2.58,0.00,0.000,1030,0.000,0.087,3247,1979,3384,3370,3399,0,0,0,0,0,0,14.18,14.04,14.23
$GC,589,-0.39,-107.1,3250,1973,3367,3404,74.9,-9.6,33,596,0.00,2.60,0.00,0.000,516,0.000,0.099,3251,543,3383,3367,3400,0,0,0,0,0,0,14.56,14.00,14.57
$GC,682,-0.39,-107.1,3251,543,3369,3404,84.4,-9.6,50,691,0.00,2.58,0.00,0.000,1030,0.000,0.086,3256,1984,3386,3367,3405,0,0,0,0,0,0,14.16,13.99,14.16
$GC,1027,-0.39,-107.1,3251,1983,3367,3405,112.5,-8.2,62,1035,0.00,2.55,0.00,0.000,260,0.000,0.102,3251,3377,3386,3367,3405,0,0,0,0,0,0,14.59,13.97,14.60
$GC,1097,-0.39,-107.1,3250,3377,3367,3405,117.5,-6.5,74,1106,0.00,2.58,0.00,0.000,1030,0.000,0.085,3250,1953,3386,3367,3405,0,0,0,0,0,0,14.13,13.97,14.16
$GC,1472,-0.39,-107.1,3251,1953,3366,3405,147.5,-8.4,91,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1953,3385,3365,3405,0,0,0,0,0,0,14.55,14.57,14.57
$GC,1768,-0.39,-107.1,3251,1953,3365,3405,170.9,-7.7,96,1776,0.00,2.65,0.00,0.000,260,0.000,0.102,3251,3379,3385,3365,3405,0,0,0,0,0,0,14.58,14.00,14.58
$GC,1821,-0.39,-107.1,3250,3374,3365,3405,174.6,-6.6,105,1829,0.00,2.53,0.00,0.000,1030,0.000,0.085,3251,1974,3385,3365,3405,0,0,0,0,0,0,14.12,13.97,14.15
$GC,2146,-0.39,-107.1,3251,1974,3364,3405,192.5,-5.3,113,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1974,3384,3364,3405,0,0,0,0,0,0,14.56,14.58,14.57
$GC,2446,-0.39,-107.1,3250,1973,3363,3401,214.4,-7.5,118,2455,0.00,2.60,0.00,0.000,516,0.000,0.098,3253,559,3387,3370,3405,0,0,0,0,0,0,14.59,13.97,14.60
$GC,2496,-0.39,-107.1,3251,558,3365,3405,218.5,-8.2,126,2504,0.00,2.53,0.00,0.000,1030,0.000,0.086,3251,1966,3386,3363,3410,0,0,0,0,0,0,14.16,14.01,14.21
$GC,2827,-0.39,-107.1,3252,1963,3363,3405,244.2,-7.8,135,2834,0.00,2.62,0.00,0.000,260,0.000,0.102,3251,3388,3383,3361,3405,0,0,0,0,0,0,14.59,13.94,14.60
$GC,2890,-0.39,-107.1,3250,3390,3362,3405,249.1,-7.5,146,2899,0.00,2.58,0.00,0.000,1030,0.000,0.084,3247,1966,3384,3361,3408,0,0,0,0,0,0,14.16,14.02,14.19
$GC,3196,-0.39,-107.1,3250,1965,3360,3405,271.2,-7.2,152,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1965,3382,3360,3405,0,0,0,0,0,0,14.59,14.61,14.61
$GC,3497,-0.39,-107.1,3251,1964,3359,3405,293.6,-7.6,157,3504,0.00,2.67,0.00,0.000,260,0.000,0.103,3251,3391,3382,3359,3405,0,0,0,0,0,0,14.57,13.83,14.59
$GC,3566,-0.39,-107.1,3250,3390,3359,3405,298.6,-7.0,169,3573,0.00,2.60,0.00,0.000,1030,0.000,0.086,3250,1963,3385,3359,3411,0,0,0,0,0,0,14.14,14.00,14.18
$GC,3941,-0.39,-107.1,3246,1963,3357,3405,326.1,-7.8,186,3949,0.00,2.58,0.00,0.000,516,0.000,0.100,3251,559,3381,3357,3405,0,0,0,0,0,0,14.57,13.93,14.58
$GC,3995,-0.39,-107.1,3250,556,3358,3405,331.4,-8.7,195,4003,0.00,2.58,0.00,0.000,1030,0.000,0.090,3251,1983,3380,3357,3404,0,0,0,0,0,0,14.16,13.99,14.19
$GC,4319,-0.39,-107.1,3251,1982,3356,3405,355.9,-7.5,203,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1978,3380,3356,3405,0,0,0,0,0,0,14.57,14.58,14.57
$STATE,4554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4554,begin apogee
$GC,4567,-0.16,0.0,3251,2254,3355,3405,374.0,-7.6,207,4656,0.32,0.00,84.03,1.180,10246,0.161,0.000,3343,2251,2940,2875,3006,0,0,0,0,0,0,13.90,14.01,13.26
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4665,0.39,107.1,3344,2251,2871,3005,376.7,0.0,208,4759,0.52,0.00,84.40,1.166,10246,0.108,0.000,3524,2251,2503,2377,2630,0,0,0,0,0,0,14.06,13.88,13.14
$GC,5047,0.42,173.0,3524,2248,2372,2630,365.3,4.3,215,5106,0.00,0.00,51.67,1.156,8198,0.000,0.000,3523,2251,2234,2075,2394,0,0,0,0,0,0,14.53,14.05,13.33
$GC,5399,0.45,173.0,3523,2251,2078,2393,345.6,5.8,221,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2251,2236,2079,2394,0,0,0,0,0,0,14.54,14.56,14.56
$GC,5700,0.49,173.0,3523,2251,2080,2393,329.2,5.4,226,5712,0.00,2.60,0.00,0.000,516,0.000,0.102,3527,842,2236,2080,2393,0,0,0,0,0,0,14.62,14.05,14.66
$GC,5779,0.52,227.5,3526,842,2081,2389,325.4,4.8,239,5836,0.08,2.55,43.00,1.108,11270,0.148,0.093,3594,2256,2011,1853,2170,0,0,0,0,0,0,14.16,14.11,13.43
$GC,6135,0.52,227.5,3594,2254,1850,2168,294.4,9.2,255,6146,0.00,2.60,0.00,0.000,260,0.000,0.105,3595,3665,2007,1850,2165,0,0,0,0,0,0,14.58,14.07,14.59
$GC,6197,0.52,227.5,3594,3665,1850,2167,287.8,11.0,265,6209,0.12,2.60,0.00,0.000,5126,0.217,0.090,3560,2243,2008,1850,2166,0,0,0,0,0,0,13.96,14.12,14.19
$GC,6524,0.52,227.5,3560,2238,1850,2167,262.0,7.8,272,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,2236,2008,1850,2166,0,0,0,0,0,0,14.61,14.63,14.62
$GC,6820,0.52,227.5,3560,2239,1849,2172,238.0,8.0,277,6831,0.00,2.55,0.00,0.000,516,0.000,0.102,3568,824,2011,1856,2166,0,0,0,0,0,0,14.62,14.06,14.64
$GC,6871,0.52,227.5,3568,824,1850,2166,233.8,8.3,285,6883,0.00,2.58,0.00,0.000,1030,0.000,0.090,3572,2256,2007,1849,2166,0,0,0,0,0,0,14.26,14.12,14.31
$GC,7205,0.52,227.5,3568,2258,1850,2166,208.5,7.7,294,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2260,2008,1849,2167,0,0,0,0,0,0,14.64,14.66,14.66
$GC,7504,0.52,227.5,3568,2258,1849,2166,183.2,8.5,299,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2257,2007,1849,2166,0,0,0,0,0,0,14.64,14.65,14.65
$GC,7805,0.52,227.5,3568,2258,1849,2165,161.6,7.0,304,7816,0.00,2.60,0.00,0.000,260,0.000,0.106,3568,3662,2007,1848,2166,0,0,0,0,0,0,14.63,13.99,14.64
$GC,7852,0.52,227.5,3568,3662,1848,2165,157.9,8.1,311,7863,0.00,2.58,0.00,0.000,1030,0.000,0.089,3569,2250,2006,1848,2164,0,0,0,0,0,0,14.21,14.06,14.26
$GC,8191,0.52,227.5,3568,2253,1848,2164,133.5,7.4,321,8202,0.00,2.58,0.00,0.000,516,0.000,0.099,3569,842,2004,1848,2161,0,0,0,0,0,0,14.62,13.98,14.64
$GC,8257,0.52,227.5,3571,841,1848,2165,128.4,7.5,332,8269,0.00,2.55,0.00,0.000,1030,0.000,0.091,3566,2246,2006,1848,2165,0,0,0,0,0,0,14.18,14.03,14.23
$GC,8564,0.54,227.5,3569,2246,1848,2165,108.5,6.4,338,8575,0.00,2.60,0.00,0.000,260,0.000,0.103,3569,3664,2007,1849,2166,0,0,0,0,0,0,14.64,13.99,14.65
$GC,8622,0.54,227.5,3572,3664,1848,2164,103.9,8.3,347,8633,0.00,2.60,0.00,0.000,1030,0.000,0.086,3570,2238,2008,1852,2165,0,0,0,0,0,0,14.20,14.08,14.25
$GC,8950,0.56,227.5,3569,2238,1846,2165,82.9,6.1,355,8961,0.00,2.55,0.00,0.000,516,0.000,0.099,3569,842,2007,1849,2165,0,0,0,0,0,0,14.62,13.97,14.63
$GC,9076,0.60,227.5,3567,842,1849,2164,76.6,5.4,377,9087,0.00,2.55,0.00,0.000,1030,0.000,0.090,3570,2252,2007,1849,2165,0,0,0,0,0,0,14.19,14.04,14.25
$GC,9399,0.63,287.1,3569,2252,1853,2165,62.0,4.6,384,9454,0.00,2.62,43.67,0.809,8708,0.000,0.102,3569,842,1767,1613,1922,0,0,0,0,0,0,14.62,14.22,13.58
$GC,9480,0.66,287.1,3570,842,1611,1917,57.6,6.2,398,9493,0.10,2.53,0.00,0.000,3078,0.125,0.090,3644,2251,1767,1613,1921,0,0,0,0,0,0,14.21,14.14,14.28
$GC,9815,0.66,287.1,3643,2250,1613,1921,27.3,7.3,416,9827,0.12,2.60,0.00,0.000,4356,0.216,0.100,3608,3664,1767,1613,1921,0,0,0,0,0,0,14.00,14.00,14.07
$GC,10063,0.66,287.1,3608,3664,1613,1919,11.1,7.0,462,10074,0.00,2.55,0.00,0.000,1030,0.000,0.086,3608,2254,1766,1613,1919,0,0,0,0,0,0,14.21,14.07,14.26
$STATE,10200,end climb,SURFACE_DEPTH_REACHED
$STATE,10201,begin surface coast
$FINISH,-0.2,1.024200
$STATE,10268,end surface coast,CONTROL_FINISHED_OK
$STATE,10268,begin surface
$SM_CCo,10299,47.67,0.083,0,0,1310,400.08
$SM_GC,0.71,9.73,0.52,47.67,0.030,0.097,0.083,95,1958,1310,-10.25,0.37,400.08,0,0,0,0,0,0,14.28,14.18,14.17
$IRIDIUM_FIX,4732.49,-12513.98,141115,102209
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.55
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3715200
$24V_AH,12.42,153.286
$10V_AH,12.68,0.000
$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,25.475,88.825,306.775,47.675,0.000,0.000,0.000,479.125,0.000,0.000,5.317,1008.453,7618.922,518.465,1408.208,601.811,0.000,1625.574,0.000,698.966,0.000,0.537,0.000
$DEVICE_MAMPS,367.965,107.100,1180.395,83.385,0.000,0.000,0.000,149.940,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10336.000,4759.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.175,9.199,0.000,0.000
$MEM,286428
$DATA_FILE_SIZE,16772,470
$CAP_FILE_SIZE,103648,0
$CFSIZE,260034560,190181376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,235.12,1
$GPS,141115,162301,4751.197,-12516.803,37,0.9,37,16.5,1.2,358.4,9,4.9