version: 66.12
glider: 187
mission: 8
dive: 620
start: 12 9 115 14 12 49
data:
$ID,187
$MISSION,8
$DIVE,620
$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,14
$R_STBD_OVSHOOT,20
$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
$GPS1,091215,135307,4751.6074,-12518.6006,52,1.2,80,16.5,0.1,0.0,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-70.6
$GPS2,091215,141220,4751.8350,-12518.5635,5,1.0,9,16.5,1.0,346.8,7,9.6
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,117.5,10307,-14.8,-7.333,-19.49,2243
$D_GRID,383
$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,32,-0.39,-107.1,59,1959,1147,1408,0.0,0.0,0,114,0.00,0.00,-77.22,0.000,16390,0.000,0.000,59,1964,3380,3366,3395,0,0,0,0,0,0,14.51,12.50,14.42
$GC,121,-0.39,-107.1,59,1960,3367,3395,1.7,-2.4,2,144,14.65,2.62,0.00,0.000,2308,0.369,0.096,3252,3386,3382,3368,3397,0,0,0,0,0,0,13.74,14.13,14.12
$GC,377,-0.39,-107.1,3248,3385,3366,3400,49.9,-10.2,51,385,0.00,2.58,0.00,0.000,1030,0.000,0.084,3252,1969,3384,3367,3402,0,0,0,0,0,0,14.02,13.89,14.07
$GC,712,-0.39,-107.1,3247,1969,3365,3404,80.4,-8.8,61,721,0.00,2.62,0.00,0.000,260,0.000,0.100,3252,3379,3384,3365,3404,0,0,0,0,0,0,14.47,13.81,14.50
$GC,836,-0.39,-107.1,3252,3379,3365,3404,90.1,-7.8,84,845,0.00,2.58,0.00,0.000,1030,0.000,0.084,3252,1962,3384,3365,3404,0,0,0,0,0,0,14.07,13.93,14.12
$GC,1144,-0.39,-107.1,3252,1964,3365,3404,117.9,-9.4,90,1151,0.00,2.58,0.00,0.000,516,0.000,0.096,3253,561,3385,3365,3405,0,0,0,0,0,0,14.50,13.85,14.54
$GC,1228,-0.39,-107.1,3252,562,3365,3405,126.0,-9.4,105,1236,0.00,2.55,0.00,0.000,1030,0.000,0.086,3252,1965,3382,3359,3405,0,0,0,0,0,0,13.98,13.81,14.04
$GC,1582,-0.39,-107.1,3252,1965,3365,3402,157.0,-8.7,119,1590,0.00,2.62,0.00,0.000,260,0.000,0.099,3252,3389,3380,3360,3401,0,0,0,0,0,0,14.51,13.72,14.52
$GC,1656,-0.39,-107.1,3252,3389,3364,3404,162.8,-7.8,132,1664,0.00,2.58,0.00,0.000,1030,0.000,0.082,3252,1973,3382,3360,3405,0,0,0,0,0,0,14.04,13.90,14.09
$GC,2024,-0.39,-107.1,3256,1973,3365,3405,191.8,-7.8,148,2032,0.00,2.62,0.00,0.000,516,0.000,0.096,3255,544,3385,3365,3405,0,0,0,0,0,0,14.48,13.81,14.50
$GC,2079,-0.39,-107.1,3252,545,3364,3404,196.6,-8.6,157,2087,0.00,2.60,0.00,0.000,1030,0.000,0.085,3252,1982,3383,3363,3404,0,0,0,0,0,0,14.03,13.90,14.08
$GC,2404,-0.39,-107.1,3252,1982,3363,3405,224.2,-8.5,165,2413,0.00,2.58,0.00,0.000,260,0.000,0.100,3252,3377,3383,3363,3404,0,0,0,0,0,0,14.50,13.78,14.51
$GC,2488,-0.39,-107.1,3252,3371,3363,3405,231.0,-7.7,180,2496,0.00,2.55,0.00,0.000,1030,0.000,0.084,3252,1972,3386,3363,3409,0,0,0,0,0,0,14.03,13.88,14.08
$GC,2845,-0.39,-107.1,3252,1972,3362,3405,255.4,-6.7,194,2852,0.00,2.60,0.00,0.000,516,0.000,0.096,3251,557,3383,3362,3405,0,0,0,0,0,0,14.50,13.80,14.54
$GC,2873,-0.39,-107.1,3257,557,3361,3405,257.4,-6.4,198,2881,0.00,2.58,0.00,0.000,1030,0.000,0.086,3252,1969,3383,3361,3405,0,0,0,0,0,0,14.01,13.86,14.06
$GC,3224,-0.39,-107.1,3252,1969,3361,3405,276.9,-5.6,211,3231,0.00,2.62,0.00,0.000,260,0.000,0.100,3252,3389,3382,3360,3405,0,0,0,0,0,0,14.47,13.74,14.49
$GC,3276,-0.39,-107.1,3252,3388,3361,3404,279.8,-5.3,220,3284,0.00,2.60,0.00,0.000,1030,0.000,0.084,3252,1963,3383,3361,3406,0,0,0,0,0,0,14.02,13.88,14.07
$GC,3600,-0.39,-107.1,3252,1967,3360,3405,298.6,-5.9,228,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1963,3382,3359,3405,0,0,0,0,0,0,14.52,14.53,14.53
$GC,3901,-0.39,-107.1,3252,1963,3359,3405,318.4,-6.7,233,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1963,3381,3359,3404,0,0,0,0,0,0,14.52,14.52,14.53
$GC,4201,-0.39,-107.1,3252,1963,3358,3405,345.5,-9.2,238,4209,0.00,2.70,0.00,0.000,260,0.000,0.103,3251,3388,3381,3357,3405,0,0,0,0,0,0,14.50,13.72,14.52
$GC,4348,-0.39,-107.1,3252,3388,3358,3405,357.4,-7.7,265,4356,0.00,2.62,0.00,0.000,1030,0.000,0.086,3251,1972,3381,3358,3405,0,0,0,0,0,0,13.95,13.79,14.00
$STATE,4698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4698,begin apogee
$GC,4714,-0.16,0.0,3252,2260,3362,3405,383.9,-7.3,279,4807,0.28,0.00,88.72,1.185,10246,0.151,0.000,3337,2260,2940,2873,3008,0,0,0,0,0,0,13.74,13.96,13.16
$STATE,4811,end apogee,CONTROL_FINISHED_OK
$STATE,4811,begin climb
$GC,4817,0.39,107.1,3337,2260,2869,3006,386.8,0.0,280,4924,0.50,2.65,86.95,1.173,10500,0.108,0.105,3516,3663,2500,2371,2630,0,0,0,0,0,0,14.02,13.88,13.09
$GC,4974,0.42,160.1,3516,3663,2372,2628,385.0,4.9,309,5031,0.00,2.58,43.67,1.165,9222,0.000,0.084,3516,2249,2285,2126,2444,0,0,0,0,0,0,14.11,13.98,13.16
$GC,5383,0.45,160.1,3517,2249,2126,2443,362.8,5.7,333,5394,0.00,2.58,0.00,0.000,516,0.000,0.097,3516,833,2285,2127,2444,0,0,0,0,0,0,14.54,14.00,14.56
$GC,5520,0.47,160.1,3516,833,2127,2444,354.4,6.2,357,5532,0.00,2.58,0.00,0.000,1030,0.000,0.088,3517,2264,2285,2127,2444,0,0,0,0,0,0,14.18,14.01,14.19
$GC,5901,0.51,160.1,3516,2264,2128,2444,333.8,5.4,374,5913,0.08,2.60,0.00,0.000,2308,0.148,0.101,3587,3664,2285,2127,2443,0,0,0,0,0,0,14.24,13.92,14.26
$GC,6012,0.51,160.1,3587,3669,2127,2442,324.6,9.3,393,6024,0.12,2.58,0.00,0.000,5126,0.220,0.084,3561,2250,2284,2127,2442,0,0,0,0,0,0,13.78,13.97,14.02
$GC,6356,0.51,160.1,3561,2250,2127,2442,299.1,7.5,403,6367,0.00,2.65,0.00,0.000,260,0.000,0.103,3561,3663,2284,2127,2441,0,0,0,0,0,0,14.56,13.88,14.57
$GC,6403,0.51,160.1,3561,3663,2127,2440,294.5,9.1,410,6415,0.00,2.60,0.00,0.000,1030,0.000,0.085,3572,2236,2281,2124,2439,0,0,0,0,0,0,14.09,13.98,14.16
$GC,6741,0.51,160.1,3569,2240,2125,2440,268.6,7.4,420,6752,0.00,2.55,0.00,0.000,516,0.000,0.098,3569,842,2284,2128,2440,0,0,0,0,0,0,14.62,13.88,14.62
$GC,6917,0.53,160.1,3569,842,2127,2441,256.2,6.5,452,6931,0.00,2.55,0.00,0.000,1030,0.000,0.090,3570,2245,2283,2127,2440,0,0,0,0,0,0,14.02,13.91,14.07
$GC,7254,0.55,208.3,3569,2246,2126,2440,238.1,5.1,461,7301,0.00,0.00,38.22,1.009,8454,0.000,0.000,3569,2244,2088,1924,2253,0,0,0,0,0,0,14.58,14.14,13.40
$GC,7627,0.57,208.3,3569,2244,1927,2249,215.3,6.5,478,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2244,2090,1928,2253,0,0,0,0,0,0,14.54,14.57,14.57
$GC,7923,0.57,208.3,3569,2244,1928,2253,193.0,7.6,483,7934,0.00,2.65,0.00,0.000,260,0.000,0.101,3574,3668,2094,1935,2253,0,0,0,0,0,0,14.57,13.96,14.59
$GC,8029,0.57,208.3,3570,3667,1928,2253,183.2,9.2,501,8041,0.00,2.60,0.00,0.000,1030,0.000,0.087,3570,2250,2090,1928,2253,0,0,0,0,0,0,14.09,13.94,14.14
$GC,8378,0.58,208.3,3570,2247,1928,2253,159.2,6.7,512,8389,0.00,2.60,0.00,0.000,516,0.000,0.097,3575,820,2093,1927,2260,0,0,0,0,0,0,14.57,13.91,14.58
$GC,8490,0.60,208.3,3569,820,1928,2257,152.4,6.2,531,8501,0.00,2.60,0.00,0.000,1030,0.000,0.088,3569,2262,2090,1927,2253,0,0,0,0,0,0,14.12,13.97,14.16
$GC,8833,0.63,208.3,3570,2260,1928,2253,132.0,6.0,541,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2262,2092,1932,2253,0,0,0,0,0,0,14.53,14.55,14.55
$GC,9128,0.67,208.3,3569,2262,1928,2253,115.4,5.5,546,9140,0.08,2.65,0.00,0.000,2564,0.151,0.093,3638,826,2090,1928,2253,0,0,0,0,0,0,14.24,13.91,14.25
$GC,9216,0.67,208.3,3638,820,1927,2253,109.7,8.2,560,9227,0.00,2.60,0.00,0.000,1030,0.000,0.086,3638,2250,2090,1928,2253,0,0,0,0,0,0,14.10,13.95,14.15
$GC,9583,0.67,208.3,3638,2247,1928,2254,77.0,9.1,575,9594,0.08,2.62,0.00,0.000,4612,0.246,0.095,3612,822,2090,1928,2253,0,0,0,0,0,0,13.93,13.85,14.00
$GC,9616,0.67,208.3,3612,822,1928,2253,74.0,8.0,579,9627,0.00,2.60,0.00,0.000,1030,0.000,0.088,3613,2258,2088,1927,2249,0,0,0,0,0,0,14.11,13.97,14.16
$GC,9973,0.69,260.1,3613,2263,1928,2253,54.4,5.0,592,10025,0.00,2.60,39.92,0.796,8452,0.000,0.103,3613,3662,1874,1722,2027,0,0,0,0,0,0,14.58,14.16,13.53
$GC,10165,0.69,260.1,3612,3663,1721,2021,41.8,8.3,628,10176,0.00,2.58,0.00,0.000,1030,0.000,0.083,3614,2243,1871,1722,2021,0,0,0,0,0,0,14.19,14.05,14.24
$GC,10508,0.69,260.1,3613,2243,1722,2021,19.7,6.8,644,10520,0.00,2.58,0.00,0.000,516,0.000,0.101,3613,841,1872,1724,2021,0,0,0,0,0,0,14.55,13.96,14.57
$GC,10600,0.72,260.1,3614,842,1722,2021,13.6,6.1,659,10611,0.00,2.55,0.00,0.000,1030,0.000,0.086,3613,2255,1871,1722,2021,0,0,0,0,0,0,14.14,13.99,14.20
$STATE,10772,end climb,SURFACE_DEPTH_REACHED
$STATE,10772,begin surface coast
$FINISH,-0.2,1.024499
$STATE,10833,end surface coast,CONTROL_FINISHED_OK
$STATE,10833,begin surface
$SM_CCo,10865,58.78,0.080,0,0,1309,400.08
$SM_GC,1.11,9.95,0.52,58.78,0.043,0.091,0.080,94,1973,1309,-10.26,0.76,400.08,0,0,0,0,0,0,14.16,14.08,14.14
$IRIDIUM_FIX,4726.11,-12349.41,091215,135945
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.44
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3682560
$24V_AH,12.50,177.370
$10V_AH,12.63,0.000
$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,25.725,105.000,297.500,58.775,0.000,0.000,0.000,731.375,0.000,0.000,10.440,1289.764,7622.129,495.585,1971.496,688.258,0.000,2009.445,0.000,986.030,0.000,0.537,0.000
$DEVICE_MAMPS,368.730,104.805,1184.985,79.560,0.000,0.000,0.000,142.290,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10912.000,4905.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.101,9.207,0.000,0.000
$MEM,286368
$DATA_FILE_SIZE,23401,669
$CAP_FILE_SIZE,119131,0
$CFSIZE,260034560,180043776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.296,339.05,1
$GPS,091215,171719,4752.752,-12518.732,86,0.8,86,16.5,0.5,43.7,12,3.7