version: 66.12
glider: 187
mission: 8
dive: 623
start: 12 9 115 23 50 2
data:
$ID,187
$MISSION,8
$DIVE,623
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,091215,233232,4753.6680,-12519.4707,12,1.0,28,16.5,0.9,301.2,10,5.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-75.9
$GPS2,091215,234932,4753.7578,-12519.7334,3,1.4,5,16.5,1.0,215.5,9,8.5
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,130.4,12236,-14.8,-7.333,-19.49,2243
$D_GRID,405
$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,24,begin dive
$GC,29,-0.39,-107.1,74,1955,1206,1414,0.0,0.0,0,113,0.00,0.00,-76.47,0.000,16390,0.000,0.000,75,1948,3380,3373,3387,0,0,0,0,0,0,14.53,12.46,14.44
$GC,121,-0.39,-107.1,74,1945,3373,3388,1.7,-2.6,2,144,14.85,0.00,0.00,0.000,2822,0.378,0.000,3256,1954,3382,3374,3391,0,0,0,0,0,0,13.71,14.20,14.12
$GC,496,-0.39,-107.1,3256,1949,3368,3401,63.1,-10.1,17,507,0.00,2.55,0.00,0.000,516,0.000,0.101,3256,567,3385,3368,3402,0,0,0,0,0,0,14.55,13.85,14.57
$GC,578,-0.39,-107.1,3256,571,3369,3401,71.4,-9.3,31,589,0.00,2.55,0.00,0.000,1030,0.000,0.088,3256,1968,3384,3368,3401,0,0,0,0,0,0,14.14,13.95,14.16
$GC,946,-0.39,-107.1,3256,1967,3367,3402,101.6,-8.4,46,957,0.00,2.62,0.00,0.000,260,0.000,0.103,3256,3391,3385,3368,3402,0,0,0,0,0,0,14.56,13.79,14.57
$GC,1081,-0.39,-107.1,3256,3388,3368,3402,112.9,-7.9,70,1093,0.00,2.58,0.00,0.000,1030,0.000,0.083,3256,1976,3385,3369,3402,0,0,0,0,0,0,14.10,13.94,14.14
$GC,1460,-0.39,-107.1,3256,1976,3375,3402,143.3,-8.2,87,1472,0.00,2.62,0.00,0.000,260,0.000,0.100,3256,3388,3385,3368,3402,0,0,0,0,0,0,14.57,13.75,14.58
$GC,1488,-0.39,-107.1,3256,3385,3368,3402,146.0,-8.2,90,1500,0.00,2.58,0.00,0.000,1030,0.000,0.081,3259,1968,3385,3368,3402,0,0,0,0,0,0,14.10,13.95,14.15
$GC,1852,-0.39,-107.1,3255,1968,3368,3402,174.0,-7.8,104,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1968,3385,3368,3402,0,0,0,0,0,0,14.56,14.57,14.57
$GC,2146,-0.39,-107.1,3256,1968,3371,3402,196.6,-7.6,109,2157,0.00,2.67,0.00,0.000,260,0.000,0.103,3256,3389,3382,3367,3398,0,0,0,0,0,0,14.58,13.82,14.59
$GC,2178,-0.39,-107.1,3256,3392,3368,3402,199.0,-7.2,113,2189,0.00,2.60,0.00,0.000,1030,0.000,0.084,3262,1973,3384,3367,3402,0,0,0,0,0,0,14.07,13.93,14.12
$GC,2536,-0.39,-107.1,3256,1972,3366,3402,223.6,-6.8,126,2547,0.00,2.60,0.00,0.000,516,0.000,0.097,3256,549,3384,3366,3402,0,0,0,0,0,0,14.57,13.85,14.59
$GC,2578,-0.39,-107.1,3256,549,3366,3402,227.1,-7.8,132,2589,0.00,2.58,0.00,0.000,1030,0.000,0.086,3256,1969,3384,3366,3403,0,0,0,0,0,0,14.06,13.91,14.12
$GC,2922,-0.39,-107.1,3256,1969,3365,3408,252.0,-7.4,143,2933,0.00,2.65,0.00,0.000,260,0.000,0.103,3256,3389,3384,3366,3402,0,0,0,0,0,0,14.57,13.77,14.58
$GC,2974,-0.39,-107.1,3256,3389,3371,3402,256.1,-7.1,151,2985,0.00,2.60,0.00,0.000,1030,0.000,0.083,3262,1958,3381,3365,3398,0,0,0,0,0,0,14.06,13.92,14.12
$GC,3308,-0.39,-107.1,3262,1958,3364,3402,279.8,-7.2,160,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1958,3383,3364,3402,0,0,0,0,0,0,14.56,14.58,14.58
$GC,3606,-0.39,-107.1,3256,1957,3363,3402,302.0,-7.5,165,3618,0.00,2.72,0.00,0.000,260,0.000,0.103,3257,3390,3383,3364,3402,0,0,0,0,0,0,14.61,13.78,14.62
$GC,3684,-0.39,-107.1,3256,3392,3364,3402,307.4,-7.2,178,3696,0.00,2.60,0.00,0.000,1030,0.000,0.083,3256,1970,3382,3363,3402,0,0,0,0,0,0,14.04,13.86,14.11
$GC,4058,-0.39,-107.1,3252,1970,3362,3402,334.3,-7.0,194,4070,0.00,2.62,0.00,0.000,516,0.000,0.099,3256,546,3382,3362,3402,0,0,0,0,0,0,14.57,13.78,14.59
$GC,4117,-0.39,-107.1,3259,546,3361,3402,338.9,-7.4,203,4128,0.00,2.60,0.00,0.000,1030,0.000,0.087,3257,1968,3381,3361,3402,0,0,0,0,0,0,14.00,13.84,14.05
$GC,4445,-0.39,-107.1,3256,1964,3361,3401,358.6,-5.9,211,4456,0.00,2.67,0.00,0.000,260,0.000,0.103,3256,3390,3381,3360,3402,0,0,0,0,0,0,14.57,13.71,14.58
$GC,4502,-0.39,-107.1,3256,3390,3360,3398,361.7,-5.6,220,4513,0.00,2.62,0.00,0.000,1030,0.000,0.083,3256,1971,3381,3360,3402,0,0,0,0,0,0,14.02,13.87,14.06
$GC,4830,-0.39,-107.1,3253,1967,3359,3402,379.7,-5.6,228,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1971,3384,3360,3408,0,0,0,0,0,0,14.57,14.59,14.59
$GC,5129,-0.39,-107.1,3257,1971,3359,3402,396.7,-5.6,233,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1970,3380,3359,3402,0,0,0,0,0,0,14.60,14.62,14.61
$STATE,5304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5304,begin apogee
$GC,5317,-0.16,0.0,3257,2261,3359,3402,407.1,-5.8,236,5415,0.28,0.00,89.70,1.203,10246,0.148,0.000,3345,2261,2940,2874,3006,0,0,0,0,0,0,13.81,13.96,13.15
$STATE,5417,end apogee,CONTROL_FINISHED_OK
$STATE,5417,begin climb
$GC,5422,0.39,107.1,3345,2261,2869,3004,408.9,0.0,237,5530,0.45,2.62,87.72,1.194,10500,0.104,0.106,3510,3662,2500,2371,2629,0,0,0,0,0,0,14.02,13.90,13.07
$GC,5572,0.42,173.6,3509,3664,2371,2627,406.9,4.3,263,5643,0.00,2.60,54.33,1.188,9222,0.000,0.083,3513,2233,2230,2064,2396,0,0,0,0,0,0,14.10,13.98,13.13
$GC,6005,0.45,222.7,3512,2232,2068,2391,385.4,5.1,291,6060,0.00,2.67,40.58,1.164,8452,0.000,0.104,3513,3663,2029,1865,2193,0,0,0,0,0,0,14.53,14.09,13.31
$GC,6189,0.46,222.7,3513,3663,1865,2189,373.7,6.6,326,6202,0.00,2.58,0.00,0.000,1030,0.000,0.086,3513,2246,2027,1865,2189,0,0,0,0,0,0,14.19,14.06,14.23
$GC,6494,0.49,222.7,3513,2246,1865,2189,355.9,5.8,332,6505,0.08,2.58,0.00,0.000,2564,0.148,0.098,3587,842,2025,1865,2185,0,0,0,0,0,0,14.27,13.99,14.28
$GC,6610,0.49,222.7,3586,842,1865,2189,345.3,9.0,352,6622,0.12,2.55,0.00,0.000,5126,0.191,0.091,3550,2248,2027,1865,2189,0,0,0,0,0,0,13.91,14.03,14.12
$GC,6949,0.49,222.7,3549,2247,1863,2189,318.9,7.8,361,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2247,2026,1863,2189,0,0,0,0,0,0,14.55,14.57,14.57
$GC,7244,0.49,222.7,3549,2247,1862,2189,297.8,6.9,366,7256,0.00,2.65,0.00,0.000,516,0.000,0.101,3555,825,2025,1862,2189,0,0,0,0,0,0,14.58,13.93,14.60
$GC,7296,0.49,222.7,3555,824,1863,2188,294.2,7.1,374,7308,0.00,2.60,0.00,0.000,1030,0.000,0.090,3555,2265,2026,1863,2189,0,0,0,0,0,0,14.14,14.00,14.21
$GC,7631,0.49,222.7,3554,2265,1862,2188,271.3,6.9,383,7642,0.00,2.60,0.00,0.000,260,0.000,0.103,3555,3662,2025,1862,2189,0,0,0,0,0,0,14.59,13.90,14.62
$GC,7673,0.49,222.7,3555,3658,1856,2187,267.7,8.4,389,7684,0.00,2.58,0.00,0.000,1030,0.000,0.085,3555,2253,2025,1861,2189,0,0,0,0,0,0,14.14,13.98,14.19
$GC,8019,0.49,222.7,3553,2252,1862,2187,243.0,7.1,400,8031,0.00,2.62,0.00,0.000,516,0.000,0.100,3555,819,2024,1862,2187,0,0,0,0,0,0,14.57,13.85,14.58
$GC,8088,0.49,222.7,3561,820,1862,2187,237.7,7.6,411,8100,0.00,2.62,0.00,0.000,1030,0.000,0.090,3556,2256,2024,1862,2187,0,0,0,0,0,0,14.10,13.95,14.15
$GC,8392,0.50,222.7,3555,2256,1862,2187,216.6,6.8,417,8403,0.00,2.65,0.00,0.000,516,0.000,0.098,3559,823,2024,1862,2187,0,0,0,0,0,0,14.59,13.88,14.63
$GC,8450,0.50,222.7,3556,823,1862,2187,212.8,6.9,426,8462,0.00,2.60,0.00,0.000,1030,0.000,0.090,3556,2245,2024,1862,2187,0,0,0,0,0,0,14.09,13.94,14.16
$GC,8779,0.53,222.7,3555,2245,1862,2187,192.8,6.0,434,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2245,2024,1862,2187,0,0,0,0,0,0,14.57,14.59,14.59
$GC,9080,0.55,222.7,3556,2245,1862,2187,174.1,6.2,439,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2243,2024,1862,2187,0,0,0,0,0,0,14.57,14.61,14.61
$GC,9378,0.58,222.7,3560,2245,1862,2187,156.5,5.8,444,9390,0.00,2.67,0.00,0.000,260,0.000,0.103,3556,3664,2024,1862,2187,0,0,0,0,0,0,14.57,13.80,14.59
$GC,9427,0.60,222.7,3553,3664,1857,2185,153.6,6.3,451,9438,0.00,2.62,0.00,0.000,1030,0.000,0.085,3552,2235,2022,1860,2185,0,0,0,0,0,0,14.03,13.90,14.12
$GC,9770,0.63,281.0,3556,2235,1857,2185,137.4,4.7,461,9827,0.12,2.53,43.45,0.885,10756,0.122,0.100,3638,838,1795,1642,1948,0,0,0,0,0,0,14.17,14.19,13.47
$GC,9902,0.63,281.0,3638,841,1642,1947,125.1,10.9,485,9914,0.17,2.55,0.00,0.000,5126,0.195,0.090,3594,2253,1797,1650,1944,0,0,0,0,0,0,13.93,14.07,14.13
$GC,10275,0.63,281.0,3594,2251,1642,1947,91.7,8.9,502,10287,0.00,2.62,0.00,0.000,260,0.000,0.102,3594,3664,1794,1642,1947,0,0,0,0,0,0,14.54,13.85,14.57
$GC,10323,0.63,281.0,3594,3664,1643,1947,87.2,10.3,509,10335,0.00,2.58,0.00,0.000,1030,0.000,0.086,3595,2255,1795,1642,1948,0,0,0,0,0,0,14.14,14.00,14.20
$GC,10666,0.63,281.0,3594,2254,1642,1948,60.4,7.5,519,10677,0.00,2.60,0.00,0.000,516,0.000,0.099,3595,831,1794,1642,1947,0,0,0,0,0,0,14.55,13.88,14.57
$GC,10893,0.65,281.0,3594,831,1642,1947,44.9,6.5,561,10910,0.00,2.58,0.00,0.000,1030,0.000,0.089,3595,2256,1794,1642,1947,0,0,0,0,0,0,14.11,13.97,14.16
$GC,11248,0.66,281.0,3592,2255,1643,1947,24.9,6.5,577,11259,0.00,2.62,0.00,0.000,260,0.000,0.101,3595,3663,1794,1642,1947,0,0,0,0,0,0,14.55,13.86,14.55
$GC,11343,0.66,281.0,3595,3662,1643,1947,17.4,6.9,593,11355,0.00,2.60,0.00,0.000,1030,0.000,0.086,3595,2247,1794,1642,1947,0,0,0,0,0,0,14.10,13.95,14.15
$STATE,11638,end climb,SURFACE_DEPTH_REACHED
$STATE,11638,begin surface coast
$FINISH,-0.4,1.012934
$STATE,11723,end surface coast,CONTROL_FINISHED_OK
$STATE,11723,begin surface
$SM_CCo,11755,50.53,0.078,0,0,1311,400.08
$SM_GC,0.95,9.95,0.52,50.53,0.045,0.103,0.078,91,1955,1311,-10.25,0.28,400.08,0,0,0,0,0,0,14.15,14.02,14.12
$IRIDIUM_FIX,4732.49,-12515.83,091215,233852
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.88
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3681408
$24V_AH,12.46,177.977
$10V_AH,12.64,0.000
$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,26.025,110.625,315.775,50.525,0.000,0.000,0.000,565.625,0.000,0.000,6.874,1215.024,8514.721,509.427,1836.079,745.277,0.000,1958.183,0.000,900.614,0.000,0.537,0.000
$DEVICE_MAMPS,377.910,107.865,1203.345,78.030,0.000,0.000,0.000,139.995,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11792.000,266.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.994,7.857,0.000,0.000
$MEM,286372
$DATA_FILE_SIZE,20051,607
$CAP_FILE_SIZE,128153,0
$CFSIZE,260034560,179777536
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5596.90,0x234072,1,24
$INTR,1,10896.15,0x234070,1,24
$CURRENT,0.179,318.93,1
$GPS,101215,030836,4753.670,-12520.172,49,1.1,49,16.5,0.9,306.5,7,9.5