version: 66.12
glider: 187
mission: 8
dive: 621
start: 12 9 115 17 38 47
data:
$ID,187
$MISSION,8
$DIVE,621
$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,16
$R_STBD_OVSHOOT,19
$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
$GPS1,091215,171719,4752.7520,-12518.7324,86,0.8,86,16.5,0.5,43.7,12,3.7
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-72.6
$GPS2,091215,173819,4752.9175,-12518.6924,3,0.9,3,16.5,2.1,243.7,11,9.9
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,128.4,10624,-14.8,-7.333,-19.49,2243
$D_GRID,372
$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,29,-0.39,-107.1,73,1967,1209,1415,0.0,0.0,0,113,0.00,0.00,-76.85,0.000,16390,0.000,0.000,73,1964,3382,3376,3389,0,0,0,0,0,0,14.52,12.47,14.42
$GC,121,-0.39,-107.1,72,1965,3370,3390,1.4,-1.8,2,147,14.48,2.60,0.00,0.000,2308,0.360,0.095,3250,3385,3379,3371,3388,0,0,0,0,0,0,13.72,14.06,14.09
$GC,381,-0.39,-107.1,3250,3386,3370,3397,50.1,-10.0,51,392,0.00,2.60,0.00,0.000,1030,0.000,0.085,3250,1955,3383,3370,3396,0,0,0,0,0,0,14.07,13.95,14.12
$GC,719,-0.39,-107.1,3250,1955,3368,3400,89.1,-11.3,61,730,0.00,2.65,0.00,0.000,260,0.000,0.099,3250,3387,3384,3368,3400,0,0,0,0,0,0,14.57,13.87,14.58
$GC,827,-0.39,-107.1,3250,3388,3374,3400,99.8,-9.7,80,838,0.00,2.58,0.00,0.000,1030,0.000,0.083,3250,1972,3386,3372,3401,0,0,0,0,0,0,14.09,13.95,14.14
$GC,1166,-0.39,-107.1,3246,1971,3368,3401,130.2,-8.6,90,1177,0.00,2.60,0.00,0.000,516,0.000,0.096,3250,554,3387,3372,3402,0,0,0,0,0,0,14.57,13.77,14.59
$GC,1202,-0.39,-107.1,3250,548,3368,3399,133.7,-9.3,95,1214,0.00,2.58,0.00,0.000,1030,0.000,0.084,3249,1972,3384,3367,3401,0,0,0,0,0,0,14.08,13.91,14.13
$GC,1555,-0.39,-107.1,3250,1970,3367,3401,165.4,-9.4,107,1566,0.00,2.62,0.00,0.000,260,0.000,0.102,3250,3389,3384,3367,3401,0,0,0,0,0,0,14.54,13.79,14.57
$GC,1597,-0.39,-107.1,3250,3389,3367,3401,169.7,-9.4,113,1609,0.00,2.60,0.00,0.000,1030,0.000,0.082,3250,1965,3384,3367,3401,0,0,0,0,0,0,14.07,13.92,14.12
$GC,1942,-0.39,-107.1,3250,1965,3366,3401,199.9,-8.7,124,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1964,3383,3366,3401,0,0,0,0,0,0,14.58,14.59,14.63
$GC,2240,-0.39,-107.1,3250,1965,3366,3405,223.8,-8.0,129,2252,0.00,2.67,0.00,0.000,260,0.000,0.102,3250,3389,3383,3366,3401,0,0,0,0,0,0,14.57,13.77,14.59
$GC,2339,-0.39,-107.1,3250,3389,3366,3403,231.7,-8.1,146,2350,0.00,2.60,0.00,0.000,1030,0.000,0.083,3250,1974,3387,3373,3401,0,0,0,0,0,0,14.04,13.90,14.09
$GC,2692,-0.39,-107.1,3250,1972,3361,3401,259.4,-7.8,158,2703,0.00,2.60,0.00,0.000,516,0.000,0.096,3250,557,3383,3365,3401,0,0,0,0,0,0,14.54,13.80,14.56
$GC,2745,-0.39,-107.1,3249,557,3364,3402,264.2,-8.4,166,2756,0.00,2.55,0.00,0.000,1030,0.000,0.085,3250,1967,3383,3365,3401,0,0,0,0,0,0,14.04,13.88,14.09
$GC,3078,-0.39,-107.1,3250,1967,3364,3402,289.5,-7.5,175,3089,0.00,2.65,0.00,0.000,260,0.000,0.102,3250,3390,3382,3364,3401,0,0,0,0,0,0,14.59,13.77,14.60
$GC,3146,-0.39,-107.1,3250,3390,3364,3401,294.2,-6.6,186,3158,0.00,2.62,0.00,0.000,1030,0.000,0.082,3250,1965,3382,3364,3401,0,0,0,0,0,0,14.02,13.87,14.07
$GC,3451,-0.39,-107.1,3250,1964,3362,3401,315.1,-6.9,192,3462,0.00,2.67,0.00,0.000,260,0.000,0.101,3250,3389,3382,3363,3401,0,0,0,0,0,0,14.59,13.75,14.60
$GC,3535,-0.39,-107.1,3250,3389,3363,3400,320.4,-6.9,206,3546,0.00,2.60,0.00,0.000,1030,0.000,0.083,3250,1963,3382,3363,3401,0,0,0,0,0,0,14.03,13.88,14.08
$GC,3901,-0.39,-107.1,3250,1956,3361,3401,345.5,-6.9,221,3913,0.00,2.70,0.00,0.000,260,0.000,0.102,3247,3389,3381,3361,3401,0,0,0,0,0,0,14.56,13.74,14.58
$GC,3965,-0.39,-107.1,3255,3388,3361,3401,349.5,-6.2,231,3976,0.00,2.60,0.00,0.000,1030,0.000,0.084,3250,1973,3380,3360,3401,0,0,0,0,0,0,14.01,13.85,14.06
$GC,4289,-0.39,-107.1,3252,1973,3366,3401,369.6,-6.2,238,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1973,3380,3359,3401,0,0,0,0,0,0,14.59,14.61,14.60
$STATE,4342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4342,begin apogee
$GC,4354,-0.16,0.0,3250,2260,3359,3401,372.9,-5.7,239,4450,0.32,0.00,87.62,1.181,10246,0.151,0.000,3344,2268,2941,2877,3006,0,0,0,0,0,0,13.79,13.97,13.16
$STATE,4452,end apogee,CONTROL_FINISHED_OK
$STATE,4452,begin climb
$GC,4459,0.39,107.1,3344,2263,2872,3004,374.6,0.0,240,4565,0.47,2.65,87.00,1.162,10500,0.106,0.103,3515,3663,2499,2373,2626,0,0,0,0,0,0,14.01,13.89,13.09
$GC,4603,0.43,183.2,3515,3662,2373,2625,372.6,3.8,265,4676,0.00,2.60,60.90,1.154,9222,0.000,0.083,3516,2236,2190,2024,2356,0,0,0,0,0,0,14.10,13.98,13.13
$GC,5037,0.46,251.8,3515,2233,2036,2358,352.7,4.2,294,5106,0.00,2.58,55.42,1.125,8708,0.000,0.102,3516,844,1910,1758,2062,0,0,0,0,0,0,14.55,14.05,13.28
$GC,5171,0.48,251.8,3515,843,1759,2062,345.0,6.3,319,5182,0.08,2.53,0.00,0.000,3078,0.144,0.088,3583,2246,1910,1759,2062,0,0,0,0,0,0,14.09,14.03,14.20
$GC,5540,0.48,251.8,3583,2246,1760,2063,312.3,9.2,335,5552,0.08,2.62,0.00,0.000,4356,0.228,0.100,3554,3670,1911,1760,2062,0,0,0,0,0,0,14.02,13.97,14.09
$GC,5592,0.48,251.8,3554,3665,1760,2061,308.1,8.2,343,5603,0.00,2.55,0.00,0.000,1030,0.000,0.086,3554,2254,1911,1760,2062,0,0,0,0,0,0,14.18,14.03,14.23
$GC,5926,0.48,251.8,3554,2255,1760,2061,284.1,7.1,352,5937,0.00,2.58,0.00,0.000,516,0.000,0.099,3554,842,1910,1760,2061,0,0,0,0,0,0,14.57,13.95,14.59
$GC,6018,0.48,251.8,3554,840,1760,2062,277.4,7.1,368,6029,0.00,2.55,0.00,0.000,1030,0.000,0.087,3554,2261,1911,1760,2063,0,0,0,0,0,0,14.14,14.02,14.21
$GC,6376,0.48,251.8,3554,2261,1760,2061,251.1,7.6,381,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2261,1911,1760,2062,0,0,0,0,0,0,14.59,14.61,14.60
$GC,6671,0.48,251.8,3554,2260,1759,2061,230.0,7.1,386,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2261,1910,1759,2061,0,0,0,0,0,0,14.61,14.62,14.63
$GC,6970,0.48,251.8,3554,2260,1759,2062,207.1,7.9,391,6981,0.00,2.62,0.00,0.000,516,0.000,0.099,3554,843,1908,1755,2061,0,0,0,0,0,0,14.61,13.88,14.62
$GC,7039,0.48,251.8,3554,843,1759,2061,201.6,8.5,402,7051,0.00,2.55,0.00,0.000,1030,0.000,0.089,3554,2245,1913,1765,2061,0,0,0,0,0,0,14.09,13.94,14.14
$GC,7343,0.48,251.8,3554,2245,1759,2061,178.4,7.4,408,7354,0.00,2.67,0.00,0.000,260,0.000,0.102,3554,3665,1910,1759,2061,0,0,0,0,0,0,14.59,13.88,14.60
$GC,7396,0.48,251.8,3554,3665,1759,2059,174.6,7.7,416,7407,0.00,2.58,0.00,0.000,1030,0.000,0.085,3557,2254,1909,1759,2059,0,0,0,0,0,0,14.11,13.95,14.16
$GC,7733,0.51,251.8,3555,2253,1759,2059,154.3,6.0,425,7744,0.00,2.60,0.00,0.000,516,0.000,0.099,3555,842,1910,1762,2059,0,0,0,0,0,0,14.53,13.84,14.54
$GC,7850,0.55,251.8,3554,841,1759,2059,147.8,5.5,445,7862,0.00,2.60,0.00,0.000,1030,0.000,0.090,3559,2258,1909,1759,2059,0,0,0,0,0,0,14.07,13.93,14.12
$GC,8185,0.57,251.8,3554,2258,1759,2059,128.5,5.9,454,8196,0.00,2.65,0.00,0.000,260,0.000,0.103,3555,3665,1909,1759,2059,0,0,0,0,0,0,14.56,13.83,14.58
$GC,8219,0.61,251.8,3555,3664,1759,2059,126.7,5.4,458,8230,0.10,2.62,0.00,0.000,3078,0.119,0.085,3630,2248,1905,1752,2058,0,0,0,0,0,0,14.02,13.93,14.12
$GC,8576,0.61,251.8,3630,2248,1759,2059,93.5,10.0,471,8588,0.10,2.60,0.00,0.000,4612,0.218,0.094,3604,829,1909,1759,2059,0,0,0,0,0,0,13.88,13.85,13.95
$GC,8682,0.61,251.8,3603,828,1760,2059,82.5,10.2,489,8694,0.00,2.60,0.00,0.000,1030,0.000,0.090,3603,2248,1908,1758,2059,0,0,0,0,0,0,13.96,13.81,14.01
$GC,9030,0.64,251.8,3606,2246,1757,2059,58.5,5.9,500,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2247,1907,1759,2055,0,0,0,0,0,0,14.54,14.58,14.57
$GC,9328,0.68,317.3,3604,2247,1758,2058,45.4,4.3,506,9390,0.00,2.67,48.97,0.786,8452,0.000,0.103,3603,3676,1645,1485,1805,0,0,0,0,0,0,14.55,14.19,13.52
$GC,9444,0.68,317.3,3603,3675,1483,1794,37.3,9.3,527,9455,0.00,2.62,0.00,0.000,1030,0.000,0.086,3608,2235,1645,1490,1801,0,0,0,0,0,0,14.20,14.07,14.24
$GC,9771,0.68,317.3,3608,2235,1483,1795,12.7,7.7,540,9782,0.00,2.55,0.00,0.000,516,0.000,0.096,3608,839,1639,1483,1795,0,0,0,0,0,0,14.54,13.95,14.56
$GC,9868,0.68,317.3,3608,839,1483,1795,5.7,8.2,556,9879,0.00,2.58,0.00,0.000,1030,0.000,0.088,3608,2265,1639,1483,1795,0,0,0,0,0,0,14.12,14.01,14.19
$STATE,9915,end climb,SURFACE_DEPTH_REACHED
$STATE,9915,begin surface coast
$FINISH,-0.3,1.024502
$STATE,9946,end surface coast,CONTROL_FINISHED_OK
$STATE,9946,begin surface
$SM_CCo,9978,34.47,0.081,0,0,1309,400.08
$SM_GC,1.11,9.85,0.55,34.47,0.036,0.101,0.081,97,1973,1309,-10.27,0.76,400.08,0,0,0,0,0,0,14.16,14.06,14.12
$IRIDIUM_FIX,4735.69,-12515.83,091215,173009
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.72
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3682176
$24V_AH,12.47,177.571
$10V_AH,13.27,0.000
$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,25.475,105.375,339.925,34.475,0.000,0.000,0.000,737.050,0.000,0.000,4.903,1094.347,7074.282,499.383,1897.159,696.231,0.000,2045.594,0.000,836.612,0.000,0.538,0.000
$DEVICE_MAMPS,360.315,103.275,1181.160,81.090,0.000,0.000,0.000,144.585,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10018.000,240.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.063,8.413,0.000,0.000
$MEM,286352
$DATA_FILE_SIZE,20084,560
$CAP_FILE_SIZE,119232,0
$CFSIZE,260034560,179953664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.298,341.30,1
$GPS,091215,202731,4753.522,-12518.950,50,1.1,50,16.5,0.8,245.8,7,8.3