version: 66.12
glider: 187
mission: 8
dive: 622
start: 12 9 115 20 45 44
data:
$ID,187
$MISSION,8
$DIVE,622
$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,18
$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
$GPS1,091215,202731,4753.5225,-12518.9502,50,1.1,50,16.5,0.8,245.8,7,8.3
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-72.6
$GPS2,091215,204514,4753.6431,-12519.0205,3,0.9,4,16.5,0.8,56.2,10,7.5
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,134.8,11326,-14.8,-7.333,-19.49,2243
$D_GRID,371
$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,25,begin dive
$GC,31,-0.39,-107.1,73,1968,1209,1412,0.0,0.0,0,111,0.00,0.00,-76.07,0.000,16390,0.000,0.000,71,1962,3379,3369,3390,0,0,0,0,0,0,14.50,12.51,14.40
$GC,118,-0.39,-107.1,71,1962,3369,3391,1.7,-2.4,2,144,14.68,2.60,0.00,0.000,2308,0.366,0.093,3250,3384,3380,3365,3395,0,0,0,0,0,0,13.69,14.07,14.07
$GC,343,-0.39,-107.1,3250,3383,3369,3400,45.0,-10.2,45,351,0.00,2.58,0.00,0.000,1030,0.000,0.084,3250,1974,3381,3369,3394,0,0,0,0,0,0,14.07,13.93,14.12
$GC,707,-0.39,-107.1,3250,1973,3367,3401,83.8,-10.4,56,710,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1973,3384,3367,3402,0,0,0,0,0,0,14.50,14.51,14.51
$GC,1009,-0.39,-107.1,3250,1973,3367,3402,110.5,-8.9,61,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1971,3385,3368,3403,0,0,0,0,0,0,14.50,14.52,14.52
$GC,1307,-0.39,-107.1,3250,1974,3367,3404,138.0,-9.0,66,1316,0.00,2.65,0.00,0.000,260,0.000,0.101,3250,3373,3384,3367,3402,0,0,0,0,0,0,14.52,13.82,14.52
$GC,1342,-0.39,-107.1,3250,3373,3367,3402,141.2,-8.9,71,1350,0.00,2.58,0.00,0.000,1030,0.000,0.083,3246,1972,3384,3367,3402,0,0,0,0,0,0,14.05,13.90,14.09
$GC,1688,-0.39,-107.1,3249,1972,3366,3402,168.8,-7.7,83,1696,0.00,2.62,0.00,0.000,516,0.000,0.097,3250,543,3383,3363,3403,0,0,0,0,0,0,14.50,13.79,14.52
$GC,1711,-0.39,-107.1,3246,543,3367,3399,170.9,-7.9,86,1719,0.00,2.58,0.00,0.000,1030,0.000,0.085,3250,1964,3384,3366,3403,0,0,0,0,0,0,14.02,13.88,14.06
$GC,2067,-0.39,-107.1,3250,1961,3365,3402,198.1,-7.7,100,2075,0.00,2.65,0.00,0.000,260,0.000,0.102,3250,3388,3383,3365,3402,0,0,0,0,0,0,14.51,13.79,14.53
$GC,2175,-0.39,-107.1,3250,3387,3365,3402,206.0,-7.0,120,2182,0.00,2.60,0.00,0.000,1030,0.000,0.081,3250,1954,3384,3365,3403,0,0,0,0,0,0,14.03,13.90,14.08
$GC,2505,-0.39,-107.1,3251,1952,3364,3402,231.7,-8.1,129,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1953,3381,3365,3398,0,0,0,0,0,0,14.52,14.54,14.55
$GC,2803,-0.39,-107.1,3248,1953,3365,3402,256.2,-8.2,134,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1953,3384,3367,3402,0,0,0,0,0,0,14.52,14.53,14.53
$GC,3104,-0.39,-107.1,3250,1953,3364,3403,280.4,-7.9,139,3112,0.00,2.70,0.00,0.000,260,0.000,0.100,3250,3389,3383,3364,3403,0,0,0,0,0,0,14.51,13.74,14.53
$GC,3158,-0.39,-107.1,3246,3389,3366,3402,285.0,-8.8,148,3165,0.00,2.60,0.00,0.000,1030,0.000,0.081,3250,1967,3383,3364,3402,0,0,0,0,0,0,14.00,13.85,14.05
$GC,3481,-0.39,-107.1,3249,1966,3362,3402,311.7,-8.1,156,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1966,3385,3362,3408,0,0,0,0,0,0,14.51,14.52,14.52
$GC,3781,-0.39,-107.1,3251,1966,3361,3402,334.7,-7.7,161,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1966,3381,3361,3402,0,0,0,0,0,0,14.51,14.51,14.52
$GC,4083,-0.39,-107.1,3250,1965,3367,3402,356.9,-7.3,166,4091,0.00,2.62,0.00,0.000,516,0.000,0.099,3250,548,3381,3360,3402,0,0,0,0,0,0,14.51,13.76,14.52
$GC,4117,-0.39,-107.1,3249,547,3361,3402,359.6,-8.1,171,4124,0.00,2.60,0.00,0.000,1030,0.000,0.088,3250,1966,3381,3360,3403,0,0,0,0,0,0,13.97,13.81,14.03
$STATE,4275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4275,begin apogee
$GC,4287,-0.16,0.0,3250,2266,3359,3400,371.3,-7.1,180,4381,0.32,0.00,88.38,1.161,10246,0.155,0.000,3342,2264,2941,2876,3007,0,0,0,0,0,0,13.78,13.96,13.17
$STATE,4384,end apogee,CONTROL_FINISHED_OK
$STATE,4384,begin climb
$GC,4389,0.39,107.1,3342,2265,2872,3005,373.9,0.0,181,4493,0.50,2.67,86.55,1.152,10500,0.106,0.102,3521,3665,2503,2376,2630,0,0,0,0,0,0,14.02,13.93,13.11
$GC,4525,0.43,185.4,3521,3665,2376,2627,373.3,3.7,204,4601,0.00,2.58,63.70,1.147,9222,0.000,0.082,3528,2246,2182,2016,2349,0,0,0,0,0,0,14.12,14.00,13.14
$GC,4968,0.46,185.4,3526,2246,2020,2348,350.7,5.6,235,4979,0.00,2.58,0.00,0.000,516,0.000,0.097,3526,846,2183,2020,2347,0,0,0,0,0,0,14.55,13.97,14.57
$GC,5110,0.49,185.4,3526,841,2021,2348,341.8,6.1,260,5121,0.00,2.58,0.00,0.000,1030,0.000,0.090,3527,2262,2187,2021,2353,0,0,0,0,0,0,14.16,14.02,14.21
$GC,5483,0.51,230.5,3526,2263,2017,2347,322.0,5.3,276,5534,0.00,2.60,36.70,1.096,8708,0.000,0.099,3522,844,1999,1836,2163,0,0,0,0,0,0,14.56,14.16,13.40
$GC,5582,0.54,230.5,3526,845,1836,2160,316.5,6.0,294,5594,0.10,2.53,0.00,0.000,3078,0.116,0.089,3605,2244,1996,1836,2157,0,0,0,0,0,0,14.19,14.09,14.28
$GC,5933,0.54,230.5,3605,2244,1835,2157,283.8,9.8,305,5945,0.12,2.62,0.00,0.000,4356,0.199,0.099,3563,3661,1996,1835,2158,0,0,0,0,0,0,13.92,13.97,14.02
$GC,6038,0.54,230.5,3563,3665,1836,2156,274.4,8.1,323,6049,0.00,2.58,0.00,0.000,1030,0.000,0.084,3570,2245,1996,1836,2156,0,0,0,0,0,0,14.18,14.04,14.23
$GC,6382,0.54,230.5,3569,2245,1835,2156,247.8,7.9,334,6393,0.00,2.58,0.00,0.000,516,0.000,0.099,3570,834,1996,1836,2156,0,0,0,0,0,0,14.59,13.96,14.61
$GC,6503,0.54,230.5,3569,834,1836,2156,238.1,8.0,355,6514,0.00,2.58,0.00,0.000,1030,0.000,0.090,3569,2250,1995,1835,2156,0,0,0,0,0,0,14.14,14.00,14.20
$GC,6832,0.54,230.5,3569,2251,1836,2156,212.3,7.6,363,6844,0.00,2.65,0.00,0.000,260,0.000,0.103,3570,3664,1995,1835,2156,0,0,0,0,0,0,14.59,13.81,14.60
$GC,6874,0.54,230.5,3569,3664,1833,2154,208.5,9.6,369,6885,0.00,2.60,0.00,0.000,1030,0.000,0.086,3566,2248,1997,1835,2159,0,0,0,0,0,0,14.14,13.99,14.19
$GC,7222,0.54,230.5,3569,2249,1835,2154,182.8,7.5,380,7233,0.00,2.60,0.00,0.000,516,0.000,0.099,3570,832,1995,1836,2155,0,0,0,0,0,0,14.58,13.90,14.62
$GC,7273,0.54,230.5,3570,832,1836,2154,178.4,7.8,388,7285,0.00,2.58,0.00,0.000,1030,0.000,0.088,3570,2251,1993,1836,2150,0,0,0,0,0,0,14.14,13.97,14.18
$GC,7607,0.54,230.5,3569,2251,1836,2155,153.4,7.5,397,7618,0.00,2.62,0.00,0.000,260,0.000,0.101,3570,3663,1995,1836,2154,0,0,0,0,0,0,14.59,13.78,14.60
$GC,7654,0.54,230.5,3569,3664,1835,2153,149.2,9.3,404,7665,0.00,2.60,0.00,0.000,1030,0.000,0.086,3570,2251,1992,1835,2150,0,0,0,0,0,0,14.12,13.95,14.15
$GC,7991,0.54,230.5,3570,2251,1835,2154,124.3,7.3,414,8003,0.00,2.60,0.00,0.000,516,0.000,0.098,3570,824,1992,1835,2149,0,0,0,0,0,0,14.57,13.85,14.59
$GC,8074,0.54,230.5,3569,824,1836,2154,118.0,7.6,428,8085,0.00,2.60,0.00,0.000,1030,0.000,0.089,3570,2249,1995,1836,2154,0,0,0,0,0,0,14.09,13.93,14.14
$GC,8443,0.55,230.5,3569,2249,1836,2154,92.6,6.8,443,8454,0.00,2.65,0.00,0.000,260,0.000,0.102,3570,3663,1994,1836,2153,0,0,0,0,0,0,14.57,13.82,14.58
$GC,8497,0.55,230.5,3570,3663,1835,2154,88.3,7.4,451,8508,0.00,2.60,0.00,0.000,1030,0.000,0.086,3575,2238,1994,1835,2153,0,0,0,0,0,0,14.09,13.95,14.15
$GC,8834,0.56,230.5,3569,2238,1835,2153,66.4,6.5,460,8845,0.00,2.58,0.00,0.000,516,0.000,0.097,3570,843,1995,1836,2154,0,0,0,0,0,0,14.54,13.85,14.55
$GC,9010,0.60,301.8,3569,843,1831,2153,58.3,4.1,492,9075,0.00,2.58,52.75,0.790,9222,0.000,0.087,3570,2251,1707,1552,1863,0,0,0,0,0,0,14.05,13.91,13.52
$GC,9396,0.63,352.1,3569,2251,1550,1862,39.1,5.0,516,9448,0.00,2.60,38.05,0.763,8708,0.000,0.099,3570,845,1502,1346,1658,0,0,0,0,0,0,14.54,14.14,13.52
$GC,9529,0.65,352.1,3570,844,1345,1656,31.9,5.9,540,9541,0.10,2.55,0.00,0.000,3078,0.113,0.086,3651,2262,1500,1345,1655,0,0,0,0,0,0,14.15,14.05,14.23
$STATE,9837,end climb,SURFACE_DEPTH_REACHED
$STATE,9837,begin surface coast
$FINISH,-0.2,1.024024
$STATE,9868,end surface coast,CONTROL_FINISHED_OK
$STATE,9868,begin surface
$SM_CCo,9902,20.05,0.080,0,0,1309,400.08
$SM_GC,1.11,10.02,0.55,20.05,0.040,0.086,0.080,96,1956,1309,-10.25,0.51,400.08,0,0,0,0,0,0,14.19,14.12,14.11
$IRIDIUM_FIX,4735.69,-12515.83,091215,203311
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.07
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3681792
$24V_AH,12.51,177.780
$10V_AH,12.53,0.000
$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,25.850,94.750,366.125,20.050,0.000,0.000,0.000,659.100,0.000,0.000,5.959,1068.909,7087.540,487.841,1701.322,629.889,0.000,1847.366,0.000,820.677,0.000,0.538,0.000
$DEVICE_MAMPS,366.435,103.275,1161.270,79.560,0.000,0.000,0.000,149.175,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9938.000,4469.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.174,9.210,0.000,0.000
$MEM,286420
$DATA_FILE_SIZE,20069,556
$CAP_FILE_SIZE,108328,0
$CFSIZE,260034560,179884032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.211,325.88,1
$GPS,091215,233232,4753.668,-12519.471,12,1.0,28,16.5,0.9,301.2,10,5.5