version: 66.12
glider: 187
mission: 8
dive: 290
start: 8 31 115 8 19 36
data:
$ID,187
$MISSION,8
$DIVE,290
$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,510
$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,1
$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,1900
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,16
$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,48
$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
$GPS1,310815,080457,4750.7573,-12513.0127,73,1.3,91,16.5,1.3,0.0,9,10.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-75.8
$GPS2,310815,081903,4750.5679,-12512.8809,2,1.8,5,16.5,1.4,153.1,5,8.7
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,80.6,4110,-14.8,-7.333,-19.49,2243
$D_GRID,283
$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,30,-0.39,-107.1,69,1899,1220,1404,0.0,0.0,0,107,0.00,0.00,-72.65,0.000,16390,0.000,0.000,69,1900,3379,3376,3383,0,0,0,0,0,0,14.50,12.88,14.50
$GC,113,-0.39,-107.1,69,1899,3377,3383,2.3,-3.9,2,136,14.12,2.60,0.00,0.000,2820,0.366,0.105,3250,3321,3382,3378,3386,0,0,0,0,0,0,13.95,14.19,14.19
$GC,279,-0.39,-107.1,3250,3321,3377,3392,47.4,-12.6,33,288,0.00,2.58,0.00,0.000,1030,0.000,0.090,3250,1891,3384,3376,3392,0,0,0,0,0,0,14.32,14.19,14.35
$GC,494,-0.39,-107.1,3250,1891,3375,3397,74.3,-13.0,44,502,0.00,2.53,0.00,0.000,516,0.000,0.106,3250,493,3386,3375,3397,0,0,0,0,0,0,14.57,14.19,14.59
$GC,736,-0.39,-107.1,3250,493,3374,3398,104.8,-12.5,90,743,0.00,2.50,0.00,0.000,1030,0.000,0.088,3246,1900,3386,3375,3398,0,0,0,0,0,0,14.38,14.25,14.42
$GC,935,-0.39,-107.1,3250,1901,3375,3399,127.1,-11.1,98,943,0.00,2.58,0.00,0.000,516,0.000,0.106,3250,482,3389,3380,3398,0,0,0,0,0,0,14.62,14.23,14.64
$GC,1178,-0.39,-107.1,3248,481,3374,3398,156.3,-12.4,144,1185,0.00,2.53,0.00,0.000,1030,0.000,0.090,3250,1900,3386,3374,3398,0,0,0,0,0,0,14.39,14.26,14.44
$GC,1377,-0.39,-107.1,3250,1900,3373,3398,177.3,-10.1,152,1384,0.00,2.58,0.00,0.000,260,0.000,0.106,3250,3322,3385,3373,3398,0,0,0,0,0,0,14.62,14.18,14.64
$GC,1460,-0.39,-107.1,3249,3322,3373,3394,185.0,-9.1,167,1467,0.00,2.55,0.00,0.000,1030,0.000,0.089,3250,1897,3386,3374,3398,0,0,0,0,0,0,14.40,14.28,14.43
$GC,1664,-0.39,-107.1,3250,1897,3384,3398,204.3,-9.6,176,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1897,3384,3370,3398,0,0,0,0,0,0,14.64,14.66,14.66
$GC,1844,-0.39,-107.1,3250,1897,3370,3397,221.3,-9.4,182,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1897,3383,3369,3398,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2023,-0.39,-107.1,3249,1897,3369,3399,238.6,-9.7,188,2031,0.00,2.60,0.00,0.000,260,0.000,0.105,3250,3322,3383,3369,3397,0,0,0,0,0,0,14.66,14.23,14.67
$GC,2076,-0.39,-107.1,3250,3322,3369,3397,243.6,-9.2,197,2085,0.00,2.55,0.00,0.000,1030,0.000,0.090,3250,1903,3382,3367,3398,0,0,0,0,0,0,14.42,14.29,14.46
$GC,2281,-0.39,-107.1,3250,1904,3367,3398,263.7,-9.9,204,2289,0.00,2.60,0.00,0.000,260,0.000,0.105,3251,3319,3382,3366,3399,0,0,0,0,0,0,14.66,14.23,14.68
$GC,2330,-0.39,-107.1,3249,3322,3367,3403,268.3,-9.4,212,2337,0.00,2.58,0.00,0.000,1030,0.000,0.092,3250,1888,3382,3367,3398,0,0,0,0,0,0,14.40,14.26,14.46
$STATE,2474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2474,begin apogee
$GC,2486,-0.16,0.0,3250,2266,3365,3397,283.2,-10.1,218,2573,0.32,0.00,80.90,1.029,10246,0.187,0.000,3340,2267,2938,2880,2997,0,0,0,0,0,0,14.18,14.19,13.67
$STATE,2576,end apogee,CONTROL_FINISHED_OK
$STATE,2576,begin climb
$GC,2581,0.39,107.1,3341,2266,2876,2996,287.7,0.0,219,2674,0.55,2.58,80.35,1.004,10500,0.132,0.100,3522,3660,2500,2376,2624,0,0,0,0,0,0,14.13,13.91,13.56
$GC,2728,0.43,196.6,3521,3660,2377,2620,288.0,3.2,233,2807,0.00,2.60,66.53,1.001,9222,0.000,0.088,3526,2246,2136,1987,2285,0,0,0,0,0,0,14.16,14.05,13.52
$GC,3158,0.46,196.6,3524,2250,1986,2282,264.7,6.1,262,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2250,2134,1987,2282,0,0,0,0,0,0,14.53,14.54,14.54
$GC,3459,0.48,196.6,3526,2250,1987,2282,245.7,6.4,268,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2250,2134,1987,2282,0,0,0,0,0,0,14.62,14.66,14.66
$GC,3638,0.50,196.6,3526,2250,1987,2283,234.1,6.5,274,3649,0.00,2.60,0.00,0.000,260,0.000,0.106,3526,3663,2135,1988,2283,0,0,0,0,0,0,14.67,14.29,14.66
$GC,3675,0.50,196.6,3527,3663,1987,2282,231.2,7.7,279,3686,0.00,2.55,0.00,0.000,1030,0.000,0.090,3527,2250,2134,1988,2281,0,0,0,0,0,0,14.44,14.31,14.47
$GC,3862,0.51,196.6,3527,2249,1987,2282,218.9,6.6,286,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2250,2135,1988,2282,0,0,0,0,0,0,14.65,14.67,14.66
$GC,4041,0.54,196.6,3526,2249,1987,2282,208.1,6.0,292,4053,0.12,2.55,0.00,0.000,2564,0.128,0.103,3612,822,2135,1987,2283,0,0,0,0,0,0,14.42,14.29,14.45
$GC,4078,0.54,196.6,3612,827,1988,2279,205.0,9.3,297,4092,0.17,2.53,0.00,0.000,5126,0.210,0.092,3568,2246,2134,1987,2282,0,0,0,0,0,0,14.20,14.31,14.40
$GC,4269,0.54,196.6,3568,2246,1983,2282,188.9,8.3,304,4280,0.00,2.58,0.00,0.000,260,0.000,0.103,3568,3663,2132,1983,2282,0,0,0,0,0,0,14.66,14.26,14.66
$GC,4331,0.54,196.6,3564,3663,1986,2282,182.8,9.5,314,4342,0.00,2.58,0.00,0.000,1030,0.000,0.090,3572,2237,2134,1986,2282,0,0,0,0,0,0,14.45,14.33,14.49
$GC,4535,0.54,196.6,3570,2237,1986,2283,165.2,8.7,322,4546,0.00,2.62,0.00,0.000,260,0.000,0.103,3569,3671,2134,1987,2282,0,0,0,0,0,0,14.67,14.32,14.69
$GC,4621,0.54,196.6,3569,3671,1986,2282,156.6,9.7,337,4633,0.00,2.55,0.00,0.000,1030,0.000,0.090,3570,2254,2133,1986,2281,0,0,0,0,0,0,14.46,14.32,14.50
$GC,4830,0.54,196.6,3569,2254,1986,2281,139.4,8.4,346,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,2254,2134,1986,2282,0,0,0,0,0,0,14.66,14.69,14.69
$GC,5009,0.54,196.6,3568,2254,1986,2281,124.6,8.2,352,5020,0.00,2.55,0.00,0.000,516,0.000,0.105,3570,828,2133,1986,2281,0,0,0,0,0,0,14.68,14.25,14.70
$GC,5061,0.54,196.6,3570,828,1986,2280,120.4,8.0,360,5072,0.00,2.53,0.00,0.000,1030,0.000,0.090,3570,2254,2133,1986,2281,0,0,0,0,0,0,14.46,14.33,14.49
$GC,5278,0.54,196.6,3570,2253,1986,2281,101.3,9.1,370,5289,0.00,2.58,0.00,0.000,260,0.000,0.104,3570,3664,2131,1981,2281,0,0,0,0,0,0,14.67,14.31,14.69
$GC,5365,0.54,196.6,3570,3664,1985,2280,92.3,10.0,385,5376,0.00,2.55,0.00,0.000,1030,0.000,0.092,3577,2249,2132,1985,2280,0,0,0,0,0,0,14.46,14.33,14.51
$GC,5573,0.54,196.6,3577,2249,1985,2280,75.4,7.9,394,5584,0.00,2.53,0.00,0.000,516,0.000,0.104,3582,839,2132,1985,2280,0,0,0,0,0,0,14.69,14.29,14.71
$GC,5680,0.54,196.6,3582,839,1985,2283,67.7,7.1,412,5691,0.00,2.53,0.00,0.000,1030,0.000,0.091,3581,2261,2133,1986,2280,0,0,0,0,0,0,14.45,14.34,14.49
$GC,5907,0.54,196.6,3581,2261,1985,2280,51.3,7.3,424,5918,0.00,2.55,0.00,0.000,260,0.000,0.106,3582,3663,2132,1985,2280,0,0,0,0,0,0,14.68,14.29,14.70
$GC,6026,0.55,196.6,3582,3662,1985,2279,42.6,6.7,445,6038,0.00,2.58,0.00,0.000,1030,0.000,0.090,3580,2237,2132,1985,2279,0,0,0,0,0,0,14.44,14.31,14.50
$GC,6237,0.58,260.0,3582,2237,1982,2279,32.4,4.4,454,6293,0.00,2.50,44.92,0.742,8708,0.000,0.101,3582,832,1878,1737,2020,0,0,0,0,0,0,14.67,14.27,13.95
$GC,6531,0.58,260.0,3582,832,1738,2019,17.5,7.2,510,6543,0.00,2.53,0.00,0.000,1030,0.000,0.089,3582,2251,1878,1737,2019,0,0,0,0,0,0,14.39,14.26,14.42
$GC,6748,0.63,361.5,3582,2251,1738,2019,8.7,2.7,520,6803,0.00,0.00,44.60,0.116,8710,0.000,0.000,3582,2251,1467,1329,1605,0,0,0,0,0,0,14.61,14.40,14.26
$STATE,6889,end climb,SURFACE_DEPTH_REACHED
$STATE,6890,begin surface coast
$FINISH,-0.3,1.023567
$STATE,6955,end surface coast,CONTROL_FINISHED_OK
$STATE,6955,begin surface
$SM_CCo,6986,16.45,0.086,0,0,1309,400.08
$SM_GC,0.94,9.68,0.65,16.45,0.037,0.098,0.086,92,1903,1309,-10.27,0.65,400.08,0,0,0,0,0,0,14.35,14.32,14.33
$IRIDIUM_FIX,4732.49,-12511.36,310815,080951
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.51
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3823392
$24V_AH,12.88,79.203
$10V_AH,13.76,0.000
$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,24.975,83.225,317.300,16.450,0.000,0.000,0.000,480.000,0.000,0.000,7.458,1080.575,4262.882,460.513,1523.252,520.628,0.000,1602.307,0.000,782.908,0.000,0.538,0.000
$DEVICE_MAMPS,365.670,105.570,1028.925,86.445,0.000,0.000,0.000,153.000,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7008.000,2681.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.767,9.022,0.000,0.000
$MEM,286348
$DATA_FILE_SIZE,16781,532
$CAP_FILE_SIZE,101090,0
$CFSIZE,260034560,223092736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,332.54,1
$GPS,310815,101740,4751.104,-12512.574,23,1.1,24,16.5,0.8,263.0,8,8.4