version: 66.12
glider: 187
mission: 8
dive: 295
start: 8 31 115 18 15 33
data:
$ID,187
$MISSION,8
$DIVE,295
$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,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,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
$GPS1,310815,180211,4751.4370,-12512.7617,40,1.7,43,16.5,0.5,31.7,4,8.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-76.1
$GPS2,310815,181505,4751.5171,-12512.6377,4,1.8,10,16.5,0.4,0.0,4,9.5
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,173.3,165807,-14.8,-7.333,-19.49,2243
$D_GRID,280
$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,23,begin dive
$GC,28,-0.39,-107.1,82,1897,1210,1409,0.0,0.0,0,109,0.00,0.00,-73.80,0.000,16390,0.000,0.000,82,1897,3381,3381,3381,0,0,0,0,0,0,14.54,12.88,14.54
$GC,116,-0.39,-107.1,82,1898,3381,3383,2.0,-3.0,2,140,14.00,2.55,0.00,0.000,2308,0.365,0.092,3253,3311,3382,3381,3383,0,0,0,0,0,0,13.99,14.23,14.20
$GC,290,-0.39,-107.1,3253,3311,3381,3390,48.8,-12.6,34,302,0.00,2.58,0.00,0.000,1030,0.000,0.094,3252,1890,3385,3381,3390,0,0,0,0,0,0,14.36,14.22,14.40
$GC,503,-0.39,-107.1,3252,1889,3377,3395,76.0,-12.7,44,514,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1889,3385,3376,3395,0,0,0,0,0,0,14.61,14.63,14.63
$GC,683,-0.39,-107.1,3253,1889,3377,3396,97.8,-12.3,50,693,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1890,3386,3377,3396,0,0,0,0,0,0,14.64,14.66,14.66
$GC,863,-0.39,-107.1,3253,1889,3376,3397,119.7,-12.0,56,873,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1889,3386,3377,3396,0,0,0,0,0,0,14.66,14.69,14.69
$GC,1043,-0.39,-107.1,3253,1889,3373,3397,139.9,-11.2,62,1055,0.00,2.62,0.00,0.000,260,0.000,0.103,3252,3319,3386,3376,3396,0,0,0,0,0,0,14.68,14.31,14.69
$GC,1075,-0.39,-107.1,3252,3317,3376,3396,143.7,-11.5,66,1087,0.00,2.53,0.00,0.000,1030,0.000,0.090,3253,1911,3386,3376,3397,0,0,0,0,0,0,14.40,14.31,14.45
$GC,1279,-0.39,-107.1,3252,1906,3376,3396,164.5,-10.1,74,1290,0.00,2.55,0.00,0.000,516,0.000,0.104,3252,474,3385,3375,3396,0,0,0,0,0,0,14.69,14.28,14.69
$GC,1341,-0.39,-107.1,3252,474,3376,3397,171.1,-10.5,84,1352,0.00,2.50,0.00,0.000,1030,0.000,0.088,3252,1899,3388,3375,3402,0,0,0,0,0,0,14.42,14.28,14.45
$GC,1543,-0.39,-107.1,3252,1898,3376,3397,189.9,-9.2,92,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1898,3383,3370,3396,0,0,0,0,0,0,14.68,14.69,14.69
$GC,1723,-0.39,-107.1,3252,1898,3374,3397,205.4,-8.5,98,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1899,3385,3375,3396,0,0,0,0,0,0,14.70,14.71,14.71
$GC,1903,-0.39,-107.1,3252,1898,3373,3397,220.3,-8.4,104,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1898,3385,3373,3397,0,0,0,0,0,0,14.70,14.74,14.71
$GC,2083,-0.39,-107.1,3252,1898,3372,3397,236.1,-8.9,110,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1898,3386,3372,3400,0,0,0,0,0,0,14.70,14.72,14.72
$GC,2263,-0.39,-107.1,3253,1899,3371,3397,252.5,-9.0,116,2274,0.00,2.55,0.00,0.000,260,0.000,0.104,3253,3319,3381,3365,3397,0,0,0,0,0,0,14.70,14.30,14.72
$GC,2320,-0.39,-107.1,3252,3318,3370,3396,257.4,-8.3,125,2331,0.00,2.55,0.00,0.000,1030,0.000,0.090,3252,1889,3383,3370,3396,0,0,0,0,0,0,14.45,14.32,14.52
$STATE,2642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2642,begin apogee
$GC,2654,-0.16,0.0,3253,2247,3369,3396,284.4,-8.3,133,2743,0.28,0.00,81.40,1.031,10246,0.177,0.000,3337,2247,2940,2883,2997,0,0,0,0,0,0,14.23,14.23,13.71
$STATE,2746,end apogee,CONTROL_FINISHED_OK
$STATE,2746,begin climb
$GC,2751,0.39,107.1,3337,2247,2880,2996,287.4,0.0,134,2841,0.55,0.00,79.97,1.012,10502,0.131,0.000,3521,2247,2502,2380,2625,0,0,0,0,0,0,14.16,14.04,13.55
$GC,3134,0.42,168.0,3518,2247,2374,2623,274.6,4.5,152,3194,0.00,2.67,44.75,0.995,8452,0.000,0.105,3519,3663,2253,2109,2397,0,0,0,0,0,0,14.52,14.13,13.71
$GC,3258,0.42,168.0,3517,3663,2109,2396,266.2,7.4,175,3270,0.00,2.58,0.00,0.000,1030,0.000,0.088,3532,2249,2254,2111,2397,0,0,0,0,0,0,14.26,14.14,14.28
$GC,3565,0.43,168.0,3526,2249,2112,2397,245.6,6.8,182,3576,0.00,2.53,0.00,0.000,516,0.000,0.103,3526,841,2254,2113,2396,0,0,0,0,0,0,14.57,14.23,14.59
$GC,3651,0.43,168.0,3526,841,2114,2397,239.8,6.8,197,3663,0.00,2.53,0.00,0.000,1030,0.000,0.090,3527,2266,2255,2114,2397,0,0,0,0,0,0,14.40,14.29,14.44
$GC,3864,0.45,168.0,3526,2266,2113,2396,226.6,6.6,206,3875,0.00,2.53,0.00,0.000,260,0.000,0.106,3527,3662,2255,2112,2398,0,0,0,0,0,0,14.64,14.28,14.65
$GC,3960,0.45,168.0,3528,3661,2112,2396,219.8,6.9,222,3971,0.00,2.55,0.00,0.000,1030,0.000,0.090,3526,2240,2251,2108,2394,0,0,0,0,0,0,14.43,14.32,14.47
$GC,4167,0.46,168.0,3525,2240,2112,2397,206.3,6.5,230,4178,0.00,2.50,0.00,0.000,516,0.000,0.105,3527,842,2254,2112,2397,0,0,0,0,0,0,14.66,14.28,14.68
$GC,4283,0.46,168.0,3527,842,2112,2396,197.7,7.1,250,4294,0.00,2.50,0.00,0.000,1030,0.000,0.090,3527,2252,2254,2113,2396,0,0,0,0,0,0,14.42,14.29,14.45
$GC,4501,0.46,168.0,3527,2252,2113,2396,183.0,6.9,260,4513,0.00,2.58,0.00,0.000,260,0.000,0.105,3527,3664,2252,2111,2393,0,0,0,0,0,0,14.69,14.30,14.68
$GC,4583,0.46,168.0,3526,3664,2110,2396,176.6,7.5,274,4594,0.00,2.55,0.00,0.000,1030,0.000,0.090,3527,2247,2252,2110,2395,0,0,0,0,0,0,14.45,14.33,14.49
$GC,4802,0.49,168.0,3526,2247,2110,2396,163.7,5.9,284,4813,0.00,2.53,0.00,0.000,516,0.000,0.104,3526,839,2253,2110,2396,0,0,0,0,0,0,14.67,14.30,14.69
$GC,4911,0.52,220.0,3527,839,2110,2396,157.6,4.9,303,4961,0.08,2.53,38.35,0.893,11270,0.154,0.091,3594,2262,2045,1899,2191,0,0,0,0,0,0,14.37,14.34,13.90
$GC,5158,0.52,220.0,3593,2262,1894,2188,134.6,10.2,320,5169,0.10,0.00,0.00,0.000,4102,0.220,0.000,3564,2262,2040,1894,2187,0,0,0,0,0,0,14.19,14.41,14.36
$GC,5338,0.52,220.0,3564,2262,1894,2188,117.9,9.2,326,5349,0.00,2.55,0.00,0.000,260,0.000,0.106,3564,3661,2041,1894,2188,0,0,0,0,0,0,14.62,14.23,14.64
$GC,5395,0.52,220.0,3564,3662,1894,2186,112.3,10.2,335,5407,0.00,2.58,0.00,0.000,1030,0.000,0.092,3570,2236,2038,1894,2183,0,0,0,0,0,0,14.41,14.29,14.45
$GC,5603,0.52,220.0,3574,2237,1891,2186,93.9,8.5,344,5614,0.00,2.50,0.00,0.000,516,0.000,0.106,3570,842,2039,1894,2185,0,0,0,0,0,0,14.64,14.26,14.65
$GC,5677,0.52,220.0,3570,842,1890,2187,87.8,8.3,356,5688,0.00,2.50,0.00,0.000,1030,0.000,0.090,3569,2246,2040,1894,2186,0,0,0,0,0,0,14.42,14.29,14.46
$GC,5904,0.52,220.0,3569,2247,1894,2188,70.2,7.5,368,5915,0.00,2.60,0.00,0.000,260,0.000,0.104,3570,3666,2038,1894,2183,0,0,0,0,0,0,14.65,14.29,14.66
$GC,5986,0.52,220.0,3569,3666,1893,2185,63.3,8.1,382,5997,0.00,2.58,0.00,0.000,1030,0.000,0.093,3570,2249,2039,1893,2185,0,0,0,0,0,0,14.44,14.31,14.47
$GC,6204,0.54,220.0,3570,2248,1893,2185,49.4,6.4,392,6215,0.00,2.55,0.00,0.000,516,0.000,0.104,3570,826,2039,1894,2185,0,0,0,0,0,0,14.65,14.28,14.66
$GC,6290,0.55,220.0,3569,828,1893,2188,43.7,6.5,406,6301,0.00,2.55,0.00,0.000,1030,0.000,0.092,3570,2264,2039,1893,2185,0,0,0,0,0,0,14.44,14.32,14.47
$GC,6508,0.58,275.0,3569,2263,1893,2185,32.5,4.8,416,6559,0.00,2.53,39.92,0.747,8452,0.000,0.103,3570,3663,1815,1670,1960,0,0,0,0,0,0,14.68,14.33,13.97
$GC,6799,0.60,275.0,3570,3662,1668,1956,13.7,6.3,471,6810,0.00,2.58,0.00,0.000,1030,0.000,0.092,3566,2236,1812,1668,1956,0,0,0,0,0,0,14.38,14.26,14.42
$STATE,7016,end climb,SURFACE_DEPTH_REACHED
$STATE,7016,begin surface coast
$FINISH,0.0,1.023735
$STATE,7074,end surface coast,CONTROL_FINISHED_OK
$STATE,7074,begin surface
$SM_CCo,7104,51.97,0.086,0,0,1309,400.08
$SM_GC,1.76,9.52,0.60,51.97,0.030,0.095,0.086,92,1885,1309,-10.25,0.57,400.08,0,0,0,0,0,0,14.44,14.35,14.34
$IRIDIUM_FIX,4732.49,-12509.51,310815,155245
$TT8_MAMPS,0.020223,0.020223
$HUMID,49.64
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3821472
$24V_AH,12.88,79.935
$10V_AH,13.77,0.000
$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,24.525,77.750,284.400,51.975,0.000,0.000,0.000,421.425,0.000,0.000,11.657,1004.571,4423.332,449.576,1445.186,604.735,0.000,1577.762,0.000,725.899,0.000,0.537,0.000
$DEVICE_MAMPS,364.905,106.335,1031.220,85.680,0.000,0.000,0.000,146.880,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7126.000,217.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.643,7.140,0.000,0.000
$MEM,286368
$DATA_FILE_SIZE,16754,484
$CAP_FILE_SIZE,104147,0
$CFSIZE,260034560,222724096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2776.34,0x234070,1,24
$CURRENT,0.157,353.73,1
$GPS,310815,201656,4751.370,-12512.941,32,1.2,69,16.5,0.6,141.6,6,4.6