version: 66.12
glider: 187
mission: 8
dive: 381
start: 9 26 115 9 4 0
data:
$ID,187
$MISSION,8
$DIVE,381
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,260915,085056,4750.7378,-12514.0312,30,0.8,37,16.5,1.4,148.8,11,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-77.0
$GPS2,260915,090332,4750.5557,-12514.0459,1,1.1,1,16.5,0.3,209.1,9,4.1
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,64.5,5338,-14.8,-7.333,-19.49,2243
$D_GRID,312
$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,29,-0.39,-107.1,82,1884,1218,1405,0.0,0.0,0,108,0.00,0.00,-71.85,0.000,16390,0.000,0.000,82,1885,3379,3376,3383,0,0,0,0,0,0,14.50,12.60,14.49
$GC,115,-0.39,-107.1,82,1885,3379,3387,2.5,-4.4,2,141,13.88,2.53,0.00,0.000,2564,0.352,0.095,3258,487,3384,3381,3387,0,0,0,0,0,0,13.87,14.19,14.06
$GC,281,-0.39,-107.1,3257,487,3376,3394,45.0,-12.6,32,292,0.00,2.53,0.00,0.000,1030,0.000,0.090,3255,1897,3385,3376,3394,0,0,0,0,0,0,14.26,14.09,14.30
$GC,508,-0.39,-107.1,3257,1897,3375,3397,70.6,-11.5,44,520,0.00,2.58,0.00,0.000,260,0.000,0.101,3258,3316,3385,3373,3397,0,0,0,0,0,0,14.57,14.13,14.58
$GC,658,-0.39,-107.1,3258,3316,3375,3402,86.5,-9.7,71,669,0.00,2.55,0.00,0.000,1030,0.000,0.089,3258,1910,3386,3374,3398,0,0,0,0,0,0,14.31,14.17,14.36
$GC,866,-0.39,-107.1,3257,1906,3375,3399,106.8,-9.4,80,877,0.00,2.58,0.00,0.000,516,0.000,0.100,3259,474,3387,3375,3399,0,0,0,0,0,0,14.64,14.12,14.65
$GC,917,-0.39,-107.1,3254,475,3370,3400,112.2,-10.9,88,928,0.00,2.53,0.00,0.000,1030,0.000,0.086,3258,1898,3387,3375,3400,0,0,0,0,0,0,14.33,14.19,14.38
$GC,1131,-0.39,-107.1,3258,1898,3375,3399,132.7,-9.5,98,1142,0.00,2.58,0.00,0.000,260,0.000,0.099,3254,3321,3385,3375,3395,0,0,0,0,0,0,14.62,14.11,14.64
$GC,1249,-0.39,-107.1,3258,3316,3375,3399,143.6,-9.3,119,1260,0.00,2.58,0.00,0.000,1030,0.000,0.088,3257,1885,3386,3374,3399,0,0,0,0,0,0,14.33,14.19,14.42
$GC,1457,-0.39,-107.1,3257,1885,3374,3396,161.5,-8.6,128,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1885,3386,3374,3399,0,0,0,0,0,0,14.64,14.66,14.66
$GC,1637,-0.39,-107.1,3257,1885,3373,3399,176.4,-8.1,134,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1886,3389,3380,3399,0,0,0,0,0,0,14.64,14.67,14.66
$GC,1817,-0.39,-107.1,3257,1885,3376,3399,190.6,-7.9,140,1829,0.00,2.65,0.00,0.000,260,0.000,0.102,3258,3316,3385,3371,3399,0,0,0,0,0,0,14.64,14.19,14.66
$GC,1869,-0.39,-107.1,3257,3316,3371,3398,195.0,-7.4,148,1880,0.00,2.55,0.00,0.000,1030,0.000,0.088,3258,1892,3385,3372,3399,0,0,0,0,0,0,14.34,14.21,14.38
$GC,2087,-0.39,-107.1,3258,1891,3370,3399,211.5,-7.9,158,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1892,3383,3370,3396,0,0,0,0,0,0,14.66,14.69,14.66
$GC,2261,-0.39,-107.1,3258,1891,3369,3399,226.7,-8.5,164,2272,0.00,2.65,0.00,0.000,260,0.000,0.102,3258,3324,3384,3369,3399,0,0,0,0,0,0,14.66,14.14,14.67
$GC,2376,-0.39,-107.1,3257,3322,3369,3399,235.8,-7.7,184,2387,0.00,2.55,0.00,0.000,1030,0.000,0.087,3258,1907,3384,3369,3399,0,0,0,0,0,0,14.34,14.20,14.39
$GC,2623,-0.39,-107.1,3258,1907,3367,3399,255.8,-8.3,194,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1907,3383,3367,3399,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2919,-0.39,-107.1,3257,1907,3366,3399,279.8,-8.0,199,2930,0.00,2.60,0.00,0.000,260,0.000,0.103,3258,3316,3382,3366,3399,0,0,0,0,0,0,14.69,14.16,14.71
$GC,2970,-0.39,-107.1,3257,3317,3365,3399,283.9,-7.9,207,2981,0.00,2.55,0.00,0.000,1030,0.000,0.088,3258,1897,3382,3365,3399,0,0,0,0,0,0,14.35,14.23,14.37
$GC,3303,-0.39,-107.1,3261,1897,3363,3399,310.7,-8.2,216,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1897,3382,3364,3400,0,0,0,0,0,0,14.68,14.70,14.69
$STATE,3358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3358,begin apogee
$GC,3371,-0.16,0.0,3258,2256,3363,3399,315.1,-8.0,217,3458,0.25,0.00,79.20,1.098,10246,0.166,0.000,3338,2257,2942,2884,3000,0,0,0,0,0,0,14.12,14.16,13.56
$STATE,3460,end apogee,CONTROL_FINISHED_OK
$STATE,3460,begin climb
$GC,3465,0.39,107.1,3338,2255,2881,2999,317.7,0.0,218,3554,0.55,0.00,78.97,1.065,10246,0.119,0.000,3522,2256,2504,2380,2629,0,0,0,0,0,0,14.12,13.98,13.40
$GC,3849,0.42,163.2,3522,2256,2377,2628,303.4,4.8,225,3903,0.00,0.00,42.40,1.057,8198,0.000,0.000,3522,2256,2271,2126,2416,0,0,0,0,0,0,14.48,14.15,13.56
$GC,4203,0.44,163.2,3522,2256,2127,2416,282.2,6.2,231,4214,0.00,2.60,0.00,0.000,516,0.000,0.100,3530,841,2272,2128,2416,0,0,0,0,0,0,14.55,14.15,14.57
$GC,4255,0.44,163.2,3526,841,2128,2416,278.6,7.0,239,4266,0.00,2.53,0.00,0.000,1030,0.000,0.091,3527,2246,2273,2130,2417,0,0,0,0,0,0,14.33,14.17,14.36
$GC,4588,0.44,163.2,3526,2246,2128,2416,254.7,7.3,248,4599,0.00,2.60,0.00,0.000,260,0.000,0.104,3526,3663,2272,2128,2417,0,0,0,0,0,0,14.63,14.17,14.65
$GC,4620,0.44,163.2,3527,3663,2126,2411,252.0,8.0,252,4631,0.00,2.55,0.00,0.000,1030,0.000,0.089,3526,2253,2271,2127,2415,0,0,0,0,0,0,14.37,14.24,14.40
$GC,4943,0.46,163.2,3527,2253,2127,2417,230.1,6.4,269,4954,0.00,2.55,0.00,0.000,516,0.000,0.102,3527,839,2271,2127,2415,0,0,0,0,0,0,14.66,14.21,14.67
$GC,4995,0.48,163.2,3526,838,2133,2414,226.8,6.0,277,5007,0.00,2.53,0.00,0.000,1030,0.000,0.090,3527,2249,2270,2126,2415,0,0,0,0,0,0,14.36,14.22,14.40
$GC,5214,0.52,163.2,3523,2248,2127,2415,215.2,5.4,287,5225,0.10,0.00,0.00,0.000,2054,0.124,0.000,3603,2249,2271,2127,2415,0,0,0,0,0,0,14.38,14.46,14.45
$GC,5388,0.52,163.2,3600,2249,2126,2415,200.2,8.9,293,5401,0.10,2.62,0.00,0.000,4356,0.223,0.104,3565,3663,2270,2126,2414,0,0,0,0,0,0,14.11,14.17,14.21
$GC,5476,0.52,163.2,3565,3662,2126,2414,192.9,8.5,307,5487,0.00,2.58,0.00,0.000,1030,0.000,0.091,3570,2237,2269,2126,2413,0,0,0,0,0,0,14.36,14.23,14.40
$GC,5689,0.52,163.2,3569,2237,2126,2414,176.7,7.5,317,5700,0.00,2.53,0.00,0.000,516,0.000,0.104,3570,842,2270,2126,2414,0,0,0,0,0,0,14.66,14.12,14.68
$GC,5737,0.52,163.2,3569,842,2127,2414,173.1,7.8,324,5748,0.00,2.53,0.00,0.000,1030,0.000,0.090,3570,2252,2267,2121,2413,0,0,0,0,0,0,14.35,14.23,14.40
$GC,5959,0.52,163.2,3569,2251,2126,2413,156.5,7.6,335,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2252,2267,2121,2413,0,0,0,0,0,0,14.63,14.64,14.64
$GC,6135,0.52,163.2,3570,2251,2126,2413,143.7,6.9,341,6147,0.00,2.60,0.00,0.000,260,0.000,0.104,3570,3663,2273,2133,2413,0,0,0,0,0,0,14.63,14.18,14.66
$GC,6197,0.52,163.2,3570,3664,2125,2413,138.7,8.1,351,6208,0.00,2.55,0.00,0.000,1030,0.000,0.091,3570,2256,2268,2125,2412,0,0,0,0,0,0,14.32,14.19,14.39
$GC,6400,0.52,163.2,3570,2255,2125,2413,124.4,7.1,359,6412,0.00,2.62,0.00,0.000,260,0.000,0.103,3570,3665,2269,2125,2413,0,0,0,0,0,0,14.64,14.16,14.66
$GC,6474,0.52,163.2,3570,3661,2125,2413,118.4,8.3,371,6485,0.00,2.55,0.00,0.000,1030,0.000,0.087,3567,2252,2269,2125,2413,0,0,0,0,0,0,14.34,14.19,14.39
$GC,6701,0.55,163.2,3570,2252,2126,2413,103.6,6.2,383,6713,0.00,2.62,0.00,0.000,260,0.000,0.103,3570,3664,2269,2126,2413,0,0,0,0,0,0,14.64,14.16,14.65
$GC,6753,0.55,163.2,3570,3664,2125,2418,99.6,7.4,391,6764,0.00,2.58,0.00,0.000,1030,0.000,0.089,3570,2236,2268,2125,2412,0,0,0,0,0,0,14.27,14.13,14.31
$GC,6971,0.57,163.2,3570,2235,2125,2412,85.9,6.2,401,6983,0.00,2.50,0.00,0.000,516,0.000,0.098,3580,841,2273,2133,2413,0,0,0,0,0,0,14.63,14.16,14.64
$GC,7146,0.60,163.2,3580,840,2126,2413,76.3,5.5,433,7158,0.00,2.53,0.00,0.000,1030,0.000,0.089,3581,2252,2269,2126,2413,0,0,0,0,0,0,14.33,14.19,14.38
$GC,7365,0.63,215.7,3580,2252,2125,2412,65.6,4.9,443,7410,0.00,0.00,38.42,0.806,8198,0.000,0.000,3580,2251,2059,1910,2209,0,0,0,0,0,0,14.64,14.34,13.82
$GC,7572,0.64,215.7,3580,2252,1908,2205,52.0,6.7,450,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2252,2056,1908,2205,0,0,0,0,0,0,14.56,14.58,14.58
$GC,7752,0.68,215.7,3580,2252,1908,2211,41.9,5.4,456,7764,0.08,2.60,0.00,0.000,2308,0.153,0.101,3648,3663,2056,1908,2205,0,0,0,0,0,0,14.30,14.13,14.33
$GC,7861,0.68,215.7,3647,3663,1907,2205,33.5,8.4,475,7873,0.15,2.58,0.00,0.000,5126,0.222,0.090,3613,2239,2056,1907,2205,0,0,0,0,0,0,14.00,14.18,14.23
$GC,8085,0.71,215.7,3613,2240,1907,2205,20.3,5.9,486,8096,0.00,2.65,0.00,0.000,260,0.000,0.102,3613,3664,2056,1907,2205,0,0,0,0,0,0,14.63,14.14,14.62
$GC,8107,0.74,215.7,3613,3664,1907,2205,18.8,5.7,488,8118,0.00,2.55,0.00,0.000,1030,0.000,0.090,3614,2254,2056,1907,2205,0,0,0,0,0,0,14.33,14.18,14.38
$GC,8326,0.82,367.8,3613,2254,1907,2205,15.2,0.4,498,8408,0.12,2.60,69.45,0.145,10756,0.122,0.099,3700,843,1440,1308,1573,0,0,0,0,0,0,14.33,14.20,14.14
$STATE,8474,end climb,SURFACE_DEPTH_REACHED
$STATE,8474,begin surface coast
$FINISH,0.4,1.023589
$STATE,8504,end surface coast,CONTROL_FINISHED_OK
$STATE,8504,begin surface
$SM_CCo,8538,14.00,0.085,0,0,1309,400.08
$SM_GC,0.67,10.10,1.95,14.00,0.041,0.086,0.085,90,1903,1309,-10.26,-0.45,400.08,0,0,0,0,0,0,14.28,14.22,14.23
$IRIDIUM_FIX,4732.49,-12516.60,260915,054317
$TT8_MAMPS,0.02247,0.02247
$HUMID,50.15
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3785920
$24V_AH,12.60,104.737
$10V_AH,13.67,0.000
$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,25.325,97.725,308.450,14.000,0.000,0.000,0.000,387.300,0.000,0.000,7.921,1157.405,5435.512,491.322,1559.512,657.182,0.000,1662.623,0.000,790.504,0.000,0.538,0.000
$DEVICE_MAMPS,351.900,104.040,1097.775,84.915,0.000,0.000,0.000,152.235,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8565.000,261.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.489,7.784,0.000,0.000
$MEM,286368
$DATA_FILE_SIZE,16768,532
$CAP_FILE_SIZE,118363,0
$CFSIZE,260034560,211578880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007,176.97,1
$GPS,260915,112743,4750.589,-12512.820,13,1.2,13,16.5,0.5,190.6,5,6.8