version: 66.12
glider: 187
mission: 8
dive: 383
start: 9 26 115 14 5 38
data:
$ID,187
$MISSION,8
$DIVE,383
$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,13
$R_STBD_OVSHOOT,13
$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
$GPS1,260915,135238,4750.8389,-12512.1865,39,0.9,39,16.5,0.3,208.9,9,9.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-78.0
$GPS2,260915,140505,4750.8462,-12512.3379,3,1.2,10,16.5,0.2,0.0,7,9.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,36.2,3261,-14.8,-7.333,-19.49,2243
$D_GRID,220
$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,-107.1,82,1899,1220,1403,0.0,0.0,0,108,0.00,0.00,-72.43,0.000,16390,0.000,0.000,87,1899,3378,3376,3380,0,0,0,0,0,0,14.52,12.58,14.50
$GC,115,-0.39,-107.1,82,1898,3376,3380,2.2,-3.7,2,140,14.12,2.53,0.00,0.000,2564,0.363,0.082,3259,471,3379,3377,3382,0,0,0,0,0,0,13.88,14.21,14.09
$GC,374,-0.39,-107.1,3253,472,3375,3391,63.6,-11.5,51,385,0.00,2.55,0.00,0.000,1030,0.000,0.086,3253,1901,3383,3375,3392,0,0,0,0,0,0,14.32,14.19,14.35
$GC,592,-0.39,-107.1,3253,1901,3374,3395,86.5,-10.2,62,604,0.00,2.58,0.00,0.000,260,0.000,0.099,3252,3319,3383,3373,3394,0,0,0,0,0,0,14.60,14.16,14.59
$GC,703,-0.39,-107.1,3252,3319,3373,3395,96.8,-9.7,81,714,0.00,2.58,0.00,0.000,1030,0.000,0.088,3252,1894,3384,3373,3395,0,0,0,0,0,0,14.33,14.20,14.37
$GC,926,-0.39,-107.1,3252,1888,3373,3395,117.1,-9.1,92,937,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1889,3382,3373,3391,0,0,0,0,0,0,14.61,14.62,14.62
$GC,1101,-0.39,-107.1,3252,1889,3373,3395,132.3,-8.5,98,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1889,3383,3373,3393,0,0,0,0,0,0,14.65,14.67,14.66
$GC,1281,-0.39,-107.1,3252,1889,3373,3396,147.8,-8.8,104,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1889,3384,3373,3395,0,0,0,0,0,0,14.66,14.66,14.70
$GC,1460,-0.39,-107.1,3252,1889,3372,3393,163.8,-9.0,110,1472,0.00,2.62,0.00,0.000,260,0.000,0.101,3257,3322,3383,3371,3395,0,0,0,0,0,0,14.67,14.12,14.69
$GC,1512,-0.39,-107.1,3252,3322,3371,3395,168.4,-8.6,118,1524,0.00,2.55,0.00,0.000,1030,0.000,0.086,3252,1901,3383,3371,3395,0,0,0,0,0,0,14.38,14.24,14.42
$GC,1726,-0.39,-107.1,3252,1900,3369,3396,188.0,-9.3,128,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1898,3382,3369,3395,0,0,0,0,0,0,14.66,14.67,14.67
$GC,1905,-0.39,-107.1,3252,1900,3370,3395,205.5,-9.7,134,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1901,3382,3369,3395,0,0,0,0,0,0,14.65,14.68,14.69
$STATE,2051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2051,begin apogee
$GC,2063,-0.16,0.0,3253,2262,3370,3395,220.7,-10.1,139,2150,0.28,0.00,78.28,0.960,10246,0.169,0.000,3337,2261,2940,2882,2998,0,0,0,0,0,0,14.12,14.21,13.66
$STATE,2153,end apogee,CONTROL_FINISHED_OK
$STATE,2153,begin climb
$GC,2158,0.39,107.1,3337,2261,2878,2996,226.7,0.0,142,2253,0.50,2.60,77.60,0.943,10500,0.126,0.101,3513,3662,2499,2375,2624,0,0,0,0,0,0,14.12,13.90,13.50
$GC,2309,0.44,201.2,3513,3663,2374,2619,225.2,3.0,169,2389,0.00,2.60,67.50,0.942,9222,0.000,0.085,3513,2244,2117,1966,2269,0,0,0,0,0,0,14.16,14.05,13.44
$GC,2564,0.47,260.3,3515,2244,1965,2266,214.7,4.6,190,2622,0.00,2.62,42.83,0.936,8708,0.000,0.102,3513,842,1876,1731,2021,0,0,0,0,0,0,14.44,14.09,13.57
$GC,2659,0.50,260.3,3512,842,1731,2020,209.7,5.8,207,2673,0.10,2.53,0.00,0.000,3078,0.116,0.087,3593,2246,1875,1731,2020,0,0,0,0,0,0,14.13,14.07,14.19
$GC,2851,0.50,260.3,3589,2245,1732,2020,190.8,11.0,214,2862,0.10,2.60,0.00,0.000,4356,0.212,0.098,3557,3663,1877,1735,2020,0,0,0,0,0,0,14.09,14.14,14.19
$GC,2894,0.50,260.3,3556,3663,1731,2020,185.7,9.8,220,2905,0.00,2.58,0.00,0.000,1030,0.000,0.089,3556,2252,1874,1729,2020,0,0,0,0,0,0,14.27,14.18,14.29
$GC,3122,0.50,260.3,3556,2251,1731,2020,167.2,7.8,232,3133,0.00,2.55,0.00,0.000,516,0.000,0.102,3556,835,1875,1731,2020,0,0,0,0,0,0,14.59,14.20,14.60
$GC,3164,0.50,260.3,3556,835,1731,2020,163.4,8.8,238,3175,0.00,2.53,0.00,0.000,1030,0.000,0.088,3557,2253,1875,1731,2020,0,0,0,0,0,0,14.37,14.24,14.40
$GC,3391,0.50,260.3,3556,2253,1731,2020,144.7,8.4,250,3403,0.00,2.58,0.00,0.000,260,0.000,0.102,3557,3663,1875,1731,2020,0,0,0,0,0,0,14.63,14.20,14.65
$GC,3423,0.50,260.3,3557,3663,1731,2025,141.6,8.3,254,3434,0.00,2.55,0.00,0.000,1030,0.000,0.089,3557,2250,1873,1731,2015,0,0,0,0,0,0,14.38,14.25,14.41
$GC,3626,0.50,260.3,3557,2250,1730,2016,124.8,8.5,262,3637,0.00,2.58,0.00,0.000,516,0.000,0.103,3557,821,1876,1731,2021,0,0,0,0,0,0,14.64,14.20,14.66
$GC,3662,0.50,260.3,3557,818,1730,2019,121.5,8.4,267,3675,0.00,2.58,0.00,0.000,1030,0.000,0.088,3557,2264,1875,1731,2019,0,0,0,0,0,0,14.38,14.24,14.42
$GC,3848,0.50,260.3,3557,2263,1731,2019,106.1,8.2,274,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2264,1875,1732,2019,0,0,0,0,0,0,14.65,14.67,14.66
$GC,4029,0.50,260.3,3560,2263,1730,2019,91.8,8.0,280,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2264,1877,1731,2024,0,0,0,0,0,0,14.66,14.67,14.67
$GC,4208,0.50,260.3,3557,2263,1730,2018,77.1,8.3,286,4219,0.00,2.55,0.00,0.000,260,0.000,0.104,3557,3661,1874,1730,2019,0,0,0,0,0,0,14.67,14.21,14.69
$GC,4265,0.50,260.3,3553,3660,1730,2018,71.9,9.4,295,4277,0.00,2.55,0.00,0.000,1030,0.000,0.089,3557,2249,1874,1730,2018,0,0,0,0,0,0,14.39,14.25,14.43
$GC,4474,0.53,260.3,3562,2250,1730,2017,58.6,5.4,304,4485,0.00,2.55,0.00,0.000,516,0.000,0.102,3557,821,1873,1730,2017,0,0,0,0,0,0,14.66,14.20,14.68
$GC,4624,0.56,312.1,3557,823,1730,2017,51.8,5.0,331,4674,0.00,2.53,36.95,0.774,9222,0.000,0.089,3557,2245,1665,1518,1813,0,0,0,0,0,0,14.36,14.23,13.86
$GC,4851,0.60,312.1,3557,2242,1515,1811,39.6,5.5,346,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2245,1662,1515,1810,0,0,0,0,0,0,14.58,14.60,14.60
$GC,5031,0.63,369.0,3556,2245,1514,1811,30.8,4.7,352,5080,0.08,0.00,40.05,0.744,10502,0.150,0.000,3635,2250,1432,1291,1574,0,0,0,0,0,0,14.35,14.31,13.82
$GC,5282,0.63,369.0,3636,2246,1289,1573,10.1,7.3,370,5294,0.10,2.60,0.00,0.000,4356,0.207,0.103,3598,3663,1430,1289,1572,0,0,0,0,0,0,14.06,14.16,14.16
$STATE,5358,end climb,SURFACE_DEPTH_REACHED
$STATE,5358,begin surface coast
$FINISH,1.6,1.023628
$STATE,5388,end surface coast,CONTROL_FINISHED_OK
$STATE,5388,begin surface
$SM_CCo,5422,12.30,0.083,0,0,1310,400.08
$SM_GC,0.61,9.90,3.25,12.30,0.052,0.093,0.083,92,1893,1310,-10.26,0.57,400.08,0,0,0,0,0,0,14.32,14.23,14.28
$IRIDIUM_FIX,4732.49,-12511.36,260915,113458
$TT8_MAMPS,0.020223,0.020223
$HUMID,51.10
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3785152
$24V_AH,12.58,105.038
$10V_AH,12.88,0.000
$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,25.175,62.975,343.200,12.300,0.000,0.000,0.000,385.000,0.000,0.000,12.120,782.240,3190.754,429.453,1256.901,520.941,0.000,1424.734,0.000,591.749,0.000,0.537,0.000
$DEVICE_MAMPS,363.375,104.040,960.075,83.385,0.000,0.000,0.000,149.940,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5449.000,197.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.382,7.639,0.000,0.000
$MEM,286400
$DATA_FILE_SIZE,13428,389
$CAP_FILE_SIZE,87348,0
$CFSIZE,260034560,211460096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,345.67,1
$GPS,260915,153731,4751.411,-12511.756,21,0.8,21,16.5,0.6,19.3,9,4.5