version: 66.12
glider: 187
mission: 8
dive: 385
start: 9 26 115 17 48 32
data:
$ID,187
$MISSION,8
$DIVE,385
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,260915,173539,4751.3115,-12512.3574,9,0.8,22,16.5,0.2,0.0,12,4.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-76.6
$GPS2,260915,174758,4751.4316,-12512.1904,2,0.8,5,16.5,0.5,39.4,12,7.1
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,206.9,166178,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,28,-0.39,-107.1,85,1889,1207,1419,0.0,0.0,0,108,0.00,0.00,-72.65,0.000,16390,0.000,0.000,85,1889,3380,3380,3380,0,0,0,0,0,0,14.53,12.57,14.52
$GC,115,-0.39,-107.1,85,1889,3381,3381,2.0,-2.8,2,140,13.88,2.58,0.00,0.000,2308,0.355,0.092,3250,3319,3384,3385,3383,0,0,0,0,0,0,13.87,14.21,14.10
$GC,223,-0.39,-107.1,3250,3319,3382,3389,39.5,-10.8,21,235,0.00,2.55,0.00,0.000,1030,0.000,0.090,3251,1908,3384,3380,3389,0,0,0,0,0,0,14.34,14.18,14.35
$GC,445,-0.39,-107.1,3250,1907,3376,3395,66.9,-12.6,32,456,0.00,2.55,0.00,0.000,260,0.000,0.100,3254,3299,3385,3376,3395,0,0,0,0,0,0,14.60,14.14,14.62
$GC,650,-0.39,-107.1,3250,3302,3376,3395,89.8,-8.8,70,661,0.00,2.53,0.00,0.000,1030,0.000,0.088,3251,1889,3385,3376,3395,0,0,0,0,0,0,14.31,14.16,14.34
$GC,864,-0.39,-107.1,3250,1893,3376,3397,108.0,-8.7,80,874,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1888,3386,3376,3397,0,0,0,0,0,0,14.64,14.66,14.66
$GC,1042,-0.39,-107.1,3250,1888,3376,3397,125.3,-9.8,86,1054,0.00,2.60,0.00,0.000,260,0.000,0.097,3250,3320,3386,3376,3397,0,0,0,0,0,0,14.66,14.21,14.69
$GC,1100,-0.39,-107.1,3253,3321,3376,3397,130.7,-9.4,95,1111,0.00,2.55,0.00,0.000,1030,0.000,0.087,3250,1891,3386,3376,3397,0,0,0,0,0,0,14.33,14.21,14.38
$GC,1308,-0.39,-107.1,3250,1891,3375,3399,152.2,-10.5,104,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1891,3386,3375,3397,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1487,-0.39,-107.1,3250,1895,3370,3397,168.6,-8.9,110,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1891,3384,3371,3397,0,0,0,0,0,0,14.69,14.68,14.70
$GC,1668,-0.39,-107.1,3251,1887,3374,3397,184.3,-8.7,116,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1891,3384,3371,3397,0,0,0,0,0,0,14.67,14.69,14.67
$GC,1847,-0.39,-107.1,3250,1890,3373,3397,198.9,-7.9,122,1859,0.00,2.60,0.00,0.000,260,0.000,0.099,3251,3318,3385,3373,3397,0,0,0,0,0,0,14.68,14.21,14.69
$GC,1894,-0.39,-107.1,3250,3318,3376,3396,202.5,-7.7,129,1905,0.00,2.53,0.00,0.000,1030,0.000,0.086,3256,1906,3387,3373,3402,0,0,0,0,0,0,14.40,14.26,14.44
$GC,2117,-0.39,-107.1,3249,1906,3370,3397,219.7,-7.9,140,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1906,3383,3370,3397,0,0,0,0,0,0,14.67,14.69,14.71
$GC,2292,-0.39,-107.1,3250,1906,3370,3397,233.6,-7.6,146,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1906,3383,3370,3397,0,0,0,0,0,0,14.68,14.68,14.70
$GC,2472,-0.39,-107.1,3250,1906,3369,3397,247.8,-8.2,152,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1906,3383,3369,3397,0,0,0,0,0,0,14.69,14.71,14.70
$GC,2682,-0.39,-107.1,3250,1906,3369,3397,264.5,-8.0,156,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1906,3383,3369,3397,0,0,0,0,0,0,14.69,14.71,14.71
$STATE,2916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2917,begin apogee
$GC,2929,-0.16,0.0,3251,2253,3362,3395,284.6,-8.4,160,3017,0.28,0.00,79.47,1.041,10246,0.167,0.000,3336,2253,2941,2882,3000,0,0,0,0,0,0,14.13,14.20,13.62
$STATE,3019,end apogee,CONTROL_FINISHED_OK
$STATE,3019,begin climb
$GC,3024,0.39,107.1,3337,2253,2878,2998,288.0,0.0,161,3112,0.55,0.00,78.95,1.017,10502,0.119,0.000,3522,2254,2502,2377,2627,0,0,0,0,0,0,14.15,14.01,13.46
$GC,3469,0.42,107.1,3522,2254,2371,2625,269.9,5.6,180,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2254,2497,2370,2625,0,0,0,0,0,0,14.56,14.58,14.57
$GC,3768,0.46,174.4,3522,2254,2370,2624,256.5,4.2,185,3827,0.00,0.00,48.95,0.995,8198,0.000,0.000,3522,2254,2229,2086,2373,0,0,0,0,0,0,14.62,14.24,13.68
$GC,4133,0.49,174.4,3522,2254,2078,2373,239.0,5.7,194,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2254,2227,2080,2374,0,0,0,0,0,0,14.57,14.59,14.59
$GC,4308,0.51,221.9,3522,2254,2081,2373,229.7,5.2,200,4357,0.08,2.62,35.12,0.974,10756,0.150,0.102,3612,839,2034,1884,2184,0,0,0,0,0,0,14.36,14.25,13.73
$GC,4397,0.51,221.9,3606,839,1884,2184,220.6,12.8,215,4409,0.17,2.55,0.00,0.000,5126,0.201,0.092,3562,2250,2034,1885,2184,0,0,0,0,0,0,14.09,14.19,14.28
$GC,4609,0.51,221.9,3562,2250,1885,2184,200.2,9.4,224,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2250,2036,1884,2189,0,0,0,0,0,0,14.58,14.60,14.60
$GC,4786,0.51,221.9,3562,2250,1885,2184,183.7,9.1,230,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2250,2033,1883,2184,0,0,0,0,0,0,14.61,14.63,14.61
$GC,4965,0.51,221.9,3562,2250,1885,2184,167.6,8.8,236,4976,0.00,2.60,0.00,0.000,260,0.000,0.104,3568,3665,2034,1885,2184,0,0,0,0,0,0,14.64,14.23,14.64
$GC,5013,0.51,221.9,3562,3665,1885,2184,163.4,9.5,243,5024,0.00,2.58,0.00,0.000,1030,0.000,0.091,3569,2236,2034,1885,2183,0,0,0,0,0,0,14.37,14.23,14.41
$GC,5235,0.51,221.9,3569,2240,1885,2184,144.6,8.5,254,5246,0.00,2.53,0.00,0.000,516,0.000,0.103,3570,823,2034,1885,2184,0,0,0,0,0,0,14.64,14.19,14.65
$GC,5312,0.51,221.9,3569,823,1885,2184,137.7,8.4,267,5323,0.00,2.55,0.00,0.000,1030,0.000,0.089,3569,2250,2035,1886,2184,0,0,0,0,0,0,14.33,14.19,14.38
$GC,5534,0.51,221.9,3569,2249,1886,2184,120.4,8.0,278,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2250,2034,1885,2184,0,0,0,0,0,0,14.64,14.66,14.66
$GC,5710,0.51,221.9,3569,2249,1881,2184,104.0,9.5,284,5721,0.00,2.62,0.00,0.000,260,0.000,0.103,3569,3670,2034,1885,2184,0,0,0,0,0,0,14.66,14.22,14.68
$GC,5772,0.51,221.9,3569,3670,1885,2185,97.2,11.4,294,5783,0.00,2.58,0.00,0.000,1030,0.000,0.090,3571,2238,2033,1885,2182,0,0,0,0,0,0,14.33,14.18,14.35
$GC,5975,0.51,221.9,3570,2238,1885,2186,77.5,9.5,302,5986,0.00,2.53,0.00,0.000,516,0.000,0.103,3574,842,2034,1885,2183,0,0,0,0,0,0,14.67,14.21,14.69
$GC,6038,0.51,221.9,3573,841,1889,2183,72.7,7.3,312,6049,0.00,2.53,0.00,0.000,1030,0.000,0.090,3569,2261,2034,1885,2183,0,0,0,0,0,0,14.34,14.19,14.38
$GC,6244,0.54,221.9,3570,2261,1885,2187,59.6,6.1,320,6255,0.00,2.60,0.00,0.000,516,0.000,0.100,3570,837,2034,1885,2183,0,0,0,0,0,0,14.64,14.21,14.66
$GC,6318,0.56,221.9,3570,842,1880,2183,55.7,6.0,332,6329,0.00,2.53,0.00,0.000,1030,0.000,0.092,3570,2245,2034,1885,2183,0,0,0,0,0,0,14.36,14.21,14.40
$GC,6545,0.58,221.9,3570,2244,1885,2183,42.2,6.4,344,6556,0.00,2.60,0.00,0.000,260,0.000,0.102,3570,3666,2034,1885,2183,0,0,0,0,0,0,14.66,14.21,14.68
$GC,6711,0.61,283.7,3570,3666,1884,2182,34.1,4.5,374,6768,0.00,2.55,44.30,0.754,9222,0.000,0.090,3570,2253,1780,1632,1929,0,0,0,0,0,0,14.34,14.21,13.83
$GC,6960,0.64,328.9,3570,2253,1629,1927,21.3,5.3,392,7000,0.00,2.65,29.52,0.734,8452,0.000,0.103,3566,3663,1595,1450,1741,0,0,0,0,0,0,14.57,14.26,13.83
$GC,7130,0.66,383.4,3570,3663,1446,1737,13.0,4.8,423,7166,0.10,2.55,24.25,0.134,11270,0.115,0.087,3655,2254,1381,1244,1519,0,0,0,0,0,0,14.28,14.19,14.12
$STATE,7252,end climb,SURFACE_DEPTH_REACHED
$STATE,7252,begin surface coast
$FINISH,-0.1,1.023591
$STATE,7284,end surface coast,CONTROL_FINISHED_OK
$STATE,7284,begin surface
$SM_CCo,7315,7.12,0.083,0,0,1309,400.08
$SM_GC,1.32,10.02,0.65,7.12,0.047,0.093,0.083,92,1887,1309,-10.25,0.34,400.08,0,0,0,0,0,0,14.30,14.26,14.25
$IRIDIUM_FIX,4732.49,-12513.98,260915,154643
$TT8_MAMPS,0.020223,0.020223
$HUMID,51.53
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3784384
$24V_AH,12.57,105.352
$10V_AH,13.71,0.000
$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,25.075,62.925,340.575,7.125,0.000,0.000,0.000,391.425,0.000,0.000,6.791,952.573,4695.388,460.193,1380.585,575.698,0.000,1532.080,0.000,663.655,0.000,0.538,0.000
$DEVICE_MAMPS,354.960,104.040,1041.165,83.385,0.000,0.000,0.000,146.880,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7333.000,240.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.574,7.581,0.000,0.000
$MEM,286372
$DATA_FILE_SIZE,13439,437
$CAP_FILE_SIZE,99357,0
$CFSIZE,260034560,211300352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,30.66,1
$GPS,260915,195209,4751.084,-12512.858,36,0.9,37,16.5,0.4,43.5,8,8.1