version: 66.12
glider: 187
mission: 8
dive: 386
start: 9 26 115 20 12 11
data:
$ID,187
$MISSION,8
$DIVE,386
$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,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
$GPS1,260915,195209,4751.0840,-12512.8584,36,0.9,37,16.5,0.4,43.5,8,8.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-78.5
$GPS2,260915,201142,4751.0693,-12512.5947,3,1.0,7,16.5,0.9,147.5,7,9.4
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,212.6,165375,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,31,-0.39,-107.1,87,1881,1205,1428,0.0,0.0,0,107,0.00,0.00,-71.70,0.000,16390,0.000,0.000,81,1876,3378,3376,3380,0,0,0,0,0,0,14.54,12.57,14.52
$GC,114,-0.39,-107.1,83,1880,3377,3381,2.5,-4.2,2,136,14.15,2.58,0.00,0.000,2308,0.363,0.086,3247,3313,3379,3377,3382,0,0,0,0,0,0,13.84,14.20,14.08
$GC,279,-0.39,-107.1,3247,3316,3376,3389,44.6,-12.6,33,288,0.00,2.55,0.00,0.000,1030,0.000,0.088,3246,1906,3383,3376,3390,0,0,0,0,0,0,14.32,14.17,14.32
$GC,494,-0.39,-107.1,3247,1906,3373,3395,73.2,-12.8,44,501,0.00,2.55,0.00,0.000,516,0.000,0.099,3247,480,3384,3373,3395,0,0,0,0,0,0,14.59,14.16,14.60
$GC,587,-0.39,-107.1,3247,479,3373,3395,84.8,-11.1,61,597,0.00,2.53,0.00,0.000,1030,0.000,0.085,3247,1899,3383,3372,3395,0,0,0,0,0,0,14.33,14.19,14.39
$GC,773,-0.39,-107.1,3247,1895,3373,3396,103.7,-10.4,68,780,0.00,2.58,0.00,0.000,260,0.000,0.101,3247,3322,3384,3373,3396,0,0,0,0,0,0,14.62,14.16,14.63
$GC,845,-0.39,-107.1,3247,3326,3373,3396,111.3,-10.0,81,854,0.00,2.55,0.00,0.000,1030,0.000,0.085,3247,1888,3384,3372,3396,0,0,0,0,0,0,14.33,14.21,14.38
$GC,1062,-0.39,-107.1,3246,1888,3372,3396,131.7,-9.3,92,1069,0.00,2.50,0.00,0.000,516,0.000,0.099,3247,488,3384,3372,3396,0,0,0,0,0,0,14.61,14.12,14.62
$GC,1115,-0.39,-107.1,3247,488,3368,3396,137.7,-10.9,101,1123,0.00,2.50,0.00,0.000,1030,0.000,0.086,3245,1899,3384,3372,3396,0,0,0,0,0,0,14.35,14.22,14.40
$GC,1321,-0.39,-107.1,3250,1899,3370,3396,156.5,-8.9,110,1329,0.00,2.55,0.00,0.000,260,0.000,0.101,3247,3318,3383,3370,3396,0,0,0,0,0,0,14.63,14.19,14.64
$GC,1360,-0.39,-107.1,3246,3322,3370,3395,159.9,-8.4,116,1367,0.00,2.53,0.00,0.000,1030,0.000,0.087,3248,1907,3383,3370,3396,0,0,0,0,0,0,14.35,14.21,14.40
$GC,1579,-0.39,-107.1,3246,1907,3369,3396,180.0,-9.5,128,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1907,3382,3369,3396,0,0,0,0,0,0,14.66,14.65,14.64
$GC,1760,-0.39,-107.1,3247,1907,3368,3395,197.9,-10.0,134,1767,0.00,2.58,0.00,0.000,260,0.000,0.101,3247,3320,3381,3368,3395,0,0,0,0,0,0,14.63,14.16,14.66
$GC,1808,-0.39,-107.1,3244,3320,3368,3396,202.6,-9.2,142,1815,0.00,2.55,0.00,0.000,1030,0.000,0.087,3247,1894,3382,3368,3396,0,0,0,0,0,0,14.35,14.23,14.38
$GC,2017,-0.39,-107.1,3246,1894,3366,3396,222.5,-9.5,152,2025,0.00,2.53,0.00,0.000,516,0.000,0.100,3247,482,3381,3366,3396,0,0,0,0,0,0,14.63,14.17,14.64
$GC,2050,-0.39,-107.1,3244,479,3366,3396,225.9,-10.1,157,2060,0.00,2.53,0.00,0.000,1030,0.000,0.087,3247,1898,3380,3365,3396,0,0,0,0,0,0,14.34,14.21,14.38
$GC,2236,-0.39,-107.1,3247,1899,3364,3396,243.2,-9.3,164,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1899,3377,3359,3396,0,0,0,0,0,0,14.64,14.65,14.65
$GC,2447,-0.39,-107.1,3246,1899,3362,3396,262.4,-9.1,169,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1902,3379,3363,3396,0,0,0,0,0,0,14.64,14.65,14.65
$GC,2747,-0.39,-107.1,3247,1897,3361,3396,287.0,-8.2,174,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1899,3378,3360,3396,0,0,0,0,0,0,14.65,14.67,14.67
$STATE,3041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3042,begin apogee
$GC,3053,-0.16,0.0,3251,2262,3358,3396,314.8,-9.3,179,3137,0.30,0.00,78.40,1.081,10246,0.177,0.000,3337,2262,2940,2879,3001,0,0,0,0,0,0,14.10,14.16,13.57
$STATE,3140,end apogee,CONTROL_FINISHED_OK
$STATE,3140,begin climb
$GC,3146,0.39,107.1,3338,2262,2879,2999,318.6,0.0,180,3235,0.50,0.00,78.90,1.059,10758,0.120,0.000,3515,2261,2500,2374,2627,0,0,0,0,0,0,14.10,13.98,13.42
$GC,3582,0.43,181.1,3515,2262,2372,2624,306.1,3.9,209,3644,0.00,0.00,54.35,1.056,8198,0.000,0.000,3515,2262,2200,2051,2350,0,0,0,0,0,0,14.54,14.15,13.56
$GC,3941,0.45,232.3,3515,2262,2051,2349,288.4,5.0,215,3991,0.00,2.60,38.12,1.036,8708,0.000,0.102,3516,841,1991,1840,2142,0,0,0,0,0,0,14.55,14.18,13.64
$GC,4032,0.49,232.3,3516,841,1840,2138,283.9,5.6,231,4044,0.08,2.53,0.00,0.000,3078,0.146,0.090,3580,2245,1990,1840,2140,0,0,0,0,0,0,14.20,14.13,14.29
$GC,4389,0.49,232.3,3580,2245,1840,2140,251.5,9.3,244,4400,0.00,2.58,0.00,0.000,260,0.000,0.103,3580,3663,1991,1841,2141,0,0,0,0,0,0,14.61,14.21,14.62
$GC,4482,0.49,232.3,3579,3663,1840,2136,240.7,11.7,260,4493,0.00,2.55,0.00,0.000,1030,0.000,0.090,3582,2252,1990,1840,2140,0,0,0,0,0,0,14.38,14.25,14.42
$GC,4685,0.49,232.3,3582,2252,1840,2140,220.0,9.8,268,4697,0.08,2.55,0.00,0.000,4612,0.247,0.098,3556,831,1990,1841,2140,0,0,0,0,0,0,14.18,14.23,14.28
$GC,4780,0.49,232.3,3557,831,1840,2139,212.4,8.4,283,4791,0.00,2.55,0.00,0.000,1030,0.000,0.092,3559,2265,1989,1838,2140,0,0,0,0,0,0,14.39,14.26,14.43
$GC,4987,0.49,232.3,3559,2265,1840,2139,195.3,7.9,292,4998,0.00,2.55,0.00,0.000,260,0.000,0.106,3560,3662,1989,1839,2139,0,0,0,0,0,0,14.67,14.23,14.68
$GC,5024,0.49,232.3,3559,3662,1839,2139,191.8,9.3,297,5037,0.00,2.55,0.00,0.000,1030,0.000,0.089,3569,2246,1992,1846,2138,0,0,0,0,0,0,14.40,14.27,14.44
$GC,5209,0.49,232.3,3569,2246,1839,2138,174.8,9.2,304,5221,0.00,2.53,0.00,0.000,516,0.000,0.101,3570,841,1988,1839,2137,0,0,0,0,0,0,14.65,14.22,14.67
$GC,5252,0.49,232.3,3569,841,1839,2138,171.0,9.1,310,5263,0.00,2.53,0.00,0.000,1030,0.000,0.093,3570,2248,1988,1839,2138,0,0,0,0,0,0,14.40,14.26,14.44
$GC,5480,0.49,232.3,3570,2248,1839,2138,149.8,9.4,322,5491,0.00,2.58,0.00,0.000,260,0.000,0.105,3570,3663,1988,1838,2138,0,0,0,0,0,0,14.65,14.20,14.66
$GC,5517,0.49,232.3,3569,3663,1839,2137,145.5,11.0,327,5529,0.00,2.55,0.00,0.000,1030,0.000,0.090,3570,2251,1988,1839,2137,0,0,0,0,0,0,14.38,14.24,14.42
$GC,5704,0.49,232.3,3569,2251,1839,2139,127.8,9.5,334,5715,0.00,2.55,0.00,0.000,516,0.000,0.102,3570,834,1988,1839,2137,0,0,0,0,0,0,14.65,14.21,14.67
$GC,5786,0.49,232.3,3570,833,1839,2137,120.1,9.0,348,5797,0.00,2.53,0.00,0.000,1030,0.000,0.090,3570,2245,1989,1841,2137,0,0,0,0,0,0,14.40,14.24,14.43
$GC,6004,0.49,232.3,3570,2245,1839,2137,103.2,7.9,358,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2245,1988,1839,2137,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6178,0.49,232.3,3570,2245,1838,2137,89.0,7.6,364,6189,0.00,2.62,0.00,0.000,260,0.000,0.104,3570,3678,1988,1839,2137,0,0,0,0,0,0,14.66,14.15,14.68
$GC,6313,0.49,232.3,3570,3676,1838,2135,77.4,8.8,388,6325,0.00,2.60,0.00,0.000,1030,0.000,0.091,3570,2244,1986,1838,2135,0,0,0,0,0,0,14.38,14.24,14.42
$GC,6540,0.49,232.3,3570,2244,1838,2135,61.1,7.5,400,6551,0.00,2.55,0.00,0.000,516,0.000,0.102,3570,827,1990,1839,2141,0,0,0,0,0,0,14.66,14.20,14.69
$GC,6632,0.51,232.3,3570,826,1839,2135,55.3,6.2,415,6643,0.00,2.58,0.00,0.000,1030,0.000,0.092,3570,2266,1986,1838,2135,0,0,0,0,0,0,14.35,14.22,14.40
$GC,6839,0.51,232.3,3570,2266,1839,2135,41.5,6.9,424,6850,0.00,2.58,0.00,0.000,516,0.000,0.099,3570,841,1987,1839,2135,0,0,0,0,0,0,14.66,14.18,14.67
$GC,6941,0.54,300.6,3568,841,1839,2135,36.6,4.2,441,7002,0.00,2.50,48.28,0.761,9222,0.000,0.088,3570,2245,1711,1564,1858,0,0,0,0,0,0,14.35,14.21,13.83
$GC,7200,0.58,300.6,3570,2245,1563,1855,23.4,5.6,460,7211,0.00,2.60,0.00,0.000,260,0.000,0.100,3570,3666,1708,1561,1855,0,0,0,0,0,0,14.57,14.18,14.59
$GC,7429,0.62,389.0,3570,3666,1559,1854,12.8,3.3,503,7482,0.00,2.58,39.70,0.135,9222,0.000,0.090,3570,2251,1354,1212,1496,0,0,0,0,0,0,14.33,14.20,14.09
$STATE,7639,end climb,SURFACE_DEPTH_REACHED
$STATE,7639,begin surface coast
$FINISH,1.1,1.023533
$STATE,7700,end surface coast,CONTROL_FINISHED_OK
$STATE,7700,begin surface
$SM_CCo,7732,4.75,0.084,0,0,1309,400.08
$SM_GC,2.46,9.62,0.65,4.75,0.036,0.095,0.084,82,1886,1309,-10.26,0.28,400.08,0,0,0,0,0,0,14.35,14.27,14.28
$IRIDIUM_FIX,4732.49,-12509.51,260915,195920
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.49
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3784000
$24V_AH,12.57,105.528
$10V_AH,13.08,0.000
$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,24.725,93.175,337.750,4.750,0.000,0.000,0.000,745.025,0.000,0.000,8.781,1063.970,5052.088,463.504,1739.826,587.439,0.000,1883.300,0.000,776.788,0.000,0.538,0.000
$DEVICE_MAMPS,363.375,106.335,1080.945,84.150,0.000,0.000,0.000,117.045,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7756.000,3231.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.528,9.187,0.000,0.000
$MEM,286372
$DATA_FILE_SIZE,16753,521
$CAP_FILE_SIZE,107795,0
$CFSIZE,260034560,211210240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,203.74,1
$GPS,260915,222256,4750.380,-12513.682,33,0.7,51,16.5,0.2,196.6,12,4.5