version: 66.12
glider: 187
mission: 8
dive: 291
start: 8 31 115 10 34 11
data:
$ID,187
$MISSION,8
$DIVE,291
$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,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
$GPS1,310815,101740,4751.1035,-12512.5742,23,1.1,24,16.5,0.8,263.0,8,8.4
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.8
$GPS2,310815,103339,4750.8970,-12512.6631,4,1.1,7,16.5,1.2,213.8,9,9.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,85.7,3536,-14.8,-7.333,-19.49,2243
$D_GRID,250
$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,-107.1,69,1893,1213,1413,0.0,0.0,0,109,0.00,0.00,-73.35,0.000,16390,0.000,0.000,68,1894,3378,3376,3381,0,0,0,0,0,0,14.54,12.87,14.54
$GC,116,-0.39,-107.1,69,1895,3377,3382,2.0,-2.4,2,141,14.15,2.53,0.00,0.000,2820,0.368,0.090,3256,474,3380,3377,3384,0,0,0,0,0,0,13.97,14.20,14.19
$GC,376,-0.39,-107.1,3255,473,3372,3394,58.7,-13.7,51,387,0.00,2.53,0.00,0.000,1030,0.000,0.088,3255,1899,3385,3376,3394,0,0,0,0,0,0,14.33,14.19,14.36
$GC,593,-0.39,-107.1,3255,1899,3374,3397,83.4,-11.6,62,604,0.00,2.55,0.00,0.000,516,0.000,0.103,3255,478,3385,3374,3397,0,0,0,0,0,0,14.62,14.23,14.64
$GC,655,-0.39,-107.1,3255,477,3374,3397,91.0,-11.6,72,666,0.00,2.53,0.00,0.000,1030,0.000,0.089,3255,1899,3385,3374,3397,0,0,0,0,0,0,14.42,14.29,14.45
$GC,857,-0.39,-107.1,3254,1899,3374,3398,112.8,-10.9,80,868,0.00,2.55,0.00,0.000,260,0.000,0.103,3255,3318,3385,3373,3397,0,0,0,0,0,0,14.66,14.27,14.68
$GC,919,-0.39,-107.1,3255,3322,3374,3397,119.2,-10.0,90,932,0.00,2.53,0.00,0.000,1030,0.000,0.088,3256,1905,3385,3374,3397,0,0,0,0,0,0,14.35,14.28,14.40
$GC,1123,-0.39,-107.1,3255,1904,3368,3397,141.5,-11.1,98,1134,0.00,2.55,0.00,0.000,516,0.000,0.103,3255,474,3385,3373,3397,0,0,0,0,0,0,14.66,14.26,14.68
$GC,1289,-0.39,-107.1,3255,474,3373,3397,160.2,-11.6,128,1300,0.00,2.53,0.00,0.000,1030,0.000,0.087,3255,1901,3384,3372,3397,0,0,0,0,0,0,14.45,14.32,14.48
$GC,1515,-0.39,-107.1,3255,1901,3370,3397,182.2,-9.6,140,1526,0.00,2.58,0.00,0.000,260,0.000,0.104,3255,3322,3383,3370,3397,0,0,0,0,0,0,14.67,14.27,14.69
$GC,1691,-0.39,-107.1,3255,3322,3369,3397,198.4,-8.9,172,1702,0.00,2.55,0.00,0.000,1030,0.000,0.090,3256,1889,3383,3370,3397,0,0,0,0,0,0,14.39,14.26,14.43
$GC,1908,-0.39,-107.1,3255,1889,3368,3397,218.8,-9.9,182,1919,0.00,2.60,0.00,0.000,260,0.000,0.103,3255,3322,3382,3368,3397,0,0,0,0,0,0,14.68,14.28,14.70
$GC,1959,-0.39,-107.1,3255,3322,3368,3397,224.5,-9.6,190,1971,0.00,2.55,0.00,0.000,1030,0.000,0.090,3255,1888,3382,3368,3397,0,0,0,0,0,0,14.45,14.33,14.50
$GC,2172,-0.39,-107.1,3256,1888,3366,3397,246.0,-10.4,200,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1888,3383,3368,3398,0,0,0,0,0,0,14.69,14.71,14.71
$STATE,2227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2227,begin apogee
$GC,2239,-0.16,0.0,3256,2267,3366,3396,252.2,-10.4,202,2328,0.28,0.00,79.75,0.991,10246,0.184,0.000,3341,2267,2941,2883,3000,0,0,0,0,0,0,14.21,14.23,13.74
$STATE,2330,end apogee,CONTROL_FINISHED_OK
$STATE,2330,begin climb
$GC,2335,0.39,107.1,3341,2267,2879,2999,256.3,0.0,203,2424,0.50,0.00,79.00,0.969,10758,0.136,0.000,3513,2269,2501,2378,2625,0,0,0,0,0,0,14.16,14.04,13.57
$GC,2712,0.44,211.2,3514,2266,2374,2629,251.3,2.6,221,2802,0.00,0.00,76.47,0.962,8198,0.000,0.000,3513,2267,2077,1928,2227,0,0,0,0,0,0,14.52,14.12,13.65
$GC,2983,0.47,274.3,3513,2267,1929,2227,240.3,4.4,229,3046,0.10,2.65,47.28,0.950,10756,0.145,0.103,3579,844,1818,1672,1965,0,0,0,0,0,0,14.27,14.09,13.69
$GC,3096,0.47,274.3,3580,843,1672,1964,230.8,9.6,249,3107,0.12,2.53,0.00,0.000,5126,0.182,0.090,3543,2246,1817,1673,1961,0,0,0,0,0,0,14.10,14.14,14.23
$GC,3314,0.47,274.3,3543,2247,1672,1962,213.8,8.0,259,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2245,1817,1672,1962,0,0,0,0,0,0,14.53,14.55,14.55
$GC,3489,0.47,274.3,3543,2245,1672,1962,200.3,7.4,265,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2246,1817,1672,1962,0,0,0,0,0,0,14.59,14.61,14.61
$GC,3670,0.47,274.3,3543,2246,1671,1959,186.6,7.5,271,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2245,1816,1671,1962,0,0,0,0,0,0,14.62,14.67,14.64
$GC,3849,0.47,274.3,3542,2246,1671,1962,173.5,7.3,277,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2246,1817,1672,1962,0,0,0,0,0,0,14.64,14.65,14.64
$GC,4029,0.47,274.3,3543,2245,1671,1962,159.8,7.8,283,4040,0.00,2.55,0.00,0.000,516,0.000,0.104,3544,839,1816,1671,1962,0,0,0,0,0,0,14.66,14.31,14.69
$GC,4076,0.47,274.3,3543,839,1671,1962,156.1,7.8,290,4088,0.00,2.50,0.00,0.000,1030,0.000,0.089,3543,2257,1816,1671,1962,0,0,0,0,0,0,14.46,14.34,14.50
$GC,4294,0.47,274.3,3548,2257,1671,1968,139.3,7.7,301,4305,0.00,2.55,0.00,0.000,516,0.000,0.103,3543,842,1816,1671,1962,0,0,0,0,0,0,14.66,14.32,14.69
$GC,4338,0.47,274.3,3543,842,1677,1958,136.0,8.4,307,4349,0.00,2.50,0.00,0.000,1030,0.000,0.092,3543,2253,1817,1672,1962,0,0,0,0,0,0,14.46,14.33,14.50
$GC,4565,0.47,274.3,3542,2249,1671,1963,118.4,7.8,319,4577,0.00,2.55,0.00,0.000,516,0.000,0.106,3543,837,1817,1671,1964,0,0,0,0,0,0,14.67,14.31,14.68
$GC,4633,0.47,274.3,3543,838,1671,1962,112.8,7.3,330,4645,0.00,2.53,0.00,0.000,1030,0.000,0.092,3543,2254,1816,1671,1962,0,0,0,0,0,0,14.46,14.34,14.50
$GC,4818,0.47,274.3,3543,2253,1671,1962,99.8,6.9,337,4829,0.00,2.55,0.00,0.000,260,0.000,0.104,3543,3663,1815,1669,1962,0,0,0,0,0,0,14.68,14.30,14.69
$GC,4854,0.47,274.3,3539,3663,1670,1960,97.0,7.8,342,4867,0.00,2.55,0.00,0.000,1030,0.000,0.092,3541,2248,1815,1670,1961,0,0,0,0,0,0,14.46,14.33,14.50
$GC,5041,0.49,274.3,3543,2247,1670,1960,84.6,6.5,349,5052,0.00,2.55,0.00,0.000,516,0.000,0.104,3544,827,1815,1670,1961,0,0,0,0,0,0,14.69,14.31,14.70
$GC,5118,0.51,274.3,3541,827,1670,1961,79.4,6.5,362,5130,0.00,2.53,0.00,0.000,1030,0.000,0.091,3544,2247,1816,1670,1962,0,0,0,0,0,0,14.46,14.33,14.50
$GC,5341,0.54,274.3,3543,2247,1670,1960,67.0,5.6,373,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2248,1814,1668,1961,0,0,0,0,0,0,14.68,14.69,14.69
$GC,5517,0.57,274.3,3543,2247,1670,1960,56.8,5.8,379,5529,0.08,2.60,0.00,0.000,2308,0.154,0.101,3620,3663,1817,1673,1961,0,0,0,0,0,0,14.43,14.26,14.47
$GC,5580,0.57,274.3,3619,3663,1670,1960,50.6,11.5,389,5591,0.17,2.55,0.00,0.000,5126,0.209,0.092,3583,2251,1815,1670,1960,0,0,0,0,0,0,14.21,14.33,14.41
$GC,5787,0.59,274.3,3577,2255,1670,1966,36.8,6.4,397,5798,0.00,2.55,0.00,0.000,516,0.000,0.104,3582,825,1815,1670,1960,0,0,0,0,0,0,14.68,14.25,14.69
$GC,6032,0.62,274.3,3579,826,1670,1960,20.1,6.1,443,6043,0.00,2.55,0.00,0.000,1030,0.000,0.093,3582,2250,1815,1670,1960,0,0,0,0,0,0,14.41,14.26,14.45
$GC,6235,0.65,337.2,3582,2250,1670,1960,11.4,4.5,451,6274,0.00,2.55,27.38,0.128,8708,0.000,0.102,3582,836,1565,1422,1708,0,0,0,0,0,0,14.69,14.33,14.26
$GC,6363,0.68,394.1,3582,835,1426,1713,5.5,4.7,474,6398,0.00,2.53,24.58,0.099,9218,0.000,0.091,3581,2263,1339,1200,1479,0,0,0,0,0,0,14.44,14.32,14.48
$STATE,6400,end climb,SURFACE_DEPTH_REACHED
$STATE,6400,begin surface coast
$FINISH,0.4,1.023669
$STATE,6456,end surface coast,CONTROL_FINISHED_OK
$STATE,6456,begin surface
$SM_CCo,6487,2.75,0.085,0,0,1309,400.08
$SM_GC,1.61,9.77,0.70,2.75,0.047,0.103,0.085,89,1887,1309,-10.27,0.25,400.08,0,0,0,0,0,0,14.38,14.31,14.35
$IRIDIUM_FIX,4732.49,-12513.98,310815,102313
$TT8_MAMPS,0.020223,0.020223
$HUMID,49.52
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3823008
$24V_AH,12.87,79.354
$10V_AH,13.27,0.000
$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,25.175,77.800,334.450,2.750,0.000,0.000,0.000,556.025,0.000,0.000,9.111,1007.370,3834.572,468.844,1574.376,566.017,0.000,1712.679,0.000,727.135,0.000,0.538,0.000
$DEVICE_MAMPS,367.965,105.570,990.675,84.915,0.000,0.000,0.000,130.815,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6510.000,209.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.890,7.695,0.000,0.000
$MEM,286324
$DATA_FILE_SIZE,16765,490
$CAP_FILE_SIZE,103185,0
$CFSIZE,260034560,223010816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,323.47,1
$GPS,310815,122340,4751.124,-12512.247,21,1.3,22,16.5,0.5,285.2,7,9.2