version: 66.12
glider: 187
mission: 8
dive: 384
start: 9 26 115 15 53 3
data:
$ID,187
$MISSION,8
$DIVE,384
$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,19
$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
$GPS1,260915,153731,4751.4106,-12511.7559,21,0.8,21,16.5,0.6,19.3,9,4.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-79.1
$GPS2,260915,155229,4751.5405,-12511.8047,2,1.0,3,16.5,0.5,348.5,8,7.8
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,205.6,166693,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.39,-107.1,85,1884,1217,1411,0.0,0.0,0,108,0.00,0.00,-72.57,0.000,16390,0.000,0.000,82,1884,3377,3375,3380,0,0,0,0,0,0,14.52,12.58,14.50
$GC,115,-0.39,-107.1,86,1888,3376,3381,2.4,-3.7,2,136,14.10,2.58,0.00,0.000,2308,0.364,0.086,3250,3318,3378,3376,3381,0,0,0,0,0,0,13.85,14.20,14.09
$GC,203,-0.39,-107.1,3245,3318,3375,3384,37.8,-12.6,18,211,0.00,2.58,0.00,0.000,1030,0.000,0.091,3250,1901,3382,3377,3388,0,0,0,0,0,0,14.27,14.19,14.33
$GC,402,-0.39,-107.1,3250,1903,3379,3393,64.5,-13.7,26,411,0.00,2.60,0.00,0.000,260,0.000,0.101,3249,3319,3382,3372,3393,0,0,0,0,0,0,14.57,14.12,14.57
$GC,569,-0.39,-107.1,3249,3319,3372,3394,85.0,-10.3,57,577,0.00,2.58,0.00,0.000,1030,0.000,0.089,3245,1902,3384,3368,3400,0,0,0,0,0,0,14.32,14.19,14.35
$GC,783,-0.39,-107.1,3249,1901,3372,3395,106.1,-9.8,68,786,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1900,3382,3370,3395,0,0,0,0,0,0,14.60,14.62,14.62
$GC,963,-0.39,-107.1,3249,1901,3372,3396,124.0,-10.1,74,972,0.00,2.62,0.00,0.000,260,0.000,0.100,3250,3322,3384,3372,3396,0,0,0,0,0,0,14.60,14.17,14.62
$GC,993,-0.39,-107.1,3249,3322,3372,3396,127.0,-10.5,78,1001,0.00,2.58,0.00,0.000,1030,0.000,0.089,3249,1889,3383,3372,3395,0,0,0,0,0,0,14.33,14.20,14.38
$GC,1192,-0.39,-107.1,3249,1889,3366,3396,147.2,-10.0,86,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1890,3383,3371,3395,0,0,0,0,0,0,14.62,14.63,14.63
$GC,1373,-0.39,-107.1,3249,1893,3370,3396,164.6,-9.5,92,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1889,3383,3370,3396,0,0,0,0,0,0,14.62,14.64,14.63
$GC,1552,-0.39,-107.1,3249,1889,3369,3396,182.6,-10.0,98,1561,0.00,2.62,0.00,0.000,260,0.000,0.099,3249,3322,3382,3370,3394,0,0,0,0,0,0,14.62,14.15,14.64
$GC,1616,-0.39,-107.1,3249,3322,3369,3396,189.0,-9.6,109,1625,0.00,2.55,0.00,0.000,1030,0.000,0.088,3249,1906,3382,3369,3396,0,0,0,0,0,0,14.35,14.21,14.39
$GC,1803,-0.39,-107.1,3249,1906,3369,3395,207.0,-9.7,116,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3383,3370,3396,0,0,0,0,0,0,14.64,14.66,14.65
$GC,1982,-0.39,-107.1,3249,1906,3369,3396,223.6,-9.1,122,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1906,3381,3367,3396,0,0,0,0,0,0,14.64,14.66,14.64
$GC,2162,-0.39,-107.1,3249,1906,3366,3396,238.0,-7.9,128,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3380,3366,3395,0,0,0,0,0,0,14.64,14.65,14.64
$STATE,2307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2307,begin apogee
$GC,2319,-0.16,0.0,3249,2251,3365,3401,250.4,-8.4,133,2403,0.30,0.00,78.90,0.988,10246,0.168,0.000,3341,2251,2939,2881,2998,0,0,0,0,0,0,14.10,14.18,13.61
$STATE,2406,end apogee,CONTROL_FINISHED_OK
$STATE,2407,begin climb
$GC,2412,0.39,107.1,3341,2251,2877,2997,253.5,0.0,134,2510,0.50,2.67,77.00,0.978,10500,0.122,0.103,3517,3662,2500,2378,2622,0,0,0,0,0,0,14.12,13.96,13.48
$GC,2590,0.42,170.6,3523,3662,2376,2622,250.0,4.4,167,2649,0.00,2.60,46.72,0.977,9222,0.000,0.088,3517,2235,2242,2092,2392,0,0,0,0,0,0,14.18,14.07,13.48
$GC,2857,0.45,235.3,3517,2235,2095,2390,238.4,4.4,188,2919,0.00,2.55,47.62,0.962,8708,0.000,0.103,3518,827,1977,1827,2127,0,0,0,0,0,0,14.51,14.12,13.59
$GC,2998,0.49,235.3,3517,830,1823,2125,231.4,5.4,214,3010,0.08,2.55,0.00,0.000,3078,0.142,0.089,3586,2246,1976,1828,2125,0,0,0,0,0,0,14.17,14.12,14.26
$GC,3217,0.49,235.3,3586,2245,1828,2124,212.0,9.9,224,3228,0.08,2.60,0.00,0.000,4356,0.233,0.100,3558,3664,1975,1827,2124,0,0,0,0,0,0,14.14,14.19,14.23
$GC,3280,0.49,235.3,3557,3664,1827,2129,204.8,10.2,234,3291,0.00,2.58,0.00,0.000,1030,0.000,0.090,3557,2247,1973,1827,2119,0,0,0,0,0,0,14.35,14.22,14.38
$GC,3482,0.49,235.3,3558,2247,1827,2123,187.0,8.5,242,3493,0.00,2.53,0.00,0.000,516,0.000,0.100,3557,841,1974,1826,2123,0,0,0,0,0,0,14.60,14.21,14.62
$GC,3555,0.49,235.3,3557,839,1827,2123,181.1,8.3,254,3566,0.00,2.55,0.00,0.000,1030,0.000,0.091,3557,2265,1975,1827,2123,0,0,0,0,0,0,14.37,14.25,14.40
$GC,3782,0.49,235.3,3557,2265,1827,2122,163.6,7.6,266,3793,0.00,2.58,0.00,0.000,260,0.000,0.104,3558,3663,1974,1826,2122,0,0,0,0,0,0,14.62,14.21,14.64
$GC,3855,0.49,235.3,3554,3663,1826,2121,156.4,9.4,278,3866,0.00,2.55,0.00,0.000,1030,0.000,0.088,3558,2250,1973,1826,2121,0,0,0,0,0,0,14.39,14.25,14.42
$GC,4083,0.49,235.3,3557,2250,1827,2121,138.5,7.8,290,4094,0.00,2.55,0.00,0.000,516,0.000,0.101,3557,834,1973,1826,2120,0,0,0,0,0,0,14.65,14.23,14.67
$GC,4134,0.49,235.3,3557,830,1827,2121,133.9,8.1,298,4145,0.00,2.53,0.00,0.000,1030,0.000,0.089,3558,2250,1973,1826,2121,0,0,0,0,0,0,14.39,14.25,14.42
$GC,4353,0.49,235.3,3557,2247,1826,2120,116.2,8.5,308,4364,0.00,2.58,0.00,0.000,260,0.000,0.103,3558,3663,1975,1826,2124,0,0,0,0,0,0,14.64,14.21,14.66
$GC,4395,0.49,235.3,3554,3664,1825,2119,111.4,10.8,314,4406,0.00,2.58,0.00,0.000,1030,0.000,0.090,3558,2237,1972,1825,2119,0,0,0,0,0,0,14.38,14.25,14.43
$GC,4622,0.49,235.3,3557,2237,1827,2118,92.1,8.0,326,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2237,1972,1826,2119,0,0,0,0,0,0,14.65,14.66,14.66
$GC,4798,0.49,235.3,3558,2237,1825,2119,78.6,7.6,332,4809,0.00,2.53,0.00,0.000,516,0.000,0.103,3558,840,1972,1825,2119,0,0,0,0,0,0,14.66,14.21,14.69
$GC,4860,0.51,235.3,3557,840,1827,2119,74.5,6.5,342,4871,0.00,2.53,0.00,0.000,1030,0.000,0.088,3561,2263,1972,1826,2119,0,0,0,0,0,0,14.39,14.28,14.44
$GC,5063,0.54,295.2,3557,2262,1827,2119,64.5,4.6,350,5113,0.00,0.00,42.47,0.783,8454,0.000,0.000,3557,2263,1735,1588,1883,0,0,0,0,0,0,14.67,14.33,13.83
$GC,5280,0.57,295.2,3557,2262,1584,1879,53.6,5.7,362,5291,0.00,2.55,0.00,0.000,260,0.000,0.104,3557,3661,1731,1584,1879,0,0,0,0,0,0,14.59,14.17,14.60
$GC,5363,0.57,295.2,3554,3661,1584,1878,45.6,8.9,376,5374,0.00,2.55,0.00,0.000,1030,0.000,0.087,3558,2251,1731,1584,1879,0,0,0,0,0,0,14.34,14.21,14.38
$GC,5581,0.60,295.2,3557,2251,1584,1879,33.1,5.7,386,5592,0.00,2.55,0.00,0.000,516,0.000,0.100,3553,828,1729,1579,1879,0,0,0,0,0,0,14.64,14.19,14.62
$GC,5682,0.64,377.0,3557,827,1586,1878,28.8,3.6,403,5752,0.12,2.55,56.20,0.731,11270,0.100,0.088,3646,2261,1399,1261,1537,0,0,0,0,0,0,14.33,14.24,13.81
$GC,5923,0.64,377.0,3646,2258,1256,1536,9.2,8.5,422,5935,0.12,2.58,0.00,0.000,4356,0.200,0.101,3602,3663,1396,1256,1536,0,0,0,0,0,0,14.09,14.10,14.19
$GC,5988,0.67,377.0,3601,3663,1255,1535,4.4,6.2,432,5999,0.00,2.58,0.00,0.000,1030,0.000,0.089,3602,2235,1395,1255,1535,0,0,0,0,0,0,14.31,14.17,14.36
$STATE,6004,end climb,SURFACE_DEPTH_REACHED
$STATE,6004,begin surface coast
$FINISH,0.4,1.023566
$STATE,6036,end surface coast,CONTROL_FINISHED_OK
$STATE,6036,begin surface
$SM_CCo,6067,8.60,0.083,0,0,1309,400.08
$SM_GC,1.63,9.85,0.60,8.60,0.046,0.093,0.083,91,1898,1309,-10.25,0.59,400.08,0,0,0,0,0,0,14.33,14.27,14.27
$IRIDIUM_FIX,4732.49,-12512.13,260915,154436
$TT8_MAMPS,0.02247,0.02247
$HUMID,50.74
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3784768
$24V_AH,12.58,105.199
$10V_AH,13.11,0.000
$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,25.150,78.325,348.925,8.600,0.000,0.000,0.000,479.525,0.000,0.000,4.904,888.001,3762.808,453.899,1349.186,523.297,0.000,1533.800,0.000,648.980,0.000,0.537,0.000
$DEVICE_MAMPS,364.140,104.040,988.380,82.620,0.000,0.000,0.000,145.350,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6088.000,2494.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.016,9.206,0.000,0.000
$MEM,286360
$DATA_FILE_SIZE,13451,435
$CAP_FILE_SIZE,94469,0
$CFSIZE,260034560,211382272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,24.24,1
$GPS,260915,173539,4751.312,-12512.357,9,0.8,22,16.5,0.2,0.0,12,4.4