version: 66.12
glider: 187
mission: 8
dive: 5
start: 6 16 115 21 39 37
data:
$ID,187
$MISSION,8
$DIVE,5
$N_DIVES,7
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53361
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,3455
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,49
$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
$GPS1,160615,212845,4744.7842,-12506.2246,1,0.9,3,16.5,0.5,148.0,8,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-79.3
$GPS2,160615,213903,4744.7202,-12506.1758,3,0.9,5,16.5,0.5,46.0,8,8.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,236.5,165917,-16.9,-10.000,-20.75,2244
$D_GRID,240
$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,27,-0.57,-146.6,95,1896,981,1173,0.0,0.0,0,111,0.00,0.00,-76.45,0.000,16386,0.000,0.000,96,1895,3135,3107,3164,0,0,0,0,0,0,14.69,28.83,14.71
$GC,118,-0.57,-146.6,95,1895,3108,3164,4.0,-5.9,8,147,14.27,2.88,-2.50,0.000,18692,0.402,2.234,3251,3317,3301,3267,3335,0,0,0,0,0,0,14.30,13.61,14.47
$GC,384,-0.47,-146.6,3250,3317,3267,3338,56.5,-13.3,57,397,0.17,2.55,0.00,0.000,3078,0.229,0.105,3301,1889,3302,3267,3338,0,0,0,0,0,0,14.44,14.50,14.58
$GC,579,-0.55,-146.6,3300,1889,3267,3340,73.6,-8.8,76,590,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1889,3302,3266,3339,0,0,0,0,0,0,14.77,14.76,14.76
$GC,772,-0.63,-146.6,3300,1889,3267,3340,89.1,-8.0,95,784,0.10,2.58,0.00,0.000,4356,0.146,0.111,3237,3315,3303,3266,3340,0,0,0,0,0,0,14.59,14.54,14.63
$GC,874,-0.58,-146.6,3241,3316,3267,3339,101.4,-12.7,112,885,0.00,2.50,0.00,0.000,1030,0.000,0.102,3241,1905,3304,3268,3340,0,0,0,0,0,0,14.66,14.55,14.67
$GC,1067,-0.52,-146.6,3241,1905,3267,3340,122.8,-10.9,131,1079,0.12,2.53,0.00,0.000,2564,0.259,0.119,3280,488,3303,3266,3340,0,0,0,0,0,0,14.50,14.56,14.61
$GC,1209,-0.58,-146.6,3280,488,3266,3340,135.3,-8.8,156,1221,0.00,2.50,0.00,0.000,1030,0.000,0.101,3276,1917,3303,3266,3340,0,0,0,0,0,0,14.67,14.57,14.69
$GC,1403,-0.66,-146.6,3280,1917,3266,3343,151.7,-9.0,175,1415,0.08,0.00,0.00,0.000,4102,0.174,0.000,3230,1918,3303,3266,3340,0,0,0,0,0,0,14.61,14.67,14.65
$GC,1597,-0.59,-146.6,3230,1918,3267,3336,173.0,-11.1,194,1608,0.08,2.50,0.00,0.000,2308,0.282,0.109,3255,3317,3306,3266,3346,0,0,0,0,0,0,14.52,14.58,14.62
$STATE,1663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1663,begin apogee
$GC,1676,-0.19,0.0,3255,1901,3266,3340,180.4,-10.4,205,1848,0.43,0.00,152.95,0.827,10246,0.200,0.000,3386,1899,2694,2607,2782,0,0,0,0,0,0,14.52,14.16,13.78
$STATE,1851,end apogee,CONTROL_FINISHED_OK
$STATE,1851,begin climb
$GC,1856,0.57,146.6,3387,1900,2603,2785,186.6,0.0,223,1983,0.75,2.65,109.30,0.871,10756,0.142,0.119,3636,485,2094,1946,2242,0,0,0,0,0,0,14.12,13.95,13.64
$GC,2014,0.42,146.6,3635,485,1946,2237,173.0,14.4,250,2026,0.15,2.58,0.00,0.000,5126,0.231,0.096,3595,1897,2092,1946,2238,0,0,0,0,0,0,14.06,14.12,14.21
$GC,2217,0.43,155.2,3595,1901,1945,2237,152.1,9.6,270,2234,0.00,2.62,2.88,0.439,8452,0.000,0.110,3594,3317,2066,1915,2217,0,0,0,0,0,0,14.54,14.33,13.91
$GC,2472,0.43,155.2,3595,3321,1941,2215,122.5,12.1,317,2485,0.00,2.55,1.67,0.076,9222,0.000,0.103,3596,1889,2065,1918,2213,0,0,0,0,0,0,14.56,14.46,14.45
$GC,2666,0.44,182.6,3595,1889,1941,2218,103.5,8.7,336,2705,0.00,0.00,26.77,0.814,8198,0.000,0.000,3601,1889,1946,1809,2084,0,0,0,0,0,0,14.71,14.45,14.08
$GC,2887,0.45,192.2,3595,1888,1805,2081,83.2,9.6,358,2903,0.00,2.60,3.88,0.660,8452,0.000,0.111,3596,3319,1917,1778,2056,0,0,0,0,0,0,14.68,14.46,14.00
$GC,3033,0.46,207.6,3596,3318,1799,2057,69.0,9.3,384,3061,0.00,2.55,16.50,0.812,9222,0.000,0.106,3599,1901,1852,1709,1995,0,0,0,0,0,0,14.59,14.50,14.12
$GC,3243,0.53,246.5,3599,1901,1704,1989,49.1,8.2,406,3285,0.00,2.58,28.65,0.768,8452,0.000,0.112,3599,3316,1686,1535,1838,0,0,0,0,0,0,14.70,14.37,14.08
$GC,3380,0.63,255.9,3599,3316,1534,1836,36.5,9.6,430,3398,0.15,2.58,5.40,0.762,11270,0.124,0.103,3673,1887,1657,1503,1811,0,0,0,0,0,0,14.47,14.42,14.07
$GC,3580,0.54,255.9,3673,1885,1512,1807,11.9,13.0,450,3592,0.15,2.53,0.00,0.000,4612,0.239,0.121,3638,487,1665,1519,1811,0,0,0,0,0,0,14.41,14.45,14.49
$STATE,3656,end climb,SURFACE_DEPTH_REACHED
$STATE,3656,begin surface coast
$FINISH,0.4,1.024067
$STATE,3698,end surface coast,CONTROL_FINISHED_OK
$STATE,3698,begin surface
$SM_CCo,3731,62.80,0.085,0,0,1067,400.08
$SM_GC,1.28,9.93,2.55,62.80,0.059,0.094,0.085,100,1907,1067,-10.44,-0.37,400.08,0,0,0,0,0,0,14.52,14.53,14.51
$IRIDIUM_FIX,4726.11,-12505.82,160615,213248
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.27
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3936128
$24V_AH,13.61,2.481
$10V_AH,13.32,0.000
$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,26.375,46.375,348.000,62.800,0.000,0.000,0.000,307.225,0.000,0.000,6.826,996.462,1362.635,493.593,1134.088,435.904,0.000,1336.647,0.000,728.948,0.000,0.536,0.000
$DEVICE_MAMPS,402.390,2233.800,871.335,84.915,0.000,0.000,0.000,132.345,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3708.000,108.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.850,6.248,0.000,0.000
$MEM,286396
$DATA_FILE_SIZE,16749,471
$CAP_FILE_SIZE,84236,0
$CFSIZE,260034560,255897600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,121.55,1
$GPS,160615,224421,4744.473,-12506.601,16,0.9,30,16.5,0.3,266.4,8,6.2