version: 66.12
glider: 187
mission: 8
dive: 23
start: 6 20 115 1 48 39
data:
$ID,187
$MISSION,8
$DIVE,23
$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,400
$T_MISSION,420
$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,120
$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,0.0027000001
$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,3415
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,18
$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,0.00039999999
$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
$GPS1,200615,013832,4729.8613,-12539.1729,21,0.8,21,16.5,0.2,0.0,10,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-78.2
$GPS2,200615,014810,4729.8174,-12539.0791,2,0.8,4,16.5,0.4,103.1,10,5.8
$SPEED_LIMITS,0.143,0.224
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,219.3,116172,-15.9,-8.250,-20.22,2175
$D_GRID,1000
$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,-0.58,-116.8,88,1892,970,1168,0.0,0.0,0,111,0.00,0.00,-76.03,0.000,16386,0.000,0.000,87,1892,3157,3128,3187,0,0,0,0,0,0,14.54,28.83,14.57
$GC,118,-0.58,-116.8,88,1893,3130,3188,4.3,-6.7,8,146,13.60,2.78,-0.32,0.000,18692,0.375,2.231,3213,3311,3179,3147,3212,0,0,0,0,0,0,14.19,13.59,14.42
$GC,374,-0.58,-116.8,3210,3310,3152,3218,68.3,-17.6,55,386,0.00,2.55,0.00,0.000,1030,0.000,0.099,3214,1898,3181,3146,3217,0,0,0,0,0,0,14.47,14.38,14.51
$GC,567,-0.58,-116.8,3213,1898,3142,3223,96.1,-12.4,74,578,0.00,2.55,0.00,0.000,260,0.000,0.106,3212,3314,3182,3142,3223,0,0,0,0,0,0,14.62,14.41,14.64
$GC,736,-0.58,-116.8,3214,3311,3142,3224,117.7,-12.4,105,748,0.00,2.53,0.00,0.000,1030,0.000,0.097,3212,1899,3183,3142,3225,0,0,0,0,0,0,14.54,14.45,14.56
$GC,929,-0.58,-116.8,3212,1899,3142,3225,139.2,-10.4,124,940,0.00,2.53,0.00,0.000,516,0.000,0.111,3212,475,3181,3142,3221,0,0,0,0,0,0,14.68,14.46,14.69
$GC,1074,-0.58,-116.8,3212,475,3142,3226,157.9,-12.3,150,1086,0.00,2.50,0.00,0.000,1030,0.000,0.093,3212,1908,3183,3141,3226,0,0,0,0,0,0,14.59,14.53,14.62
$GC,1276,-0.58,-116.8,3212,1908,3142,3226,181.6,-11.3,170,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1908,3184,3142,3226,0,0,0,0,0,0,14.73,14.73,14.72
$GC,1469,-0.58,-116.8,3212,1908,3141,3227,201.9,-10.4,189,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1908,3183,3141,3226,0,0,0,0,0,0,14.72,14.74,14.73
$GC,1661,-0.58,-116.8,3212,1908,3141,3226,222.4,-10.6,208,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1908,3183,3141,3226,0,0,0,0,0,0,14.73,14.77,14.74
$GC,1852,-0.58,-116.8,3212,1908,3141,3226,242.2,-10.4,227,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1908,3183,3140,3226,0,0,0,0,0,0,14.75,14.76,14.77
$GC,2059,-0.58,-116.8,3212,1908,3139,3226,263.2,-10.6,239,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1908,3183,3140,3226,0,0,0,0,0,0,14.76,14.78,14.78
$GC,2359,-0.58,-116.8,3212,1908,3138,3226,295.4,-10.6,249,2370,0.00,2.55,0.00,0.000,516,0.000,0.115,3212,480,3182,3138,3226,0,0,0,0,0,0,14.78,14.55,14.79
$GC,2420,-0.58,-116.8,3212,475,3138,3227,302.7,-11.1,259,2432,0.00,2.53,0.00,0.000,1030,0.000,0.098,3212,1916,3182,3138,3226,0,0,0,0,0,0,14.69,14.58,14.68
$GC,2747,-0.58,-116.8,3212,1913,3136,3226,333.8,-9.6,271,2759,0.00,2.58,0.00,0.000,516,0.000,0.113,3212,472,3184,3136,3232,0,0,0,0,0,0,14.79,14.55,14.81
$GC,2871,-0.58,-116.8,3212,472,3136,3226,347.0,-10.2,293,2882,0.00,2.50,0.00,0.000,1030,0.000,0.096,3208,1895,3181,3136,3226,0,0,0,0,0,0,14.66,14.58,14.69
$GC,3193,-0.58,-116.8,3212,1895,3134,3226,377.6,-9.6,305,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1899,3179,3133,3226,0,0,0,0,0,0,14.79,14.81,14.81
$GC,3493,-0.58,-116.8,3212,1895,3132,3226,408.3,-10.1,315,3505,0.00,2.53,0.00,0.000,260,0.000,0.109,3217,3317,3179,3132,3226,0,0,0,0,0,0,14.81,14.60,14.82
$GC,3545,-0.58,-116.8,3211,3317,3132,3225,413.6,-10.2,323,3556,0.00,2.53,0.00,0.000,1030,0.000,0.100,3211,1884,3178,3131,3225,0,0,0,0,0,0,14.69,14.60,14.71
$GC,3877,-0.58,-116.8,3211,1884,3130,3226,445.9,-9.8,337,3888,0.00,2.58,0.00,0.000,260,0.000,0.109,3211,3315,3178,3132,3225,0,0,0,0,0,0,14.81,14.60,14.83
$GC,3924,-0.58,-116.8,3210,3315,3130,3225,450.2,-9.0,344,3935,0.00,2.50,0.00,0.000,1030,0.000,0.099,3211,1902,3177,3130,3224,0,0,0,0,0,0,14.69,14.60,14.71
$GC,4261,-0.58,-116.8,3211,1902,3134,3226,480.8,-9.1,359,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1902,3176,3128,3225,0,0,0,0,0,0,14.81,14.83,14.82
$GC,4565,-0.58,-116.8,3212,1902,3126,3226,508.7,-9.4,369,4576,0.00,2.53,0.00,0.000,516,0.000,0.118,3211,475,3175,3125,3226,0,0,0,0,0,0,14.80,14.62,14.83
$GC,4647,-0.58,-116.8,3211,475,3124,3226,517.9,-10.7,383,4659,0.00,2.50,0.00,0.000,1030,0.000,0.099,3211,1906,3175,3125,3226,0,0,0,0,0,0,14.70,14.62,14.71
$GC,4980,-0.58,-116.8,3211,1906,3124,3226,547.9,-8.8,397,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1906,3171,3121,3222,0,0,0,0,0,0,14.81,14.81,14.82
$GC,5284,-0.58,-116.8,3211,1906,3123,3226,573.1,-8.2,407,5295,0.00,2.55,0.00,0.000,516,0.000,0.117,3211,478,3173,3123,3224,0,0,0,0,0,0,14.81,14.60,14.84
$GC,5404,-0.58,-116.8,3211,478,3123,3226,584.5,-9.1,428,5415,0.00,2.50,0.00,0.000,1030,0.000,0.101,3211,1894,3175,3126,3225,0,0,0,0,0,0,14.70,14.62,14.71
$GC,5731,-0.58,-116.8,3211,1895,3122,3225,609.8,-7.7,441,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1895,3172,3122,3222,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6035,-0.58,-116.8,3211,1895,3121,3226,634.4,-8.2,451,6047,0.00,2.53,0.00,0.000,516,0.000,0.118,3215,480,3176,3127,3226,0,0,0,0,0,0,14.81,14.60,14.85
$GC,6117,-0.58,-116.8,3211,479,3121,3225,642.8,-10.0,465,6128,0.00,2.50,0.00,0.000,1030,0.000,0.101,3208,1900,3173,3121,3225,0,0,0,0,0,0,14.71,14.62,14.72
$GC,6449,-0.58,-116.8,3211,1900,3119,3225,672.4,-8.9,479,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1900,3172,3119,3225,0,0,0,0,0,0,14.81,14.82,14.83
$GC,6753,-0.58,-116.8,3210,1900,3118,3225,699.9,-9.3,489,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1900,3171,3118,3225,0,0,0,0,0,0,14.81,14.83,14.83
$GC,7053,-0.58,-116.8,3211,1900,3117,3225,725.3,-8.3,499,7064,0.00,2.53,0.00,0.000,260,0.000,0.116,3211,3315,3169,3117,3222,0,0,0,0,0,0,14.81,14.59,14.83
$GC,7120,-0.58,-116.8,3211,3315,3117,3222,731.0,-8.0,510,7132,0.00,2.53,0.00,0.000,1030,0.000,0.103,3212,1902,3170,3117,3224,0,0,0,0,0,0,14.69,14.60,14.71
$GC,7431,-0.58,-116.8,3211,1902,3117,3220,755.1,-7.9,521,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1902,3173,3122,3224,0,0,0,0,0,0,14.81,14.83,14.83
$GC,7730,-0.58,-116.8,3211,1902,3116,3224,778.8,-7.8,531,7741,0.00,2.53,0.00,0.000,516,0.000,0.120,3206,488,3167,3116,3219,0,0,0,0,0,0,14.81,14.60,14.83
$GC,7879,-0.58,-116.8,3211,484,3116,3223,792.2,-8.8,558,7890,0.00,2.50,0.00,0.000,1030,0.000,0.103,3211,1909,3169,3116,3222,0,0,0,0,0,0,14.69,14.59,14.71
$GC,8206,-0.58,-116.8,3211,1908,3116,3222,817.7,-8.1,571,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1908,3171,3116,3227,0,0,0,0,0,0,14.81,14.83,14.82
$GC,8510,-0.58,-116.8,3211,1908,3115,3221,841.9,-8.2,581,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1911,3168,3115,3222,0,0,0,0,0,0,14.81,14.83,14.82
$GC,8810,-0.58,-116.8,3211,1907,3114,3222,866.9,-8.3,591,8821,0.00,2.58,0.00,0.000,516,0.000,0.122,3211,475,3168,3114,3222,0,0,0,0,0,0,14.80,14.58,14.82
$GC,8891,-0.58,-116.8,3211,475,3114,3221,874.7,-8.8,605,8902,0.00,2.50,0.00,0.000,1030,0.000,0.103,3214,1899,3168,3114,3222,0,0,0,0,0,0,14.69,14.59,14.69
$GC,9224,-0.58,-116.8,3211,1893,3114,3221,899.9,-7.5,619,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1894,3167,3114,3221,0,0,0,0,0,0,14.80,14.82,14.81
$GC,9528,-0.58,-116.8,3216,1893,3113,3221,922.0,-7.2,629,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1893,3167,3113,3221,0,0,0,0,0,0,14.80,14.81,14.82
$GC,9828,-0.58,-116.8,3211,1893,3115,3221,943.3,-7.1,639,9839,0.00,2.55,0.00,0.000,516,0.000,0.122,3211,474,3167,3113,3222,0,0,0,0,0,0,14.80,14.57,14.82
$GC,9866,-0.58,-116.8,3211,474,3113,3221,946.5,-7.7,644,9877,0.00,2.50,0.00,0.000,1030,0.000,0.099,3211,1893,3167,3113,3221,0,0,0,0,0,0,14.69,14.58,14.70
$GC,10175,-0.58,-116.8,3211,1894,3112,3221,968.3,-7.0,655,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1894,3166,3112,3221,0,0,0,0,0,0,14.80,14.81,14.81
$GC,10475,-0.58,-116.8,3211,1893,3112,3221,988.8,-6.9,665,10486,0.00,2.53,0.00,0.000,260,0.000,0.115,3211,3314,3166,3112,3221,0,0,0,0,0,0,14.80,14.58,14.81
$STATE,10491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10491,begin apogee
$GC,10504,-0.23,0.0,3211,2181,3112,3220,991.2,-7.7,667,10606,0.43,0.05,92.65,1.897,10246,0.204,0.267,3339,2199,2700,2618,2782,0,0,0,0,0,0,14.54,13.83,13.26
$STATE,10608,end apogee,CONTROL_FINISHED_OK
$STATE,10608,begin climb
$GC,10613,0.58,116.8,3339,2198,2613,2782,994.0,0.0,670,10721,0.80,0.00,96.75,1.872,10758,0.137,0.000,3597,2198,2221,2085,2357,0,0,0,0,0,0,13.88,13.65,13.04
$GC,11044,0.58,116.8,3597,2198,2087,2355,939.4,14.0,695,11056,0.00,2.65,0.00,0.000,260,0.000,0.116,3597,3624,2221,2087,2356,0,0,0,0,0,0,14.44,14.23,14.45
$GC,11111,0.58,116.8,3597,3623,2085,2355,929.5,15.9,706,11123,0.00,2.62,0.00,0.000,1030,0.000,0.108,3599,2201,2221,2087,2356,0,0,0,0,0,0,14.35,14.27,14.38
$GC,11421,0.58,116.8,3599,2202,2088,2356,885.0,14.2,717,11432,0.00,2.62,0.00,0.000,260,0.000,0.117,3597,3627,2222,2088,2356,0,0,0,0,0,0,14.59,14.38,14.60
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$STATE,18494,end climb,SURFACE_DEPTH_REACHED
$STATE,18494,begin surface coast
$FINISH,0.4,1.023464
$STATE,18544,end surface coast,CONTROL_FINISHED_OK
$STATE,18544,begin surface
$SM_CCo,18575,61.60,0.084,0,0,1068,400.08
$SM_GC,1.09,9.82,0.55,61.60,0.047,0.106,0.084,94,1897,1068,-10.33,0.37,400.08,0,0,0,0,0,0,14.45,14.45,14.43
$IRIDIUM_FIX,4710.21,-12536.34,190615,200736
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.08
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3929216
$24V_AH,13.04,6.801
$10V_AH,13.37,0.000
$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,24.775,148.400,280.475,61.600,0.000,0.000,0.000,285.950,0.000,0.000,6.011,2846.427,11975.484,589.518,2797.011,984.664,0.000,2428.085,0.000,2032.644,0.000,0.538,0.000
$DEVICE_MAMPS,374.850,2230.740,1897.200,84.150,0.000,0.000,0.000,153.765,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18566.000,439.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.814,7.578,0.000,0.000
$MEM,286412
$DATA_FILE_SIZE,43306,1293
$CAP_FILE_SIZE,225029,0
$CFSIZE,260034560,254083072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,66.87,1
$GPS,200615,070039,4728.648,-12540.858,27,1.1,27,16.5,0.5,94.6,10,8.2