version: 66.12
glider: 187
mission: 8
dive: 51
start: 6 25 115 1 40 39
data:
$ID,187
$MISSION,8
$DIVE,51
$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,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,0.0026964601
$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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$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,3395
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$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,1800
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,19
$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,0.001
$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
$GPS1,250615,012703,4709.9443,-12631.9238,27,1.5,28,16.5,0.2,0.0,4,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.8
$GPS2,250615,014010,4709.9106,-12631.8838,3,1.6,6,16.5,0.6,122.0,4,10.0
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,233.5,39975,-14.0,-7.333,-18.81,2445
$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,-0.47,-116.8,87,1801,1310,1516,0.0,0.0,0,101,0.00,0.00,-65.82,0.000,16386,0.000,0.000,86,1801,3229,3213,3245,0,0,0,0,0,0,14.51,28.83,14.53
$GC,108,-0.47,-116.8,86,1802,3204,3246,4.4,-7.0,7,136,13.43,0.00,-2.85,0.000,18950,0.363,0.000,3233,1802,3421,3405,3438,0,0,0,0,0,0,14.18,13.60,14.40
$GC,317,-0.47,-116.8,3233,1802,3405,3443,63.4,-20.1,29,328,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1802,3424,3405,3443,0,0,0,0,0,0,14.58,14.57,14.57
$GC,509,-0.47,-116.8,3233,1802,3405,3445,98.7,-17.8,48,520,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1802,3425,3405,3445,0,0,0,0,0,0,14.62,14.63,14.63
$GC,701,-0.47,-116.8,3233,1802,3405,3445,129.7,-16.0,67,712,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1802,3425,3405,3445,0,0,0,0,0,0,14.65,14.67,14.66
$GC,893,-0.47,-116.8,3233,1802,3405,3446,157.1,-13.6,86,904,0.00,2.53,0.00,0.000,260,0.000,0.106,3234,3213,3425,3404,3447,0,0,0,0,0,0,14.68,14.49,14.69
$GC,945,-0.47,-116.8,3233,3213,3405,3448,163.9,-12.4,94,957,0.00,2.50,0.00,0.000,1030,0.000,0.096,3233,1792,3425,3405,3446,0,0,0,0,0,0,14.58,14.49,14.59
$GC,1148,-0.47,-116.8,3233,1792,3405,3441,190.6,-12.6,114,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1792,3423,3401,3446,0,0,0,0,0,0,14.70,14.71,14.70
$GC,1340,-0.47,-116.8,3233,1791,3405,3446,213.7,-11.5,133,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1792,3425,3405,3446,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1533,-0.47,-116.8,3233,1792,3405,3449,236.0,-11.4,152,1544,0.00,2.53,0.00,0.000,260,0.000,0.105,3234,3220,3426,3404,3449,0,0,0,0,0,0,14.73,14.53,14.74
$GC,1595,-0.47,-116.8,3233,3220,3405,3446,242.7,-10.3,162,1606,0.00,2.53,0.00,0.000,1030,0.000,0.099,3233,1806,3425,3405,3446,0,0,0,0,0,0,14.62,14.54,14.64
$GC,1822,-0.47,-116.8,3233,1805,3404,3446,266.0,-10.6,174,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1805,3425,3404,3446,0,0,0,0,0,0,14.75,14.76,14.76
$GC,2122,-0.47,-116.8,3233,1805,3402,3447,297.9,-10.7,184,2133,0.00,2.50,0.00,0.000,260,0.000,0.105,3233,3206,3424,3402,3446,0,0,0,0,0,0,14.76,14.55,14.76
$GC,2189,-0.47,-116.8,3233,3206,3402,3448,305.3,-10.2,195,2201,0.00,2.50,0.00,0.000,1030,0.000,0.100,3233,1791,3424,3402,3446,0,0,0,0,0,0,14.65,14.58,14.67
$GC,2499,-0.47,-116.8,3233,1791,3401,3446,336.4,-9.8,206,2510,0.00,2.50,0.00,0.000,260,0.000,0.103,3233,3205,3422,3400,3445,0,0,0,0,0,0,14.78,14.58,14.80
$GC,2542,-0.47,-116.8,3233,3205,3400,3446,340.9,-9.7,212,2553,0.00,2.45,0.00,0.000,1030,0.000,0.096,3234,1808,3423,3401,3446,0,0,0,0,0,0,14.66,14.58,14.71
$GC,2884,-0.47,-116.8,3233,1808,3399,3445,375.2,-10.5,228,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1807,3422,3399,3446,0,0,0,0,0,0,14.78,14.81,14.80
$GC,3188,-0.47,-116.8,3232,1805,3393,3445,408.3,-10.9,238,3199,0.00,2.50,0.00,0.000,260,0.000,0.105,3233,3220,3421,3398,3445,0,0,0,0,0,0,14.79,14.58,14.81
$GC,3260,-0.47,-116.8,3233,3217,3392,3445,416.4,-10.3,250,3272,0.00,2.53,0.00,0.000,1030,0.000,0.097,3234,1791,3421,3396,3446,0,0,0,0,0,0,14.68,14.59,14.69
$GC,3603,-0.47,-116.8,3233,1791,3395,3445,450.5,-9.7,266,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1791,3420,3395,3445,0,0,0,0,0,0,14.79,14.81,14.81
$GC,3904,-0.47,-116.8,3233,1791,3393,3445,478.7,-9.2,276,3915,0.00,2.53,0.00,0.000,260,0.000,0.106,3233,3220,3419,3393,3445,0,0,0,0,0,0,14.80,14.60,14.83
$GC,4014,-0.47,-116.8,3233,3220,3393,3445,488.7,-8.6,295,4025,0.00,2.50,0.00,0.000,1030,0.000,0.100,3234,1809,3419,3393,3445,0,0,0,0,0,0,14.71,14.60,14.70
$GC,4351,-0.47,-116.8,3232,1806,3391,3445,517.1,-8.5,310,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1809,3418,3391,3445,0,0,0,0,0,0,14.80,14.82,14.81
$GC,4651,-0.47,-116.8,3233,1806,3390,3446,544.3,-9.4,320,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1809,3418,3394,3442,0,0,0,0,0,0,14.82,14.82,14.81
$GC,4951,-0.47,-116.8,3233,1809,3389,3445,572.8,-9.4,330,4962,0.00,2.50,0.00,0.000,260,0.000,0.109,3234,3206,3416,3389,3444,0,0,0,0,0,0,14.81,14.61,14.81
$GC,5017,-0.47,-116.8,3233,3203,3389,3444,578.9,-8.9,341,5029,0.00,2.50,0.00,0.000,1030,0.000,0.102,3234,1789,3416,3388,3444,0,0,0,0,0,0,14.69,14.59,14.73
$GC,5329,-0.47,-116.8,3233,1789,3387,3440,606.8,-9.2,352,5340,0.00,2.53,0.00,0.000,260,0.000,0.106,3234,3209,3415,3387,3444,0,0,0,0,0,0,14.81,14.62,14.82
$GC,5385,-0.47,-116.8,3233,3212,3387,3444,612.5,-9.1,361,5396,0.00,2.47,0.00,0.000,1030,0.000,0.099,3233,1808,3414,3384,3444,0,0,0,0,0,0,14.69,14.60,14.71
$GC,5712,-0.47,-116.8,3234,1805,3384,3443,642.1,-9.1,374,5724,0.00,2.53,0.00,0.000,260,0.000,0.109,3233,3221,3414,3385,3443,0,0,0,0,0,0,14.80,14.60,14.80
$GC,5799,-0.47,-116.8,3233,3221,3385,3443,649.6,-8.8,389,5810,0.00,2.53,0.00,0.000,1030,0.000,0.099,3238,1794,3414,3386,3443,0,0,0,0,0,0,14.69,14.61,14.70
$GC,6126,-0.47,-116.8,3234,1794,3383,3442,678.1,-8.6,402,6137,0.00,2.53,0.00,0.000,260,0.000,0.109,3233,3209,3413,3384,3442,0,0,0,0,0,0,14.80,14.60,14.81
$GC,6212,-0.47,-116.8,3233,3209,3384,3442,685.5,-8.5,417,6223,0.00,2.47,0.00,0.000,1030,0.000,0.102,3234,1808,3416,3390,3442,0,0,0,0,0,0,14.69,14.60,14.71
$GC,6539,-0.47,-116.8,3233,1807,3383,3442,714.7,-9.0,430,6551,0.00,2.50,0.00,0.000,260,0.000,0.109,3234,3202,3412,3383,3442,0,0,0,0,0,0,14.82,14.59,14.81
$GC,6612,-0.47,-116.8,3233,3205,3380,3441,721.1,-8.8,442,6623,0.00,2.50,0.00,0.000,1030,0.000,0.103,3234,1791,3412,3383,3442,0,0,0,0,0,0,14.68,14.59,14.69
$GC,6954,-0.47,-116.8,3233,1791,3382,3441,751.9,-8.9,458,6965,0.00,2.53,0.00,0.000,260,0.000,0.107,3234,3205,3411,3382,3441,0,0,0,0,0,0,14.79,14.59,14.81
$GC,7036,-0.47,-116.8,3233,3201,3382,3441,758.9,-8.2,472,7047,0.00,2.47,0.00,0.000,1030,0.000,0.101,3233,1807,3411,3382,3441,0,0,0,0,0,0,14.69,14.60,14.70
$GC,7367,-0.47,-116.8,3233,1806,3381,3441,784.4,-7.5,486,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1807,3410,3379,3442,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7672,-0.47,-116.8,3233,1807,3380,3441,806.2,-7.2,496,7683,0.00,2.50,0.00,0.000,260,0.000,0.109,3234,3205,3407,3375,3440,0,0,0,0,0,0,14.79,14.59,14.81
$GC,7744,-0.47,-116.8,3233,3205,3380,3440,811.5,-7.5,508,7755,0.00,2.50,0.00,0.000,1030,0.000,0.103,3234,1790,3410,3380,3440,0,0,0,0,0,0,14.67,14.58,14.70
$GC,8086,-0.47,-116.8,3233,1789,3378,3440,837.5,-7.7,524,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1789,3410,3378,3442,0,0,0,0,0,0,14.79,14.81,14.83
$GC,8386,-0.47,-116.8,3233,1788,3374,3440,860.2,-7.5,534,8398,0.00,2.53,0.00,0.000,260,0.000,0.109,3233,3205,3408,3377,3440,0,0,0,0,0,0,14.80,14.57,14.81
$GC,8433,-0.47,-116.8,3238,3205,3377,3446,864.2,-7.3,541,8444,0.00,2.47,0.00,0.000,1030,0.000,0.100,3234,1806,3408,3377,3440,0,0,0,0,0,0,14.68,14.59,14.70
$GC,8770,-0.47,-116.8,3233,1806,3376,3440,888.5,-7.4,556,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1806,3408,3377,3440,0,0,0,0,0,0,14.79,14.81,14.81
$GC,9075,-0.47,-116.8,3231,1806,3376,3439,910.4,-7.2,566,9087,0.00,2.53,0.00,0.000,260,0.000,0.112,3234,3222,3408,3376,3440,0,0,0,0,0,0,14.79,14.59,14.81
$GC,9182,-0.47,-116.8,3233,3222,3371,3439,917.9,-6.9,584,9193,0.00,2.53,0.00,0.000,1030,0.000,0.103,3234,1791,3407,3376,3439,0,0,0,0,0,0,14.67,14.58,14.67
$GC,9525,-0.47,-116.8,3233,1790,3376,3439,942.0,-7.1,600,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1790,3407,3376,3439,0,0,0,0,0,0,14.78,14.80,14.80
$GC,9829,-0.47,-116.8,3233,1787,3376,3439,963.7,-7.2,610,9840,0.00,2.55,0.00,0.000,260,0.000,0.112,3233,3216,3407,3376,3439,0,0,0,0,0,0,14.78,14.59,14.80
$GC,9907,-0.47,-116.8,3233,3216,3376,3439,969.6,-7.0,623,9918,0.00,2.50,0.00,0.000,1030,0.000,0.105,3234,1808,3405,3371,3439,0,0,0,0,0,0,14.66,14.59,14.69
$STATE,10209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10209,begin apogee
$GC,10221,-0.17,0.0,3234,2354,3375,3438,991.3,-7.0,637,10322,0.32,0.00,92.25,1.895,10246,0.184,0.000,3336,2353,2942,2882,3003,0,0,0,0,0,0,14.55,13.90,13.25
$STATE,10324,end apogee,CONTROL_FINISHED_OK
$STATE,10324,begin climb
$GC,10329,0.47,116.8,3336,2354,2877,3001,994.8,0.0,640,10436,0.60,0.00,97.95,1.866,10758,0.123,0.000,3541,2354,2463,2339,2588,0,0,0,0,0,0,13.90,13.67,13.05
$GC,10725,0.47,116.8,3540,2350,2332,2584,964.1,9.0,659,10736,0.00,2.62,0.00,0.000,516,0.000,0.112,3540,933,2459,2334,2584,0,0,0,0,0,0,14.40,14.21,14.42
$GC,10781,0.47,116.8,3541,933,2332,2584,959.6,9.0,668,10792,0.00,2.55,0.00,0.000,1030,0.000,0.097,3539,2350,2458,2332,2584,0,0,0,0,0,0,14.33,14.25,14.34
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$STATE,22694,end climb,SURFACE_DEPTH_REACHED
$STATE,22695,begin surface coast
$FINISH,0.0,1.022617
$STATE,22756,end surface coast,CONTROL_FINISHED_OK
$STATE,22756,begin surface
$SM_CCo,22787,22.73,0.085,0,0,1412,375.06
$SM_GC,0.82,9.70,1.00,22.73,0.044,0.102,0.085,88,1806,1412,-10.26,0.65,375.06,0,0,0,0,0,0,14.52,14.50,14.49
$IRIDIUM_FIX,4654.38,-12629.37,240615,185436
$TT8_MAMPS,0.021721,0.021721
$HUMID,47.12
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3918464
$24V_AH,13.05,13.115
$10V_AH,13.06,0.000
$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,24.475,158.125,352.125,22.725,0.000,0.000,0.000,484.325,0.000,0.000,8.134,3156.828,15367.215,637.218,3259.178,1152.017,0.000,2910.783,0.000,2150.368,0.000,0.538,0.000
$DEVICE_MAMPS,363.375,113.220,1894.905,84.915,0.000,0.000,0.000,149.940,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22781.000,546.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.745,7.418,0.000,0.000
$MEM,286400
$DATA_FILE_SIZE,49981,1396
$CAP_FILE_SIZE,267063,0
$CFSIZE,260034560,251650048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,217.97,1
$GPS,250615,080208,4708.347,-12636.688,23,1.1,23,16.5,0.1,0.0,7,10.0