version: 66.12
glider: 187
mission: 8
dive: 60
start: 6 27 115 12 2 32
data:
$ID,187
$MISSION,8
$DIVE,60
$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,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,3392
$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,1900
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,15
$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
$GPS1,270615,115208,4701.7505,-12655.3311,38,1.1,38,16.5,0.9,178.0,9,8.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.5
$GPS2,270615,120204,4701.7549,-12655.3740,5,1.1,7,16.5,0.8,308.9,9,9.3
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,29.1,160275,-14.8,-7.333,-19.49,2243
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.48,-107.1,75,1892,1254,1529,0.0,0.0,0,102,0.00,0.00,-67.78,0.000,16386,0.000,0.000,75,1892,3289,3276,3302,0,0,0,0,0,0,14.54,28.83,14.57
$GC,108,-0.48,-107.1,75,1897,3276,3303,4.9,-8.5,7,134,13.38,2.75,-1.35,0.000,18948,0.360,2.222,3227,483,3380,3365,3395,0,0,0,0,0,0,14.19,13.56,14.42
$GC,170,-0.48,-107.1,3230,484,3364,3398,34.9,-30.2,17,178,0.00,2.53,0.00,0.000,1030,0.000,0.092,3230,1904,3382,3365,3399,0,0,0,0,0,0,14.39,14.31,14.40
$GC,369,-0.48,-107.1,3231,1907,3365,3402,74.9,-19.2,37,376,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1907,3383,3365,3402,0,0,0,0,0,0,14.57,14.57,14.59
$GC,559,-0.48,-107.1,3229,1907,3365,3403,106.3,-16.1,56,566,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1907,3383,3364,3403,0,0,0,0,0,0,14.62,14.64,14.63
$GC,749,-0.48,-107.1,3230,1907,3365,3404,132.7,-13.4,75,757,0.00,2.47,0.00,0.000,260,0.000,0.104,3230,3316,3384,3365,3404,0,0,0,0,0,0,14.64,14.42,14.68
$GC,812,-0.48,-107.1,3230,3318,3365,3404,140.8,-12.4,86,822,0.00,2.53,0.00,0.000,1030,0.000,0.095,3230,1897,3384,3365,3404,0,0,0,0,0,0,14.54,14.45,14.54
$GC,1003,-0.48,-107.1,3229,1897,3364,3404,164.8,-11.3,105,1010,0.00,2.50,0.00,0.000,516,0.000,0.109,3230,477,3384,3365,3404,0,0,0,0,0,0,14.67,14.45,14.67
$GC,1055,-0.48,-107.1,3230,477,3365,3401,171.7,-13.6,114,1064,0.00,2.50,0.00,0.000,1030,0.000,0.092,3230,1903,3384,3365,3404,0,0,0,0,0,0,14.56,14.48,14.57
$GC,1246,-0.48,-107.1,3226,1903,3364,3404,196.7,-13.4,133,1253,0.00,2.47,0.00,0.000,260,0.000,0.104,3230,3315,3384,3363,3405,0,0,0,0,0,0,14.68,14.50,14.69
$GC,1288,-0.48,-107.1,3230,3316,3365,3404,202.5,-13.1,140,1296,0.00,2.50,0.00,0.000,1030,0.000,0.095,3230,1899,3384,3365,3404,0,0,0,0,0,0,14.57,14.49,14.59
$GC,1478,-0.48,-107.1,3230,1899,3365,3404,228.6,-13.8,159,1485,0.00,2.53,0.00,0.000,516,0.000,0.110,3230,474,3384,3364,3404,0,0,0,0,0,0,14.69,14.47,14.71
$GC,1581,-0.48,-107.1,3229,474,3364,3403,243.2,-14.9,177,1588,0.00,2.50,0.00,0.000,1030,0.000,0.091,3230,1908,3385,3366,3404,0,0,0,0,0,0,14.59,14.52,14.61
$GC,1780,-0.48,-107.1,3229,1908,3363,3401,270.9,-13.3,187,1788,0.00,2.47,0.00,0.000,260,0.000,0.106,3230,3315,3383,3363,3404,0,0,0,0,0,0,14.71,14.50,14.75
$GC,1838,-0.48,-107.1,3230,3314,3362,3404,278.0,-11.8,197,1846,0.00,2.53,0.00,0.000,1030,0.000,0.095,3230,1880,3383,3362,3404,0,0,0,0,0,0,14.59,14.50,14.62
$GC,2161,-0.48,-107.1,3229,1880,3361,3404,316.1,-11.8,209,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1880,3382,3361,3404,0,0,0,0,0,0,14.72,14.75,14.75
$GC,2457,-0.48,-107.1,3230,1879,3359,3404,349.2,-10.9,219,2465,0.00,2.47,0.00,0.000,516,0.000,0.112,3230,479,3381,3359,3404,0,0,0,0,0,0,14.74,14.53,14.76
$GC,2510,-0.48,-107.1,3230,479,3359,3404,355.4,-11.8,228,2517,0.00,2.47,0.00,0.000,1030,0.000,0.093,3230,1894,3381,3358,3404,0,0,0,0,0,0,14.63,14.54,14.64
$GC,2837,-0.48,-107.1,3230,1897,3358,3406,388.5,-9.8,241,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1892,3384,3358,3410,0,0,0,0,0,0,14.76,14.77,14.77
$GC,3134,-0.48,-107.1,3230,1893,3356,3404,417.9,-9.6,251,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1892,3383,3363,3404,0,0,0,0,0,0,14.73,14.78,14.80
$GC,3434,-0.48,-107.1,3230,1892,3354,3407,446.6,-9.6,261,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1891,3379,3354,3404,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3734,-0.48,-107.1,3230,1892,3359,3403,474.8,-9.1,271,3742,0.00,2.53,0.00,0.000,260,0.000,0.109,3230,3317,3378,3353,3404,0,0,0,0,0,0,14.76,14.54,14.80
$GC,3788,-0.48,-107.1,3230,3317,3353,3410,479.7,-8.5,280,3795,0.00,2.50,0.00,0.000,1030,0.000,0.099,3230,1901,3377,3353,3402,0,0,0,0,0,0,14.64,14.55,14.66
$GC,4116,-0.48,-107.1,3230,1901,3350,3404,507.8,-8.7,293,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1900,3377,3350,3404,0,0,0,0,0,0,14.75,14.78,14.78
$GC,4412,-0.48,-107.1,3230,1900,3349,3404,533.8,-8.7,303,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1900,3377,3350,3404,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4711,-0.48,-107.1,3230,1899,3348,3403,560.8,-9.2,313,4719,0.00,2.58,0.00,0.000,260,0.000,0.112,3230,3320,3375,3347,3403,0,0,0,0,0,0,14.76,14.56,14.79
$GC,4755,-0.48,-107.1,3230,3316,3347,3404,564.7,-9.3,320,4762,0.00,2.50,0.00,0.000,1030,0.000,0.099,3230,1899,3371,3343,3399,0,0,0,0,0,0,14.64,14.56,14.66
$GC,5093,-0.48,-107.1,3230,1899,3345,3404,595.2,-8.9,335,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1899,3374,3344,3404,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5389,-0.48,-107.1,3230,1905,3343,3402,623.0,-9.2,345,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1899,3373,3343,3404,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5689,-0.48,-107.1,3230,1899,3340,3403,650.7,-9.3,355,5697,0.00,2.53,0.00,0.000,516,0.000,0.115,3230,474,3371,3339,3404,0,0,0,0,0,0,14.76,14.57,14.78
$GC,5816,-0.48,-107.1,3228,475,3342,3404,663.6,-10.6,378,5826,0.00,2.53,0.00,0.000,1030,0.000,0.094,3230,1913,3372,3341,3403,0,0,0,0,0,0,14.64,14.57,14.66
$GC,6122,-0.48,-107.1,3230,1909,3341,3403,692.6,-9.5,389,6129,0.00,2.47,0.00,0.000,260,0.000,0.111,3230,3298,3374,3340,3409,0,0,0,0,0,0,14.76,14.54,14.76
$GC,6210,-0.48,-107.1,3230,3298,3340,3403,701.1,-9.1,405,6218,0.00,2.50,0.00,0.000,1030,0.000,0.101,3225,1899,3371,3340,3403,0,0,0,0,0,0,14.64,14.55,14.66
$GC,6533,-0.48,-107.1,3230,1899,3339,3403,729.5,-8.7,417,6540,0.00,2.53,0.00,0.000,516,0.000,0.114,3230,483,3371,3339,3403,0,0,0,0,0,0,14.75,14.54,14.77
$GC,6626,-0.48,-107.1,3230,482,3339,3402,738.8,-9.7,434,6636,0.00,2.50,0.00,0.000,1030,0.000,0.097,3227,1894,3370,3339,3402,0,0,0,0,0,0,14.64,14.54,14.65
$GC,6936,-0.48,-107.1,3230,1893,3338,3402,764.2,-8.2,445,6943,0.00,2.53,0.00,0.000,260,0.000,0.109,3230,3318,3368,3334,3402,0,0,0,0,0,0,14.73,14.56,14.76
$GC,7005,-0.48,-107.1,3230,3318,3338,3402,770.1,-8.0,457,7012,0.00,2.53,0.00,0.000,1030,0.000,0.099,3227,1884,3370,3338,3402,0,0,0,0,0,0,14.63,14.55,14.65
$GC,7349,-0.48,-107.1,3230,1884,3337,3402,796.2,-7.4,473,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1884,3370,3338,3402,0,0,0,0,0,0,14.74,14.76,14.76
$GC,7644,-0.48,-107.1,3230,1883,3336,3402,818.2,-7.2,483,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1881,3369,3336,3402,0,0,0,0,0,0,14.76,14.77,14.77
$GC,7944,-0.48,-107.1,3230,1883,3335,3402,839.8,-7.1,493,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1883,3368,3335,3402,0,0,0,0,0,0,14.75,14.77,14.77
$GC,8244,-0.48,-107.1,3230,1883,3348,3402,861.8,-7.4,503,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1883,3368,3334,3402,0,0,0,0,0,0,14.76,14.77,14.77
$GC,8543,-0.48,-107.1,3230,1883,3333,3402,884.5,-7.7,513,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1883,3367,3333,3401,0,0,0,0,0,0,14.75,14.77,14.76
$GC,8844,-0.48,-107.1,3230,1883,3333,3402,907.8,-7.9,523,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1883,3367,3333,3401,0,0,0,0,0,0,14.75,14.77,14.76
$GC,9144,-0.48,-107.1,3230,1880,3333,3401,931.3,-7.9,533,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1883,3367,3333,3401,0,0,0,0,0,0,14.75,14.77,14.76
$GC,9444,-0.48,-107.1,3230,1883,3331,3401,955.2,-8.0,543,9452,0.00,2.58,0.00,0.000,260,0.000,0.112,3226,3315,3366,3333,3400,0,0,0,0,0,0,14.75,14.53,14.76
$GC,9518,-0.48,-107.1,3230,3316,3337,3399,961.6,-7.9,556,9525,0.00,2.50,0.00,0.000,1030,0.000,0.101,3230,1904,3366,3333,3400,0,0,0,0,0,0,14.62,14.53,14.64
$GC,9856,-0.48,-107.1,3230,1903,3339,3396,987.1,-7.8,571,9864,0.00,2.53,0.00,0.000,516,0.000,0.116,3230,491,3366,3332,3400,0,0,0,0,0,0,14.74,14.54,14.76
$STATE,9874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9874,begin apogee
$GC,9888,-0.17,0.0,3235,2354,3332,3399,990.0,-9.0,574,9978,0.32,0.00,84.50,1.906,10246,0.189,0.000,3332,2355,2942,2881,3004,0,0,0,0,0,0,14.50,13.90,13.26
$STATE,9981,end apogee,CONTROL_FINISHED_OK
$STATE,9981,begin climb
$GC,9986,0.48,107.1,3333,2354,2876,3001,993.6,0.0,577,10093,0.62,2.72,88.65,1.870,10500,0.125,0.112,3543,3773,2501,2382,2620,0,0,0,0,0,0,13.90,13.67,13.08
$GC,10144,0.48,107.1,3543,3773,2380,2617,984.6,9.4,606,10157,0.00,2.67,0.00,0.000,1030,0.000,0.103,3544,2344,2498,2380,2617,0,0,0,0,0,0,14.03,13.94,14.04
$GC,10454,0.48,107.1,3543,2347,2380,2617,956.4,9.3,617,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2343,2499,2380,2618,0,0,0,0,0,0,14.47,14.49,14.48
$GC,10755,0.48,107.1,3543,2344,2380,2617,928.4,9.5,627,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2343,2498,2380,2617,0,0,0,0,0,0,14.58,14.59,14.59
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$STATE,22603,end climb,SURFACE_DEPTH_REACHED
$STATE,22603,begin surface coast
$FINISH,-0.1,1.023032
$STATE,22645,end surface coast,CONTROL_FINISHED_OK
$STATE,22645,begin surface
$SM_CCo,22676,16.65,0.086,0,0,1412,375.06
$SM_GC,1.32,9.75,0.82,16.65,0.041,0.107,0.086,95,1904,1412,-10.24,0.76,375.06,0,0,0,0,0,0,14.45,14.40,14.42
$IRIDIUM_FIX,4644.93,-12745.29,270615,053345
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.16
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3915008
$24V_AH,13.08,15.752
$10V_AH,13.03,0.000
$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,24.250,138.075,363.450,16.650,0.000,0.000,0.000,326.850,0.000,0.000,8.472,3025.455,15767.998,586.358,2854.341,1028.219,0.000,2470.541,0.000,2004.797,0.000,0.537,0.000
$DEVICE_MAMPS,359.550,2221.560,1906.380,86.445,0.000,0.000,0.000,148.410,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22671.000,10269.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.797,8.922,0.000,0.000
$MEM,286376
$DATA_FILE_SIZE,46570,1320
$CAP_FILE_SIZE,245118,0
$CFSIZE,260034560,250650624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,209.26,1
$GPS,270615,182227,4703.186,-12652.889,38,1.3,45,16.5,0.4,198.5,7,5.9