version: 66.12
glider: 187
mission: 8
dive: 66
start: 6 29 115 2 44 53
data:
$ID,187
$MISSION,8
$DIVE,66
$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,14
$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
$GPS1,290615,023503,4709.6143,-12637.6396,73,0.8,79,16.5,0.3,84.1,11,5.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.5
$GPS2,290615,024425,4709.6421,-12637.5898,2,0.8,4,16.5,0.3,345.9,12,5.6
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,25.2,133806,-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,-107.1,90,1891,1309,1520,0.0,0.0,0,101,0.00,0.00,-66.97,0.000,16386,0.000,0.000,90,1892,3281,3268,3295,0,0,0,0,0,0,14.56,28.83,14.57
$GC,107,-0.48,-107.1,90,1892,3268,3296,5.0,-8.6,7,132,13.30,2.72,-1.45,0.000,18948,0.360,2.219,3227,492,3378,3364,3392,0,0,0,0,0,0,14.20,13.56,14.42
$GC,370,-0.48,-107.1,3227,492,3366,3402,75.0,-19.7,56,378,0.00,2.50,0.00,0.000,1030,0.000,0.094,3227,1905,3386,3365,3408,0,0,0,0,0,0,14.46,14.38,14.48
$GC,560,-0.48,-107.1,3228,1904,3365,3402,105.9,-14.9,75,567,0.00,2.55,0.00,0.000,516,0.000,0.106,3227,476,3383,3364,3403,0,0,0,0,0,0,14.62,14.40,14.63
$GC,753,-0.48,-107.1,3227,476,3365,3404,134.8,-14.0,111,760,0.00,2.50,0.00,0.000,1030,0.000,0.094,3228,1895,3384,3365,3404,0,0,0,0,0,0,14.53,14.44,14.57
$GC,952,-0.48,-107.1,3227,1894,3364,3405,159.8,-11.5,131,959,0.00,2.53,0.00,0.000,260,0.000,0.105,3227,3319,3384,3364,3405,0,0,0,0,0,0,14.65,14.44,14.68
$GC,1063,-0.48,-107.1,3227,3316,3364,3405,171.4,-9.9,151,1070,0.00,2.53,0.00,0.000,1030,0.000,0.094,3227,1902,3384,3364,3405,0,0,0,0,0,0,14.55,14.47,14.58
$GC,1262,-0.48,-107.1,3227,1900,3365,3405,193.1,-11.0,171,1269,0.00,2.50,0.00,0.000,516,0.000,0.109,3227,485,3382,3359,3405,0,0,0,0,0,0,14.68,14.47,14.70
$GC,1404,-0.48,-107.1,3227,485,3362,3405,211.3,-12.6,197,1412,0.00,2.47,0.00,0.000,1030,0.000,0.090,3227,1900,3384,3364,3405,0,0,0,0,0,0,14.58,14.50,14.59
$GC,1603,-0.48,-107.1,3227,1900,3364,3405,233.2,-10.9,217,1610,0.00,2.53,0.00,0.000,516,0.000,0.108,3228,484,3385,3365,3405,0,0,0,0,0,0,14.73,14.50,14.72
$GC,1661,-0.48,-107.1,3227,484,3364,3405,240.1,-12.1,227,1669,0.00,2.50,0.00,0.000,1030,0.000,0.092,3228,1911,3384,3364,3405,0,0,0,0,0,0,14.59,14.52,14.61
$GC,1876,-0.48,-107.1,3227,1910,3363,3405,263.5,-11.0,240,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1911,3384,3363,3405,0,0,0,0,0,0,14.71,14.73,14.73
$GC,2170,-0.48,-107.1,3227,1908,3359,3405,296.2,-10.7,250,2179,0.00,2.47,0.00,0.000,260,0.000,0.108,3227,3305,3383,3362,3405,0,0,0,0,0,0,14.73,14.53,14.75
$GC,2249,-0.48,-107.1,3224,3309,3361,3405,304.6,-10.6,264,2257,0.00,2.50,0.00,0.000,1030,0.000,0.097,3228,1885,3383,3361,3405,0,0,0,0,0,0,14.60,14.53,14.62
$GC,2582,-0.48,-107.1,3227,1885,3359,3405,340.7,-11.3,278,2592,0.00,2.47,0.00,0.000,516,0.000,0.113,3227,476,3380,3360,3401,0,0,0,0,0,0,14.74,14.52,14.76
$GC,2683,-0.48,-107.1,3227,477,3359,3405,353.3,-12.0,296,2691,0.00,2.50,0.00,0.000,1030,0.000,0.091,3227,1897,3382,3359,3405,0,0,0,0,0,0,14.63,14.55,14.65
$GC,3026,-0.48,-107.1,3228,1901,3357,3404,390.4,-10.6,312,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1897,3381,3357,3405,0,0,0,0,0,0,14.74,14.76,14.76
$GC,3322,-0.48,-107.1,3227,1897,3356,3405,420.6,-9.8,322,3331,0.00,2.53,0.00,0.000,516,0.000,0.112,3227,488,3378,3352,3405,0,0,0,0,0,0,14.76,14.54,14.77
$GC,3456,-0.48,-107.1,3227,489,3356,3404,434.8,-11.0,346,3465,0.00,2.50,0.00,0.000,1030,0.000,0.098,3228,1917,3379,3353,3405,0,0,0,0,0,0,14.63,14.54,14.64
$GC,3800,-0.48,-107.1,3227,1916,3349,3405,469.5,-10.1,362,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1916,3379,3353,3405,0,0,0,0,0,0,14.75,14.78,14.76
$GC,4097,-0.48,-107.1,3227,1916,3353,3405,498.5,-9.5,372,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1916,3379,3353,3405,0,0,0,0,0,0,14.76,14.77,14.77
$GC,4396,-0.48,-107.1,3232,1916,3352,3405,527.1,-9.6,382,4404,0.00,2.55,0.00,0.000,516,0.000,0.112,3227,491,3378,3351,3405,0,0,0,0,0,0,14.76,14.55,14.77
$GC,4470,-0.48,-107.1,3227,491,3350,3405,534.9,-10.6,395,4478,0.00,2.47,0.00,0.000,1030,0.000,0.096,3227,1895,3377,3350,3405,0,0,0,0,0,0,14.64,14.55,14.66
$GC,4808,-0.48,-107.1,3227,1894,3344,3404,565.3,-8.7,410,4817,0.00,2.50,0.00,0.000,260,0.000,0.108,3227,3317,3376,3348,3405,0,0,0,0,0,0,14.76,14.54,14.78
$GC,4909,-0.48,-107.1,3227,3316,3349,3404,574.1,-8.5,428,4917,0.00,2.53,0.00,0.000,1030,0.000,0.100,3227,1905,3376,3349,3404,0,0,0,0,0,0,14.64,14.56,14.66
$GC,5253,-0.48,-107.1,3232,1902,3345,3405,603.3,-8.5,444,5260,0.00,2.53,0.00,0.000,516,0.000,0.114,3224,475,3377,3345,3410,0,0,0,0,0,0,14.76,14.52,14.77
$GC,5341,-0.48,-107.1,3223,475,3345,3404,612.1,-9.6,460,5348,0.00,2.50,0.00,0.000,1030,0.000,0.096,3227,1896,3374,3345,3404,0,0,0,0,0,0,14.64,14.55,14.65
$GC,5663,-0.48,-107.1,3227,1895,3344,3404,640.6,-9.0,472,5671,0.00,2.53,0.00,0.000,260,0.000,0.109,3227,3320,3374,3344,3404,0,0,0,0,0,0,14.75,14.51,14.76
$GC,5741,-0.48,-107.1,3227,3320,3343,3410,647.7,-8.4,486,5749,0.00,2.53,0.00,0.000,1030,0.000,0.099,3227,1886,3374,3345,3404,0,0,0,0,0,0,14.63,14.54,14.64
$GC,6075,-0.48,-107.1,3227,1886,3342,3399,675.9,-8.5,500,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1886,3373,3342,3404,0,0,0,0,0,0,14.74,14.77,14.76
$GC,6371,-0.48,-107.1,3227,1885,3341,3402,701.8,-8.7,510,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1884,3370,3341,3399,0,0,0,0,0,0,14.76,14.77,14.77
$GC,6671,-0.48,-107.1,3227,1885,3342,3404,726.4,-8.0,520,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1885,3372,3340,3404,0,0,0,0,0,0,14.76,14.77,14.77
$GC,6971,-0.48,-107.1,3227,1885,3339,3404,749.7,-7.8,530,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1885,3371,3339,3404,0,0,0,0,0,0,14.76,14.77,14.77
$GC,7270,-0.48,-107.1,3224,1885,3339,3404,772.7,-7.7,540,7278,0.00,2.60,0.00,0.000,260,0.000,0.110,3228,3321,3368,3334,3403,0,0,0,0,0,0,14.76,14.54,14.77
$GC,7379,-0.48,-107.1,3227,3320,3338,3403,781.0,-7.5,560,7387,0.00,2.50,0.00,0.000,1030,0.000,0.100,3227,1906,3371,3339,3403,0,0,0,0,0,0,14.62,14.53,14.62
$GC,7712,-0.48,-107.1,3226,1905,3338,3400,806.0,-7.5,574,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1905,3370,3338,3403,0,0,0,0,0,0,14.74,14.77,14.76
$GC,8008,-0.48,-107.1,3227,1905,3338,3402,828.6,-7.5,584,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1905,3369,3337,3402,0,0,0,0,0,0,14.75,14.77,14.77
$GC,8308,-0.48,-107.1,3227,1905,3337,3402,851.8,-7.9,594,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1905,3370,3336,3405,0,0,0,0,0,0,14.75,14.76,14.76
$GC,8608,-0.48,-107.1,3228,1905,3340,3402,875.7,-8.0,604,8616,0.00,2.55,0.00,0.000,260,0.000,0.112,3227,3320,3369,3336,3402,0,0,0,0,0,0,14.75,14.54,14.76
$GC,8677,-0.48,-107.1,3227,3319,3336,3401,881.6,-7.7,616,8685,0.00,2.53,0.00,0.000,1030,0.000,0.099,3227,1899,3371,3336,3407,0,0,0,0,0,0,14.64,14.55,14.65
$GC,9021,-0.48,-107.1,3227,1900,3335,3401,907.3,-7.7,632,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1900,3368,3335,3401,0,0,0,0,0,0,14.73,14.76,14.76
$GC,9316,-0.48,-107.1,3227,1899,3334,3398,930.2,-7.6,642,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1899,3367,3334,3401,0,0,0,0,0,0,14.74,14.76,14.76
$GC,9616,-0.48,-107.1,3227,1900,3335,3401,952.9,-7.5,652,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1900,3367,3334,3401,0,0,0,0,0,0,14.76,14.76,14.76
$GC,9916,-0.48,-107.1,3227,1900,3334,3401,974.7,-7.2,662,9925,0.00,2.58,0.00,0.000,260,0.000,0.113,3227,3320,3365,3333,3398,0,0,0,0,0,0,14.74,14.52,14.76
$GC,9980,-0.48,-107.1,3227,3320,3334,3401,980.0,-6.9,673,9989,0.00,2.55,0.00,0.000,1030,0.000,0.103,3227,1891,3364,3329,3399,0,0,0,0,0,0,14.62,14.53,14.64
$STATE,10131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10132,begin apogee
$GC,10143,-0.17,0.0,3227,2358,3333,3400,990.4,-7.1,679,10233,0.32,0.00,84.62,1.896,10246,0.181,0.000,3331,2358,2942,2882,3002,0,0,0,0,0,0,14.49,13.91,13.26
$STATE,10236,end apogee,CONTROL_FINISHED_OK
$STATE,10236,begin climb
$GC,10241,0.48,107.1,3331,2358,2878,2999,994.2,0.0,682,10348,0.62,2.72,88.18,1.857,10500,0.123,0.112,3543,3768,2502,2386,2618,0,0,0,0,0,0,13.92,13.69,13.09
$GC,10369,0.48,107.1,3543,3769,2384,2617,987.7,10.7,705,10381,0.00,2.67,0.00,0.000,1030,0.000,0.101,3543,2346,2500,2384,2617,0,0,0,0,0,0,13.95,13.85,13.97
$GC,10679,0.48,107.1,3543,2346,2383,2617,960.6,8.9,716,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2346,2500,2384,2617,0,0,0,0,0,0,14.45,14.45,14.47
$GC,10979,0.48,107.1,3543,2345,2381,2617,933.8,9.1,726,10990,0.00,2.55,0.00,0.000,516,0.000,0.115,3547,933,2504,2391,2617,0,0,0,0,0,0,14.57,14.36,14.58
$GC,11015,0.48,107.1,3543,936,2384,2617,930.3,8.4,731,11028,0.00,2.53,0.00,0.000,1030,0.000,0.097,3544,2355,2501,2386,2617,0,0,0,0,0,0,14.47,14.38,14.48
$GC,11326,0.48,107.1,3540,2355,2384,2617,902.1,9.2,742,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2355,2500,2383,2617,0,0,0,0,0,0,14.64,14.66,14.66
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$STATE,22920,end climb,SURFACE_DEPTH_REACHED
$STATE,22920,begin surface coast
$FINISH,2.1,1.023561
$STATE,22936,end surface coast,CONTROL_FINISHED_OK
$STATE,22936,begin surface
$SM_CCo,22974,19.27,0.089,0,0,1411,375.06
$SM_GC,1.88,9.95,3.40,19.27,0.051,0.096,0.089,92,1905,1411,-10.25,0.59,375.06,0,0,0,0,0,0,14.44,14.40,14.42
$IRIDIUM_FIX,4651.23,-12643.33,280615,200939
$TT8_MAMPS,0.021721,0.021721
$HUMID,48.18
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3912704
$24V_AH,13.09,17.497
$10V_AH,13.04,0.000
$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,24.475,189.150,360.025,19.275,0.000,0.000,0.000,298.575,0.000,0.000,6.177,3316.766,15433.619,611.827,3098.788,1073.115,0.000,2609.259,0.000,2321.267,0.000,0.537,0.000
$DEVICE_MAMPS,360.315,2218.500,1895.670,88.740,0.000,0.000,0.000,154.530,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22963.000,10517.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.742,8.917,0.000,0.000
$MEM,286364
$DATA_FILE_SIZE,53250,1507
$CAP_FILE_SIZE,263363,0
$CFSIZE,260034560,249946112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,98.91,1
$GPS,290615,090938,4711.505,-12634.459,35,1.0,35,16.5,0.2,0.0,8,6.7