version: 66.12
glider: 187
mission: 8
dive: 67
start: 6 29 115 9 20 38
data:
$ID,187
$MISSION,8
$DIVE,67
$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,12
$R_STBD_OVSHOOT,20
$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
$GPS1,290615,090938,4711.5049,-12634.4590,35,1.0,35,16.5,0.2,0.0,8,6.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-79.2
$GPS2,290615,092006,4711.5098,-12634.2305,3,1.0,5,16.5,0.2,0.0,8,8.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,32.0,128398,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.48,-107.1,91,1895,1316,1508,0.0,0.0,0,101,0.00,0.00,-66.43,0.000,16386,0.000,0.000,92,1896,3267,3252,3282,0,0,0,0,0,0,14.54,28.83,14.57
$GC,107,-0.48,-107.1,91,1896,3253,3279,5.0,-8.7,7,136,13.40,2.75,-1.62,0.000,18948,0.366,2.219,3227,477,3381,3365,3397,0,0,0,0,0,0,14.20,13.54,14.42
$GC,373,-0.48,-107.1,3224,477,3366,3399,79.5,-20.5,56,385,0.00,2.50,0.00,0.000,1030,0.000,0.093,3228,1893,3384,3365,3403,0,0,0,0,0,0,14.47,14.39,14.49
$GC,567,-0.48,-107.1,3227,1894,3365,3411,111.6,-15.4,75,578,0.00,2.53,0.00,0.000,516,0.000,0.108,3228,480,3385,3366,3405,0,0,0,0,0,0,14.63,14.42,14.64
$GC,818,-0.48,-107.1,3227,479,3366,3406,146.9,-13.6,121,829,0.00,2.50,0.00,0.000,1030,0.000,0.090,3227,1912,3386,3366,3406,0,0,0,0,0,0,14.55,14.50,14.57
$GC,1020,-0.48,-107.1,3227,1909,3365,3406,171.9,-12.1,141,1031,0.00,2.55,0.00,0.000,516,0.000,0.106,3227,485,3385,3365,3406,0,0,0,0,0,0,14.69,14.48,14.70
$GC,1271,-0.48,-107.1,3227,485,3366,3406,204.1,-12.4,187,1283,0.00,2.45,0.00,0.000,1030,0.000,0.090,3227,1892,3385,3365,3406,0,0,0,0,0,0,14.56,14.50,14.59
$GC,1474,-0.48,-107.1,3227,1894,3369,3406,228.1,-11.8,207,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1895,3385,3365,3406,0,0,0,0,0,0,14.72,14.75,14.73
$GC,1666,-0.48,-107.1,3227,1895,3365,3406,250.5,-11.5,226,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1895,3385,3364,3406,0,0,0,0,0,0,14.73,14.75,14.74
$GC,1967,-0.48,-107.1,3226,1897,3361,3406,284.1,-11.1,236,1978,0.00,2.50,0.00,0.000,260,0.000,0.106,3227,3319,3385,3364,3406,0,0,0,0,0,0,14.76,14.54,14.79
$GC,2033,-0.48,-107.1,3227,3318,3363,3406,291.2,-10.0,247,2045,0.00,2.53,0.00,0.000,1030,0.000,0.094,3226,1886,3384,3364,3405,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2344,-0.48,-107.1,3227,1886,3362,3406,320.6,-9.5,258,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1886,3384,3362,3406,0,0,0,0,0,0,14.77,14.78,14.81
$GC,2639,-0.48,-107.1,3227,1886,3361,3406,349.5,-9.8,268,2650,0.00,2.47,0.00,0.000,516,0.000,0.112,3227,481,3383,3361,3406,0,0,0,0,0,0,14.79,14.57,14.80
$GC,2720,-0.48,-107.1,3227,481,3360,3403,358.3,-10.8,282,2732,0.00,2.47,0.00,0.000,1030,0.000,0.091,3228,1905,3383,3361,3406,0,0,0,0,0,0,14.65,14.59,14.69
$GC,3052,-0.48,-107.1,3227,1905,3359,3406,391.1,-10.1,296,3063,0.00,2.50,0.00,0.000,260,0.000,0.108,3227,3321,3382,3359,3406,0,0,0,0,0,0,14.78,14.57,14.81
$GC,3153,-0.48,-107.1,3226,3318,3358,3406,400.5,-9.5,313,3165,0.00,2.50,0.00,0.000,1030,0.000,0.098,3227,1905,3381,3358,3405,0,0,0,0,0,0,14.67,14.57,14.69
$GC,3460,-0.48,-107.1,3227,1905,3356,3406,431.3,-10.2,324,3471,0.00,2.50,0.00,0.000,516,0.000,0.111,3226,489,3380,3356,3405,0,0,0,0,0,0,14.78,14.59,14.81
$GC,3532,-0.48,-107.1,3227,487,3357,3406,439.8,-11.3,336,3543,0.00,2.47,0.00,0.000,1030,0.000,0.093,3227,1907,3381,3357,3405,0,0,0,0,0,0,14.68,14.60,14.68
$GC,3875,-0.48,-107.1,3227,1907,3354,3406,474.3,-9.9,352,3886,0.00,2.47,0.00,0.000,260,0.000,0.108,3227,3314,3377,3350,3405,0,0,0,0,0,0,14.79,14.59,14.81
$GC,3947,-0.48,-107.1,3227,3314,3354,3406,481.5,-9.9,364,3958,0.00,2.50,0.00,0.000,1030,0.000,0.097,3227,1903,3378,3354,3402,0,0,0,0,0,0,14.68,14.59,14.69
$GC,4289,-0.48,-107.1,3227,1903,3353,3406,516.3,-10.4,380,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1902,3379,3353,3405,0,0,0,0,0,0,14.79,14.81,14.81
$GC,4589,-0.48,-107.1,3227,1903,3351,3406,547.9,-10.6,390,4600,0.00,2.53,0.00,0.000,516,0.000,0.114,3227,474,3379,3352,3406,0,0,0,0,0,0,14.81,14.57,14.81
$GC,4666,-0.48,-107.1,3227,474,3351,3405,556.7,-11.5,403,4677,0.00,2.50,0.00,0.000,1030,0.000,0.093,3225,1912,3381,3357,3405,0,0,0,0,0,0,14.68,14.61,14.70
$GC,5003,-0.48,-107.1,3227,1911,3355,3405,591.5,-10.0,418,5015,0.00,2.47,0.00,0.000,260,0.000,0.110,3227,3304,3377,3349,3405,0,0,0,0,0,0,14.80,14.59,14.82
$GC,5128,-0.48,-107.1,3227,3304,3349,3407,603.3,-9.4,440,5139,0.00,2.50,0.00,0.000,1030,0.000,0.101,3227,1884,3377,3349,3405,0,0,0,0,0,0,14.68,14.58,14.69
$GC,5450,-0.48,-107.1,3227,1887,3346,3405,631.9,-8.8,452,5461,0.00,2.47,0.00,0.000,516,0.000,0.115,3227,494,3375,3346,3405,0,0,0,0,0,0,14.80,14.59,14.81
$GC,5531,-0.48,-107.1,3228,492,3346,3405,639.9,-10.0,466,5544,0.00,2.42,0.00,0.000,1030,0.000,0.094,3227,1894,3373,3346,3401,0,0,0,0,0,0,14.64,14.58,14.67
$GC,5865,-0.48,-107.1,3227,1894,3345,3405,668.4,-8.5,480,5876,0.00,2.53,0.00,0.000,260,0.000,0.109,3226,3320,3373,3342,3405,0,0,0,0,0,0,14.79,14.57,14.81
$GC,5975,-0.48,-107.1,3227,3319,3345,3405,677.3,-8.1,499,5986,0.00,2.50,0.00,0.000,1030,0.000,0.098,3228,1905,3374,3344,3405,0,0,0,0,0,0,14.67,14.58,14.69
$GC,6312,-0.48,-107.1,3227,1905,3349,3404,706.0,-8.4,514,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1905,3373,3343,3404,0,0,0,0,0,0,14.79,14.81,14.81
$GC,6613,-0.48,-107.1,3227,1904,3342,3404,731.7,-8.7,524,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1905,3373,3342,3404,0,0,0,0,0,0,14.79,14.80,14.83
$GC,6913,-0.48,-107.1,3227,1908,3341,3404,758.5,-9.0,534,6924,0.00,2.55,0.00,0.000,260,0.000,0.112,3227,3321,3376,3348,3404,0,0,0,0,0,0,14.80,14.59,14.81
$GC,6990,-0.48,-107.1,3227,3321,3341,3401,765.4,-8.9,547,7001,0.00,2.53,0.00,0.000,1030,0.000,0.099,3230,1886,3372,3341,3403,0,0,0,0,0,0,14.68,14.59,14.69
$GC,7327,-0.48,-107.1,3227,1886,3338,3403,796.4,-9.3,562,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1886,3371,3341,3401,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7627,-0.48,-107.1,3228,1886,3339,3403,823.6,-9.1,572,7638,0.00,2.47,0.00,0.000,516,0.000,0.116,3227,493,3371,3340,3403,0,0,0,0,0,0,14.79,14.58,14.81
$GC,7704,-0.48,-107.1,3227,493,3340,3403,831.3,-10.0,585,7715,0.00,2.47,0.00,0.000,1030,0.000,0.094,3227,1915,3371,3340,3402,0,0,0,0,0,0,14.67,14.59,14.69
$GC,8041,-0.48,-107.1,3227,1914,3339,3402,858.5,-7.9,600,8052,0.00,2.50,0.00,0.000,260,0.000,0.110,3228,3309,3370,3339,3402,0,0,0,0,0,0,14.78,14.58,14.81
$GC,8141,-0.48,-107.1,3227,3308,3334,3402,866.3,-7.4,617,8154,0.00,2.50,0.00,0.000,1030,0.000,0.102,3227,1906,3370,3339,3402,0,0,0,0,0,0,14.66,14.57,14.68
$GC,8449,-0.48,-107.1,3227,1906,3339,3401,888.0,-7.1,628,8460,0.00,2.53,0.00,0.000,516,0.000,0.116,3227,477,3370,3339,3402,0,0,0,0,0,0,14.78,14.59,14.80
$GC,8521,-0.48,-107.1,3227,479,3339,3402,894.4,-8.4,640,8532,0.00,2.50,0.00,0.000,1030,0.000,0.095,3228,1895,3370,3339,3402,0,0,0,0,0,0,14.66,14.57,14.68
$GC,8863,-0.48,-107.1,3225,1895,3336,3401,920.7,-7.9,656,8874,0.00,2.50,0.00,0.000,260,0.000,0.109,3227,3316,3373,3345,3402,0,0,0,0,0,0,14.78,14.57,14.80
$GC,8964,-0.48,-107.1,3227,3316,3339,3401,928.8,-7.7,673,8975,0.00,2.53,0.00,0.000,1030,0.000,0.101,3227,1887,3369,3338,3401,0,0,0,0,0,0,14.66,14.57,14.67
$GC,9270,-0.48,-107.1,3223,1887,3338,3401,952.2,-8.0,684,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1887,3372,3342,3402,0,0,0,0,0,0,14.80,14.79,14.79
$GC,9565,-0.48,-107.1,3227,1884,3337,3401,976.4,-8.0,694,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1887,3369,3337,3401,0,0,0,0,0,0,14.78,14.80,14.80
$STATE,9740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9741,begin apogee
$GC,9752,-0.17,0.0,3227,2353,3336,3401,990.5,-7.8,700,9844,0.32,0.00,84.10,1.902,10246,0.179,0.000,3329,2353,2942,2883,3002,0,0,0,0,0,0,14.54,13.93,13.31
$STATE,9847,end apogee,CONTROL_FINISHED_OK
$STATE,9847,begin climb
$GC,9852,0.48,107.1,3332,2353,2881,3001,994.8,0.0,703,9955,0.65,0.00,89.40,1.864,10246,0.122,0.000,3547,2353,2499,2384,2614,0,0,0,0,0,0,13.95,13.71,13.09
$GC,10255,0.48,107.1,3545,2353,2383,2614,963.2,9.4,717,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,2353,2500,2383,2618,0,0,0,0,0,0,14.44,14.45,14.45
$GC,10560,0.48,107.1,3545,2353,2382,2618,934.4,9.6,727,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2353,2501,2382,2621,0,0,0,0,0,0,14.57,14.59,14.58
$GC,10860,0.48,107.1,3545,2352,2381,2618,905.4,9.6,737,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2352,2499,2381,2618,0,0,0,0,0,0,14.63,14.65,14.65
$GC,11160,0.48,107.1,3545,2353,2380,2618,875.7,9.9,747,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,2353,2499,2380,2618,0,0,0,0,0,0,14.67,14.69,14.69
$GC,11460,0.48,107.1,3546,2353,2380,2618,847.7,9.1,757,11471,0.00,2.55,0.00,0.000,516,0.000,0.112,3556,937,2499,2380,2618,0,0,0,0,0,0,14.71,14.49,14.72
$GC,11526,0.48,107.1,3556,937,2380,2618,841.3,9.4,768,11537,0.00,2.50,0.00,0.000,1030,0.000,0.097,3556,2349,2499,2380,2618,0,0,0,0,0,0,14.59,14.52,14.61
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$STATE,22372,end climb,SURFACE_DEPTH_REACHED
$STATE,22372,begin surface coast
$FINISH,-0.0,1.023453
$STATE,22414,end surface coast,CONTROL_FINISHED_OK
$STATE,22414,begin surface
$SM_CCo,22450,7.15,0.086,0,0,1411,375.06
$SM_GC,2.42,9.93,1.75,7.15,0.045,0.087,0.086,88,1898,1411,-10.26,-0.59,375.06,0,0,0,0,0,0,14.45,14.42,14.42
$IRIDIUM_FIX,4651.23,-12638.89,290615,023916
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.16
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,20.20
$XPDR_PINGS,0
$SC_FREEKB,3912320
$24V_AH,13.09,17.773
$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,24.475,176.150,356.225,7.150,0.000,0.000,0.000,322.825,0.000,0.000,7.183,3306.524,14745.720,619.648,3284.266,1110.508,0.000,2779.958,0.000,2301.519,0.000,0.538,0.000
$DEVICE_MAMPS,365.670,2218.500,1901.790,85.680,0.000,0.000,0.000,153.000,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22438.000,531.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.803,6.981,0.000,0.000
$MEM,286400
$DATA_FILE_SIZE,53163,1498
$CAP_FILE_SIZE,267971,0
$CFSIZE,260034560,249827328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,124.20,1
$GPS,290615,153633,4712.764,-12630.821,39,0.8,39,16.5,0.7,78.2,11,4.9