version: 66.12
glider: 187
mission: 8
dive: 70
start: 6 30 115 5 20 52
data:
$ID,187
$MISSION,8
$DIVE,70
$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,43
$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,15
$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
$GPS1,300615,050633,4717.1289,-12623.8047,40,0.8,77,16.5,0.7,329.0,12,2.5
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-77.4
$GPS2,300615,052024,4717.2783,-12623.6494,3,0.6,5,16.6,0.6,42.8,12,3.7
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,42.9,111493,-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,25,begin dive
$GC,30,-0.45,-107.1,81,1898,1310,1522,0.0,0.0,0,101,0.00,0.00,-67.20,0.000,16386,0.000,0.000,83,1898,3282,3269,3296,0,0,0,0,0,0,14.54,28.83,14.56
$GC,108,-0.45,-107.1,87,1898,3265,3295,4.5,-7.5,7,133,13.27,2.78,-1.48,0.000,18948,0.356,2.226,3234,493,3378,3362,3395,0,0,0,0,0,0,14.19,13.54,14.41
$GC,371,-0.45,-107.1,3235,493,3361,3400,73.5,-19.2,56,380,0.00,2.47,0.00,0.000,1030,0.000,0.090,3236,1895,3381,3362,3400,0,0,0,0,0,0,14.45,14.39,14.47
$GC,562,-0.45,-107.1,3235,1895,3357,3402,103.2,-13.7,75,569,0.00,2.53,0.00,0.000,516,0.000,0.109,3236,492,3381,3361,3402,0,0,0,0,0,0,14.62,14.40,14.62
$GC,807,-0.45,-107.1,3232,490,3362,3402,137.3,-14.1,121,815,0.00,2.47,0.00,0.000,1030,0.000,0.090,3236,1912,3382,3362,3403,0,0,0,0,0,0,14.52,14.45,14.52
$GC,1006,-0.45,-107.1,3232,1911,3361,3403,162.1,-12.3,141,1013,0.00,2.47,0.00,0.000,260,0.000,0.103,3237,3308,3382,3362,3403,0,0,0,0,0,0,14.64,14.47,14.68
$GC,1088,-0.45,-107.1,3235,3308,3364,3403,172.0,-11.7,156,1097,0.00,2.50,0.00,0.000,1030,0.000,0.095,3236,1892,3382,3361,3403,0,0,0,0,0,0,14.55,14.47,14.57
$GC,1278,-0.45,-107.1,3235,1891,3361,3402,194.2,-11.2,175,1286,0.00,2.47,0.00,0.000,516,0.000,0.109,3235,493,3383,3363,3403,0,0,0,0,0,0,14.68,14.47,14.69
$GC,1352,-0.45,-107.1,3235,493,3362,3403,202.9,-11.8,188,1361,0.00,2.45,0.00,0.000,1030,0.000,0.090,3236,1895,3381,3361,3401,0,0,0,0,0,0,14.57,14.48,14.59
$GC,1542,-0.45,-107.1,3235,1894,3361,3403,223.1,-10.6,207,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1894,3382,3361,3403,0,0,0,0,0,0,14.70,14.72,14.71
$GC,1732,-0.45,-107.1,3235,1894,3360,3403,243.6,-10.6,226,1740,0.00,2.50,0.00,0.000,260,0.000,0.104,3235,3317,3381,3360,3403,0,0,0,0,0,0,14.69,14.50,14.72
$GC,1781,-0.45,-107.1,3236,3317,3360,3402,248.8,-10.3,234,1789,0.00,2.50,0.00,0.000,1030,0.000,0.095,3237,1904,3380,3359,3402,0,0,0,0,0,0,14.59,14.50,14.61
$GC,1980,-0.45,-107.1,3235,1908,3359,3403,268.8,-9.8,242,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1903,3380,3358,3402,0,0,0,0,0,0,14.72,14.74,14.73
$GC,2280,-0.45,-107.1,3235,1902,3358,3402,299.3,-10.2,252,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1903,3380,3358,3402,0,0,0,0,0,0,14.73,14.75,14.75
$GC,2580,-0.45,-107.1,3235,1903,3359,3402,329.8,-10.2,262,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1903,3379,3356,3402,0,0,0,0,0,0,14.74,14.76,14.76
$GC,2880,-0.45,-107.1,3236,1903,3355,3402,360.6,-10.4,272,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1903,3379,3354,3405,0,0,0,0,0,0,14.76,14.77,14.78
$GC,3180,-0.45,-107.1,3237,1903,3353,3402,391.0,-10.0,282,3188,0.00,2.53,0.00,0.000,516,0.000,0.114,3236,475,3377,3353,3402,0,0,0,0,0,0,14.76,14.52,14.76
$GC,3228,-0.45,-107.1,3235,475,3353,3403,396.1,-10.9,290,3237,0.00,2.50,0.00,0.000,1030,0.000,0.090,3236,1913,3378,3353,3403,0,0,0,0,0,0,14.64,14.57,14.66
$GC,3562,-0.45,-107.1,3235,1913,3351,3403,428.4,-9.9,304,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1913,3377,3351,3403,0,0,0,0,0,0,14.75,14.77,14.76
$GC,3858,-0.45,-107.1,3234,1917,3349,3402,458.7,-9.9,314,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1912,3375,3349,3402,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4158,-0.45,-107.1,3235,1912,3347,3402,487.4,-9.3,324,4166,0.00,2.47,0.00,0.000,260,0.000,0.109,3235,3309,3375,3347,3403,0,0,0,0,0,0,14.76,14.56,14.78
$GC,4222,-0.45,-107.1,3235,3309,3347,3402,493.1,-8.8,335,4230,0.00,2.50,0.00,0.000,1030,0.000,0.099,3236,1903,3374,3346,3402,0,0,0,0,0,0,14.64,14.55,14.66
$GC,4531,-0.45,-107.1,3235,1899,3344,3402,520.6,-9.2,346,4539,0.00,2.53,0.00,0.000,516,0.000,0.114,3236,473,3373,3344,3402,0,0,0,0,0,0,14.76,14.53,14.77
$GC,4609,-0.45,-107.1,3235,474,3341,3403,529.0,-10.3,360,4618,0.00,2.47,0.00,0.000,1030,0.000,0.094,3235,1893,3373,3345,3402,0,0,0,0,0,0,14.62,14.55,14.65
$GC,4944,-0.45,-107.1,3235,1892,3342,3403,560.5,-9.7,374,4952,0.00,2.53,0.00,0.000,260,0.000,0.107,3240,3319,3372,3342,3402,0,0,0,0,0,0,14.75,14.54,14.76
$GC,5023,-0.45,-107.1,3235,3319,3342,3403,568.5,-9.2,388,5030,0.00,2.53,0.00,0.000,1030,0.000,0.097,3236,1886,3372,3342,3402,0,0,0,0,0,0,14.64,14.55,14.65
$GC,5356,-0.45,-107.1,3239,1885,3341,3402,599.1,-9.3,402,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1885,3370,3341,3399,0,0,0,0,0,0,14.76,14.80,14.76
$GC,5651,-0.45,-107.1,3235,1890,3340,3402,626.1,-8.8,412,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1887,3370,3339,3402,0,0,0,0,0,0,14.76,14.77,14.78
$GC,5952,-0.45,-107.1,3235,1885,3342,3402,651.6,-8.3,422,5960,0.00,2.58,0.00,0.000,260,0.000,0.109,3235,3320,3370,3338,3402,0,0,0,0,0,0,14.76,14.54,14.77
$GC,6021,-0.45,-107.1,3234,3319,3338,3402,657.3,-8.1,434,6030,0.00,2.53,0.00,0.000,1030,0.000,0.099,3236,1903,3370,3338,3402,0,0,0,0,0,0,14.64,14.54,14.65
$GC,6365,-0.45,-107.1,3236,1904,3338,3402,685.5,-8.4,450,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1904,3369,3338,3401,0,0,0,0,0,0,14.75,14.77,14.76
$GC,6661,-0.45,-107.1,3238,1908,3337,3401,710.5,-8.3,460,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1904,3368,3336,3401,0,0,0,0,0,0,14.76,14.80,14.77
$GC,6961,-0.45,-107.1,3235,1904,3334,3401,734.9,-8.2,470,6970,0.00,2.53,0.00,0.000,260,0.000,0.111,3236,3318,3368,3335,3401,0,0,0,0,0,0,14.76,14.54,14.76
$GC,7036,-0.45,-107.1,3235,3317,3335,3400,741.0,-8.2,483,7044,0.00,2.53,0.00,0.000,1030,0.000,0.098,3236,1903,3367,3335,3400,0,0,0,0,0,0,14.66,14.54,14.66
$GC,7374,-0.45,-107.1,3235,1902,3341,3400,769.3,-8.4,498,7383,0.00,2.53,0.00,0.000,516,0.000,0.115,3236,478,3369,3334,3405,0,0,0,0,0,0,14.75,14.53,14.76
$GC,7433,-0.45,-107.1,3234,478,3334,3399,775.3,-9.4,508,7441,0.00,2.53,0.00,0.000,1030,0.000,0.096,3234,1904,3369,3334,3404,0,0,0,0,0,0,14.64,14.55,14.65
$GC,7753,-0.45,-107.1,3237,1906,3330,3399,800.6,-7.8,520,7760,0.00,2.53,0.00,0.000,260,0.000,0.111,3236,3318,3366,3333,3399,0,0,0,0,0,0,14.78,14.52,14.76
$GC,7845,-0.45,-107.1,3235,3323,3333,3398,807.6,-7.8,537,7854,0.00,2.53,0.00,0.000,1030,0.000,0.100,3235,1905,3365,3333,3398,0,0,0,0,0,0,14.62,14.54,14.64
$GC,8156,-0.45,-107.1,3235,1903,3333,3398,831.1,-7.5,548,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1902,3365,3333,3398,0,0,0,0,0,0,14.76,14.78,14.77
$GC,8451,-0.45,-107.1,3235,1903,3333,3398,853.9,-7.3,558,8460,0.00,2.58,0.00,0.000,260,0.000,0.111,3236,3319,3365,3333,3398,0,0,0,0,0,0,14.74,14.52,14.76
$GC,8516,-0.45,-107.1,3235,3319,3333,3393,859.0,-7.0,569,8525,0.00,2.55,0.00,0.000,1030,0.000,0.100,3236,1885,3365,3333,3398,0,0,0,0,0,0,14.62,14.52,14.64
$GC,8826,-0.45,-107.1,3235,1885,3332,3397,879.5,-6.8,580,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1882,3364,3332,3397,0,0,0,0,0,0,14.74,14.76,14.76
$GC,9121,-0.45,-107.1,3235,1885,3332,3398,901.3,-7.5,590,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1887,3364,3331,3397,0,0,0,0,0,0,14.74,14.76,14.76
$GC,9422,-0.45,-107.1,3232,1885,3331,3397,924.8,-7.9,600,9429,0.00,2.58,0.00,0.000,260,0.000,0.111,3236,3318,3363,3330,3397,0,0,0,0,0,0,14.74,14.52,14.77
$GC,9474,-0.45,-107.1,3235,3317,3330,3402,929.6,-7.7,609,9482,0.00,2.50,0.00,0.000,1030,0.000,0.099,3236,1901,3363,3330,3397,0,0,0,0,0,0,14.62,14.55,14.64
$GC,9802,-0.45,-107.1,3235,1904,3330,3397,953.6,-7.4,622,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1904,3365,3331,3399,0,0,0,0,0,0,14.73,14.76,14.75
$GC,10098,-0.45,-107.1,3240,1904,3329,3397,974.5,-6.8,632,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1904,3363,3329,3397,0,0,0,0,0,0,14.73,14.76,14.76
$STATE,10333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10333,begin apogee
$GC,10345,-0.16,0.0,3236,2354,3329,3395,990.3,-6.5,640,10434,0.32,0.00,83.85,1.897,10246,0.177,0.000,3339,2354,2940,2882,2999,0,0,0,0,0,0,14.50,13.91,13.26
$STATE,10437,end apogee,CONTROL_FINISHED_OK
$STATE,10437,begin climb
$GC,10442,0.45,107.1,3339,2354,2878,2999,993.6,0.0,643,10550,0.55,2.72,88.55,1.865,10500,0.118,0.113,3529,3772,2500,2384,2617,0,0,0,0,0,0,13.93,13.69,13.09
$GC,10560,0.45,107.1,3529,3772,2383,2611,987.6,9.5,664,10571,0.00,2.67,0.00,0.000,1030,0.000,0.099,3529,2347,2499,2383,2616,0,0,0,0,0,0,13.92,13.83,13.94
$GC,10887,0.45,107.1,3529,2344,2383,2616,958.9,8.8,677,10898,0.00,2.58,0.00,0.000,516,0.000,0.112,3536,937,2497,2378,2616,0,0,0,0,0,0,14.44,14.25,14.47
$GC,10949,0.45,107.1,3529,938,2384,2617,954.3,8.6,687,10960,0.00,2.55,0.00,0.000,1030,0.000,0.096,3528,2357,2499,2381,2617,0,0,0,0,0,0,14.38,14.28,14.42
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$STATE,23333,end climb,SURFACE_DEPTH_REACHED
$STATE,23334,begin surface coast
$FINISH,1.3,1.023751
$STATE,23365,end surface coast,CONTROL_FINISHED_OK
$STATE,23365,begin surface
$SM_CCo,23399,16.98,0.088,0,0,1412,375.06
$SM_GC,1.37,9.75,3.40,16.98,0.046,0.099,0.088,96,1905,1412,-10.24,0.68,375.06,0,0,0,0,0,0,14.45,14.41,14.43
$IRIDIUM_FIX,4654.38,-12423.65,300615,051107
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.63
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3911168
$24V_AH,13.09,18.684
$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,24.450,194.050,356.075,16.975,0.000,0.000,0.000,500.675,0.000,0.000,7.135,3280.735,15969.590,614.035,3255.539,1103.892,0.000,2819.851,0.000,2254.919,0.000,0.537,0.000
$DEVICE_MAMPS,356.490,2226.150,1897.200,87.975,0.000,0.000,0.000,140.760,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23391.000,10728.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.768,8.922,0.000,0.000
$MEM,286352
$DATA_FILE_SIZE,53257,1472
$CAP_FILE_SIZE,269513,0
$CFSIZE,260034560,249475072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,40.07,1
$GPS,300615,115232,4718.871,-12619.979,28,0.8,28,16.6,0.6,252.2,10,4.4