version: 66.12
glider: 187
mission: 8
dive: 123
start: 7 13 115 21 46 27
data:
$ID,187
$MISSION,8
$DIVE,123
$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,350
$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,3394
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,21
$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,0.00050000002
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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
$GPS1,130715,213350,4719.7627,-12624.2480,84,1.2,84,16.6,0.6,260.6,8,8.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-77.5
$GPS2,130715,214559,4719.7173,-12624.2891,2,1.0,4,16.6,0.2,0.0,10,6.6
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,191.4,58034,-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,28,-0.39,-107.1,86,1896,1422,1612,0.0,0.0,0,91,0.00,0.00,-55.88,0.000,16386,0.000,0.000,89,1897,3057,3023,3091,0,0,0,0,0,0,14.52,28.83,14.54
$GC,98,-0.39,-107.1,91,1896,3027,3092,3.7,-5.2,6,131,13.55,2.83,-5.05,0.000,18692,0.358,2.206,3251,3299,3381,3356,3407,0,0,0,0,0,0,14.12,13.32,14.38
$GC,370,-0.39,-107.1,3252,3299,3358,3411,56.1,-13.2,56,381,0.00,2.50,0.00,0.000,1030,0.000,0.096,3251,1903,3384,3358,3411,0,0,0,0,0,0,14.45,14.35,14.47
$GC,572,-0.39,-107.1,3251,1899,3358,3413,79.5,-10.6,76,583,0.00,2.55,0.00,0.000,260,0.000,0.104,3250,3318,3385,3358,3413,0,0,0,0,0,0,14.62,14.38,14.63
$GC,727,-0.39,-107.1,3249,3317,3358,3413,95.4,-10.5,104,739,0.00,2.53,0.00,0.000,1030,0.000,0.093,3250,1901,3385,3359,3412,0,0,0,0,0,0,14.51,14.43,14.57
$GC,930,-0.39,-107.1,3247,1900,3359,3414,118.1,-11.1,124,941,0.00,2.55,0.00,0.000,516,0.000,0.110,3250,484,3386,3359,3414,0,0,0,0,0,0,14.67,14.44,14.69
$GC,1024,-0.39,-107.1,3250,484,3359,3414,129.2,-11.9,140,1035,0.00,2.47,0.00,0.000,1030,0.000,0.093,3250,1895,3386,3358,3414,0,0,0,0,0,0,14.55,14.45,14.57
$GC,1226,-0.39,-107.1,3250,1894,3359,3414,151.4,-10.7,160,1237,0.00,2.55,0.00,0.000,260,0.000,0.104,3250,3320,3384,3359,3409,0,0,0,0,0,0,14.69,14.44,14.71
$GC,1252,-0.39,-107.1,3250,3319,3359,3413,154.1,-10.2,163,1264,0.00,2.53,0.00,0.000,1030,0.000,0.092,3250,1901,3386,3359,3414,0,0,0,0,0,0,14.57,14.47,14.58
$GC,1446,-0.39,-107.1,3250,1900,3358,3413,174.7,-11.0,182,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1901,3386,3359,3413,0,0,0,0,0,0,14.70,14.74,14.72
$GC,1638,-0.39,-107.1,3250,1901,3355,3413,195.5,-10.7,201,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1906,3386,3359,3413,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1830,-0.39,-107.1,3249,1901,3358,3413,216.2,-10.9,220,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1900,3386,3358,3414,0,0,0,0,0,0,14.73,14.74,14.74
$GC,2022,-0.39,-107.1,3249,1901,3357,3413,237.5,-11.5,239,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1900,3385,3357,3414,0,0,0,0,0,0,14.73,14.76,14.75
$GC,2229,-0.39,-107.1,3249,1900,3356,3413,260.2,-11.3,253,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1900,3384,3356,3413,0,0,0,0,0,0,14.74,14.76,14.76
$GC,2528,-0.39,-107.1,3249,1900,3355,3410,291.8,-10.3,263,2540,0.00,2.55,0.00,0.000,260,0.000,0.109,3250,3319,3386,3354,3418,0,0,0,0,0,0,14.76,14.51,14.78
$GC,2560,-0.39,-107.1,3250,3318,3353,3413,295.5,-10.1,267,2571,0.00,2.53,0.00,0.000,1030,0.000,0.096,3250,1887,3386,3358,3414,0,0,0,0,0,0,14.63,14.53,14.65
$GC,2882,-0.39,-107.1,3249,1887,3352,3413,327.1,-9.8,279,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1888,3383,3353,3413,0,0,0,0,0,0,14.77,14.78,14.78
$GC,3183,-0.39,-107.1,3250,1890,3350,3413,355.8,-9.4,289,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1887,3381,3350,3413,0,0,0,0,0,0,14.78,14.81,14.80
$GC,3486,-0.39,-107.1,3252,1886,3349,3413,384.5,-9.7,299,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1886,3384,3355,3413,0,0,0,0,0,0,14.78,14.80,14.81
$GC,3783,-0.39,-107.1,3255,1886,3347,3413,412.6,-9.3,309,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1888,3379,3347,3412,0,0,0,0,0,0,14.77,14.81,14.80
$GC,4086,-0.39,-107.1,3250,1886,3345,3413,441.0,-9.4,319,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1886,3379,3345,3413,0,0,0,0,0,0,14.79,14.81,14.81
$GC,4387,-0.39,-107.1,3250,1886,3344,3413,468.7,-9.0,329,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1886,3378,3344,3412,0,0,0,0,0,0,14.78,14.81,14.81
$GC,4686,-0.39,-107.1,3250,1886,3341,3412,494.8,-8.5,339,4697,0.00,2.50,0.00,0.000,516,0.000,0.116,3251,488,3377,3343,3412,0,0,0,0,0,0,14.79,14.54,14.81
$GC,4738,-0.39,-107.1,3249,488,3343,3411,500.0,-9.6,347,4749,0.00,2.47,0.00,0.000,1030,0.000,0.098,3250,1897,3377,3343,3411,0,0,0,0,0,0,14.66,14.54,14.68
$GC,5070,-0.39,-107.1,3249,1897,3342,3411,527.4,-8.2,361,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1897,3376,3342,3411,0,0,0,0,0,0,14.79,14.81,14.81
$GC,5370,-0.39,-107.1,3250,1897,3341,3411,552.2,-8.4,371,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1897,3374,3341,3407,0,0,0,0,0,0,14.79,14.81,14.81
$GC,5674,-0.39,-107.1,3250,1897,3341,3409,577.3,-8.3,381,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1896,3375,3341,3410,0,0,0,0,0,0,14.78,14.81,14.80
$GC,5970,-0.39,-107.1,3250,1897,3340,3409,602.5,-8.4,391,5981,0.00,2.53,0.00,0.000,260,0.000,0.109,3250,3319,3374,3339,3409,0,0,0,0,0,0,14.78,14.49,14.83
$GC,6017,-0.39,-107.1,3250,3319,3339,3408,606.3,-8.1,398,6028,0.00,2.53,0.00,0.000,1030,0.000,0.099,3251,1902,3372,3339,3405,0,0,0,0,0,0,14.65,14.55,14.68
$GC,6355,-0.39,-107.1,3249,1902,3339,3408,633.1,-8.0,413,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1902,3373,3338,3408,0,0,0,0,0,0,14.78,14.80,14.79
$GC,6659,-0.39,-107.1,3249,1902,3344,3408,655.8,-7.4,423,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1902,3373,3338,3409,0,0,0,0,0,0,14.78,14.80,14.80
$GC,6955,-0.39,-107.1,3250,1902,3338,3408,676.6,-6.8,433,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1902,3373,3339,3408,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7254,-0.39,-107.1,3250,1902,3337,3407,697.9,-7.2,443,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1904,3372,3337,3408,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7559,-0.39,-107.1,3249,1902,3336,3407,721.4,-8.0,453,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1902,3371,3336,3406,0,0,0,0,0,0,14.78,14.81,14.80
$GC,7854,-0.39,-107.1,3250,1902,3335,3406,745.4,-8.0,463,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1902,3371,3335,3407,0,0,0,0,0,0,14.77,14.81,14.81
$GC,8159,-0.39,-107.1,3250,1902,3334,3406,768.9,-7.6,473,8170,0.00,2.58,0.00,0.000,260,0.000,0.111,3250,3324,3370,3334,3406,0,0,0,0,0,0,14.79,14.55,14.81
$GC,8196,-0.39,-107.1,3250,3321,3340,3406,772.0,-7.5,478,8208,0.00,2.55,0.00,0.000,1030,0.000,0.101,3250,1886,3369,3334,3405,0,0,0,0,0,0,14.64,14.53,14.67
$GC,8506,-0.39,-107.1,3250,1886,3334,3405,793.0,-6.7,489,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1886,3369,3334,3405,0,0,0,0,0,0,14.78,14.79,14.78
$GC,8801,-0.39,-107.1,3246,1886,3333,3405,811.7,-6.1,499,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1886,3371,3333,3409,0,0,0,0,0,0,14.78,14.80,14.79
$GC,9102,-0.39,-107.1,3250,1886,3334,3405,829.9,-6.1,509,9113,0.00,2.58,0.00,0.000,260,0.000,0.111,3249,3318,3369,3333,3405,0,0,0,0,0,0,14.78,14.51,14.79
$GC,9153,-0.39,-107.1,3250,3318,3333,3406,833.7,-6.1,517,9165,0.00,2.53,0.00,0.000,1030,0.000,0.100,3250,1903,3368,3332,3404,0,0,0,0,0,0,14.64,14.52,14.66
$GC,9486,-0.39,-107.1,3250,1904,3332,3404,856.3,-7.2,531,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1901,3368,3332,3404,0,0,0,0,0,0,14.77,14.78,14.78
$GC,9790,-0.39,-107.1,3250,1903,3332,3404,878.5,-7.4,541,9801,0.00,2.58,0.00,0.000,260,0.000,0.110,3250,3321,3367,3332,3402,0,0,0,0,0,0,14.78,14.51,14.79
$GC,9837,-0.39,-107.1,3249,3321,3332,3404,882.3,-7.3,548,9848,0.00,2.53,0.00,0.000,1030,0.000,0.099,3249,1903,3371,3332,3410,0,0,0,0,0,0,14.64,14.53,14.66
$GC,10175,-0.39,-107.1,3250,1904,3331,3403,906.9,-7.3,563,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1902,3367,3331,3403,0,0,0,0,0,0,14.76,14.78,14.83
$GC,10479,-0.39,-107.1,3250,1902,3330,3403,928.4,-7.2,573,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1902,3364,3330,3399,0,0,0,0,0,0,14.76,14.78,14.78
$GC,10778,-0.39,-107.1,3246,1899,3330,3403,950.4,-7.4,583,10789,0.00,2.58,0.00,0.000,260,0.000,0.111,3250,3322,3366,3329,3403,0,0,0,0,0,0,14.76,14.50,14.76
$GC,10821,-0.39,-107.1,3250,3322,3329,3402,953.7,-7.3,589,10832,0.00,2.55,0.00,0.000,1030,0.000,0.101,3250,1902,3365,3329,3402,0,0,0,0,0,0,14.63,14.52,14.65
$GC,11164,-0.39,-107.1,3250,1901,3326,3403,977.1,-6.6,605,11174,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1901,3365,3329,3402,0,0,0,0,0,0,14.76,14.78,14.78
$STATE,11368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11369,begin apogee
$GC,11381,-0.16,0.0,3250,2264,3329,3402,990.6,-6.4,612,11473,0.28,0.00,84.50,1.907,10246,0.168,0.000,3337,2263,2941,2884,2999,0,0,0,0,0,0,14.47,13.97,13.33
$STATE,11475,end apogee,CONTROL_FINISHED_OK
$STATE,11475,begin climb
$GC,11480,0.39,107.1,3337,2264,2880,2996,994.0,0.0,615,11582,0.55,0.00,88.93,1.870,10246,0.116,0.000,3521,2263,2501,2390,2613,0,0,0,0,0,0,13.97,13.75,13.18
$GC,11883,0.39,107.1,3521,2260,2387,2612,966.7,7.9,629,11895,0.00,2.58,0.00,0.000,260,0.000,0.112,3521,3660,2498,2386,2611,0,0,0,0,0,0,14.42,14.21,14.45
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$STATE,24843,end climb,SURFACE_DEPTH_REACHED
$STATE,24843,begin surface coast
$FINISH,0.0,1.023102
$STATE,24894,end surface coast,CONTROL_FINISHED_OK
$STATE,24894,begin surface
$SM_CCo,24926,8.85,0.089,0,0,1513,350.04
$SM_GC,3.65,9.85,1.92,8.85,0.045,0.093,0.089,88,1897,1513,-10.27,-0.59,350.04,0,0,0,0,0,0,14.47,14.42,14.43
$IRIDIUM_FIX,4700.70,-12623.60,130715,143834
$TT8_MAMPS,0.020972,0.020972
$HUMID,48.66
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3890816
$24V_AH,13.18,33.019
$10V_AH,13.55,0.000
$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,24.550,173.175,297.750,8.850,0.000,0.000,0.000,406.700,0.000,0.000,6.413,3628.414,16568.127,578.714,3632.334,1224.103,0.000,2984.845,0.000,2494.594,0.000,0.537,0.000
$DEVICE_MAMPS,358.020,2206.260,1907.145,88.740,0.000,0.000,0.000,150.705,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24927.000,603.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.712,7.445,0.000,0.000
$MEM,286400
$DATA_FILE_SIZE,56618,1613
$CAP_FILE_SIZE,291827,0
$CFSIZE,260034560,243552256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,348.23,1
$GPS,140715,044420,4718.657,-12626.464,69,1.3,80,16.6,0.7,73.2,6,6.3