version: 66.12
glider: 187
mission: 8
dive: 202
start: 8 4 115 8 41 35
data:
$ID,187
$MISSION,8
$DIVE,202
$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,400
$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,23
$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
$GPS1,040815,082731,4731.2119,-12603.7715,97,1.2,97,16.6,0.1,0.0,8,5.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-76.3
$GPS2,040815,084102,4731.2593,-12603.8076,2,0.9,5,16.6,0.4,313.4,10,5.3
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,172.6,91591,-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,30,-0.39,-107.1,66,1882,1180,1427,0.0,0.0,0,106,0.00,0.00,-71.62,0.000,16390,0.000,0.000,65,1880,3379,3378,3380,0,0,0,0,0,0,14.52,13.08,14.51
$GC,113,-0.39,-107.1,68,1880,3371,3383,2.7,-4.8,2,134,13.77,2.58,0.00,0.000,2308,0.359,0.095,3249,3318,3381,3376,3386,0,0,0,0,0,0,14.02,14.26,14.22
$GC,367,-0.39,-107.1,3249,3318,3376,3394,66.2,-14.2,51,374,0.00,2.53,0.00,0.000,1030,0.000,0.092,3249,1911,3385,3376,3394,0,0,0,0,0,0,14.36,14.24,14.38
$GC,581,-0.39,-107.1,3249,1907,3374,3398,95.2,-13.7,62,589,0.00,2.50,0.00,0.000,260,0.000,0.099,3248,3306,3386,3374,3398,0,0,0,0,0,0,14.61,14.34,14.62
$GC,744,-0.39,-107.1,3247,3306,3374,3398,114.0,-11.3,92,752,0.00,2.50,0.00,0.000,1030,0.000,0.090,3247,1890,3386,3374,3398,0,0,0,0,0,0,14.46,14.35,14.50
$GC,964,-0.39,-107.1,3247,1890,3374,3399,138.9,-11.5,104,971,0.00,2.47,0.00,0.000,516,0.000,0.106,3246,493,3389,3373,3405,0,0,0,0,0,0,14.65,14.34,14.66
$GC,992,-0.39,-107.1,3247,491,3373,3399,142.3,-11.7,108,999,0.00,2.45,0.00,0.000,1030,0.000,0.087,3247,1903,3384,3373,3396,0,0,0,0,0,0,14.45,14.35,14.49
$GC,1191,-0.39,-107.1,3247,1898,3372,3399,163.2,-10.3,116,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1898,3385,3372,3399,0,0,0,0,0,0,14.66,14.69,14.68
$GC,1370,-0.39,-107.1,3246,1898,3371,3399,180.5,-9.6,122,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1898,3384,3370,3399,0,0,0,0,0,0,14.67,14.67,14.69
$GC,1550,-0.39,-107.1,3247,1903,3369,3399,197.2,-9.2,128,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1904,3384,3369,3399,0,0,0,0,0,0,14.68,14.70,14.69
$GC,1731,-0.39,-107.1,3247,1898,3369,3399,213.9,-9.3,134,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1898,3383,3368,3399,0,0,0,0,0,0,14.71,14.71,14.71
$GC,1910,-0.39,-107.1,3247,1898,3367,3402,230.6,-9.3,140,1918,0.00,2.53,0.00,0.000,260,0.000,0.103,3247,3319,3382,3366,3399,0,0,0,0,0,0,14.71,14.39,14.72
$GC,1949,-0.39,-107.1,3246,3319,3366,3401,234.1,-9.5,146,1958,0.00,2.53,0.00,0.000,1030,0.000,0.092,3247,1906,3382,3366,3398,0,0,0,0,0,0,14.54,14.41,14.56
$GC,2199,-0.39,-107.1,3247,1906,3364,3398,257.7,-9.4,158,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1911,3384,3370,3399,0,0,0,0,0,0,14.70,14.71,14.71
$GC,2499,-0.39,-107.1,3247,1906,3361,3399,285.6,-9.3,163,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3380,3362,3399,0,0,0,0,0,0,14.71,14.73,14.73
$GC,2799,-0.39,-107.1,3247,1906,3358,3399,314.0,-9.4,168,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1907,3378,3358,3399,0,0,0,0,0,0,14.72,14.73,14.73
$GC,3099,-0.39,-107.1,3248,1906,3354,3399,341.5,-9.0,173,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1905,3380,3362,3399,0,0,0,0,0,0,14.72,14.74,14.73
$GC,3399,-0.39,-107.1,3247,1906,3354,3399,367.8,-8.8,178,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3376,3354,3399,0,0,0,0,0,0,14.72,14.74,14.73
$GC,3699,-0.39,-107.1,3247,1906,3352,3399,393.1,-8.4,183,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3375,3352,3398,0,0,0,0,0,0,14.73,14.75,14.75
$GC,3999,-0.39,-107.1,3246,1906,3350,3398,418.8,-8.6,188,4007,0.00,2.55,0.00,0.000,516,0.000,0.109,3246,475,3373,3350,3397,0,0,0,0,0,0,14.72,14.38,14.73
$GC,4037,-0.39,-107.1,3247,475,3351,3399,422.5,-10.2,194,4046,0.00,2.50,0.00,0.000,1030,0.000,0.092,3247,1895,3374,3350,3398,0,0,0,0,0,0,14.53,14.38,14.56
$GC,4377,-0.39,-107.1,3246,1898,3347,3398,452.6,-8.8,205,4384,0.00,2.53,0.00,0.000,260,0.000,0.106,3247,3315,3372,3346,3398,0,0,0,0,0,0,14.69,14.40,14.73
$GC,4416,-0.39,-107.1,3246,3315,3346,3398,455.9,-8.3,211,4424,0.00,2.55,0.00,0.000,1030,0.000,0.095,3247,1887,3372,3346,3398,0,0,0,0,0,0,14.52,14.40,14.55
$GC,4755,-0.39,-107.1,3247,1889,3346,3397,485.8,-8.9,222,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1889,3371,3344,3398,0,0,0,0,0,0,14.72,14.77,14.73
$GC,5056,-0.39,-107.1,3247,1888,3343,3394,513.7,-9.3,227,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1888,3370,3343,3398,0,0,0,0,0,0,14.72,14.74,14.74
$GC,5355,-0.39,-107.1,3248,1888,3341,3397,541.2,-9.1,232,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1888,3369,3341,3398,0,0,0,0,0,0,14.71,14.73,14.76
$GC,5655,-0.39,-107.1,3247,1888,3340,3397,567.5,-8.7,237,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1888,3371,3344,3398,0,0,0,0,0,0,14.71,14.77,14.74
$GC,5955,-0.39,-107.1,3247,1889,3339,3397,592.3,-8.2,242,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1888,3368,3339,3397,0,0,0,0,0,0,14.71,14.73,14.72
$GC,6255,-0.39,-107.1,3243,1888,3345,3397,615.9,-7.9,247,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1888,3370,3344,3396,0,0,0,0,0,0,14.71,14.73,14.71
$GC,6555,-0.39,-107.1,3247,1888,3334,3396,638.1,-7.3,252,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1888,3367,3338,3396,0,0,0,0,0,0,14.71,14.73,14.73
$GC,6855,-0.39,-107.1,3248,1888,3338,3399,661.0,-7.7,257,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1888,3366,3337,3396,0,0,0,0,0,0,14.71,14.73,14.73
$GC,7155,-0.39,-107.1,3246,1885,3336,3394,686.6,-8.6,262,7164,0.00,2.50,0.00,0.000,516,0.000,0.112,3248,495,3365,3336,3395,0,0,0,0,0,0,14.76,14.35,14.73
$GC,7200,-0.39,-107.1,3243,495,3332,3395,691.0,-9.6,269,7208,0.00,2.50,0.00,0.000,1030,0.000,0.094,3247,1907,3365,3336,3395,0,0,0,0,0,0,14.52,14.40,14.55
$GC,7535,-0.39,-107.1,3247,1907,3334,3394,721.4,-9.1,279,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1907,3365,3335,3395,0,0,0,0,0,0,14.71,14.73,14.73
$GC,7834,-0.39,-107.1,3247,1915,3334,3400,746.7,-8.3,284,7841,0.00,2.53,0.00,0.000,260,0.000,0.109,3247,3317,3364,3334,3395,0,0,0,0,0,0,14.71,14.38,14.73
$GC,7897,-0.39,-107.1,3246,3317,3333,3391,751.5,-7.4,295,7906,0.00,2.55,0.00,0.000,1030,0.000,0.098,3247,1904,3363,3333,3393,0,0,0,0,0,0,14.50,14.38,14.53
$GC,8203,-0.39,-107.1,3247,1906,3331,3393,774.2,-7.5,301,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1904,3363,3333,3393,0,0,0,0,0,0,14.69,14.71,14.71
$GC,8502,-0.39,-107.1,3247,1904,3332,3393,796.5,-7.4,306,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1904,3363,3333,3393,0,0,0,0,0,0,14.71,14.72,14.72
$GC,8803,-0.39,-107.1,3246,1904,3331,3393,818.0,-7.2,311,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3360,3328,3393,0,0,0,0,0,0,14.69,14.71,14.71
$GC,9103,-0.39,-107.1,3250,1904,3331,3393,839.1,-7.0,316,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1903,3363,3333,3393,0,0,0,0,0,0,14.70,14.70,14.71
$GC,9402,-0.39,-107.1,3246,1904,3330,3392,859.8,-6.9,321,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1904,3361,3330,3392,0,0,0,0,0,0,14.69,14.71,14.71
$GC,9702,-0.39,-107.1,3244,1904,3329,3392,879.5,-6.5,326,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1907,3361,3330,3392,0,0,0,0,0,0,14.67,14.71,14.71
$GC,10003,-0.39,-107.1,3246,1904,3329,3387,898.0,-6.2,331,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1904,3360,3329,3392,0,0,0,0,0,0,14.69,14.71,14.71
$GC,10302,-0.39,-107.1,3246,1907,3336,3392,915.3,-5.8,336,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1904,3360,3329,3392,0,0,0,0,0,0,14.69,14.71,14.70
$GC,10602,-0.39,-107.1,3246,1904,3335,3391,934.3,-6.4,341,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1903,3359,3328,3391,0,0,0,0,0,0,14.69,14.71,14.71
$GC,10903,-0.39,-107.1,3247,1904,3328,3391,955.7,-7.2,346,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1904,3361,3329,3394,0,0,0,0,0,0,14.69,14.71,14.71
$GC,11203,-0.39,-107.1,3247,1904,3327,3394,978.8,-7.7,351,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1904,3357,3328,3387,0,0,0,0,0,0,14.69,14.71,14.71
$STATE,11377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11378,begin apogee
$GC,11389,-0.16,0.0,3249,2264,3328,3390,991.9,-7.3,354,11479,0.30,0.00,84.95,1.885,10246,0.168,0.000,3340,2262,2941,2883,2999,0,0,0,0,0,0,14.27,13.95,13.26
$STATE,11483,end apogee,CONTROL_FINISHED_OK
$STATE,11483,begin climb
$GC,11488,0.39,107.1,3340,2264,2878,2996,994.9,0.0,355,11586,0.52,0.00,88.93,1.864,10502,0.112,0.000,3517,2264,2504,2385,2623,0,0,0,0,0,0,13.97,13.74,13.09
$GC,11932,0.39,107.1,3518,2264,2376,2616,970.6,6.9,385,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2264,2497,2376,2618,0,0,0,0,0,0,14.42,14.43,14.44
$GC,12232,0.39,107.1,3516,2264,2375,2618,949.3,7.1,390,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2262,2496,2375,2618,0,0,0,0,0,0,14.54,14.56,14.56
$GC,12532,0.39,107.1,3517,2265,2371,2618,926.3,7.8,395,12543,0.00,2.58,0.00,0.000,260,0.000,0.113,3517,3662,2495,2373,2618,0,0,0,0,0,0,14.62,14.29,14.64
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$STATE,25020,end climb,SURFACE_DEPTH_REACHED
$STATE,25020,begin surface coast
$FINISH,0.4,1.023068
$STATE,25081,end surface coast,CONTROL_FINISHED_OK
$STATE,25082,begin surface
$SM_CCo,25113,33.00,0.086,0,0,1309,400.08
$SM_GC,1.54,9.90,0.68,33.00,0.050,0.105,0.086,85,1888,1309,-10.27,0.28,400.08,0,0,0,0,0,0,14.41,14.35,14.38
$IRIDIUM_FIX,4713.38,-12603.05,040815,011013
$TT8_MAMPS,0.020972,0.020972
$HUMID,48.74
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,20.20
$XPDR_PINGS,0
$SC_FREEKB,3859872
$24V_AH,13.08,54.062
$10V_AH,13.07,0.000
$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,25.125,159.300,313.275,33.000,0.000,0.000,0.000,475.950,0.000,0.000,7.330,2464.475,19149.355,565.996,2789.523,968.787,0.000,2497.115,0.000,1743.236,0.000,0.537,0.000
$DEVICE_MAMPS,358.785,115.515,1884.960,85.680,0.000,0.000,0.000,162.945,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25163.000,11755.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.639,8.960,0.000,0.000
$MEM,286380
$DATA_FILE_SIZE,39962,1172
$CAP_FILE_SIZE,222276,0
$CFSIZE,260034560,234369024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,346.73,1
$GPS,040815,154301,4731.125,-12605.278,82,1.1,82,16.6,0.6,190.2,10,7.0