version: 66.12
glider: 187
mission: 8
dive: 204
start: 8 4 115 23 41 23
data:
$ID,187
$MISSION,8
$DIVE,204
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,040815,232709,4731.1289,-12606.3623,45,1.0,45,16.6,1.0,191.1,7,8.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-76.5
$GPS2,040815,234051,4731.2148,-12606.3486,3,1.0,5,16.6,0.2,0.0,7,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,168.0,89073,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.39,-107.1,79,1900,1148,1411,0.0,0.0,0,107,0.00,0.00,-71.78,0.000,16390,0.000,0.000,78,1901,3379,3373,3385,0,0,0,0,0,0,14.50,13.05,14.51
$GC,113,-0.39,-107.1,78,1897,3376,3385,2.8,-5.3,2,134,13.80,2.53,0.00,0.000,2308,0.362,0.089,3249,3324,3382,3377,3387,0,0,0,0,0,0,14.02,14.24,14.22
$GC,368,-0.39,-107.1,3251,3319,3372,3395,66.2,-14.3,51,375,0.00,2.53,0.00,0.000,1030,0.000,0.092,3249,1906,3386,3376,3396,0,0,0,0,0,0,14.40,14.28,14.42
$GC,582,-0.39,-107.1,3247,1906,3370,3399,94.4,-12.6,62,585,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3386,3374,3399,0,0,0,0,0,0,14.60,14.62,14.62
$GC,761,-0.39,-107.1,3248,1906,3375,3400,115.3,-11.3,68,765,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3386,3373,3400,0,0,0,0,0,0,14.63,14.64,14.64
$GC,942,-0.39,-107.1,3249,1906,3376,3401,135.6,-11.4,74,945,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3388,3375,3401,0,0,0,0,0,0,14.66,14.67,14.67
$GC,1121,-0.39,-107.1,3248,1906,3375,3401,155.5,-10.8,80,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3387,3375,3400,0,0,0,0,0,0,14.66,14.68,14.69
$GC,1301,-0.39,-107.1,3248,1906,3374,3401,174.1,-10.1,86,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1907,3387,3374,3401,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1482,-0.39,-107.1,3249,1906,3372,3401,191.9,-9.9,92,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3386,3372,3401,0,0,0,0,0,0,14.68,14.70,14.70
$GC,1661,-0.39,-107.1,3248,1906,3371,3400,209.6,-9.8,98,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1904,3386,3372,3400,0,0,0,0,0,0,14.71,14.71,14.71
$GC,1841,-0.39,-107.1,3249,1906,3370,3402,226.2,-9.0,104,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3385,3369,3401,0,0,0,0,0,0,14.69,14.71,14.71
$GC,2022,-0.39,-107.1,3248,1906,3369,3401,242.3,-8.9,110,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3385,3369,3401,0,0,0,0,0,0,14.70,14.72,14.70
$GC,2232,-0.39,-107.1,3248,1904,3367,3401,261.9,-9.4,115,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3384,3367,3401,0,0,0,0,0,0,14.71,14.73,14.73
$GC,2531,-0.39,-107.1,3248,1906,3364,3400,290.1,-9.4,120,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3382,3364,3400,0,0,0,0,0,0,14.71,14.73,14.72
$GC,2832,-0.39,-107.1,3248,1907,3361,3401,317.9,-9.3,125,2839,0.00,2.58,0.00,0.000,260,0.000,0.107,3248,3322,3381,3361,3401,0,0,0,0,0,0,14.72,14.38,14.73
$GC,2910,-0.39,-107.1,3248,3322,3360,3400,324.9,-8.5,139,2918,0.00,2.55,0.00,0.000,1030,0.000,0.093,3249,1889,3380,3360,3400,0,0,0,0,0,0,14.52,14.39,14.55
$GC,3270,-0.39,-107.1,3250,1888,3357,3403,356.6,-8.8,154,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1888,3379,3358,3401,0,0,0,0,0,0,14.71,14.73,14.71
$GC,3569,-0.39,-107.1,3248,1888,3355,3401,382.4,-8.5,159,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1888,3377,3355,3400,0,0,0,0,0,0,14.72,14.73,14.73
$GC,3869,-0.39,-107.1,3248,1886,3349,3400,408.3,-8.7,164,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1888,3376,3353,3400,0,0,0,0,0,0,14.71,14.73,14.71
$GC,4169,-0.39,-107.1,3248,1888,3359,3401,435.5,-9.1,169,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1888,3376,3352,3401,0,0,0,0,0,0,14.72,14.74,14.74
$GC,4470,-0.39,-107.1,3248,1888,3350,3400,463.3,-9.3,174,4478,0.00,2.60,0.00,0.000,260,0.000,0.108,3249,3318,3372,3350,3395,0,0,0,0,0,0,14.71,14.38,14.73
$GC,4508,-0.39,-107.1,3248,3318,3349,3396,466.8,-8.7,180,4516,0.00,2.55,0.00,0.000,1030,0.000,0.096,3253,1906,3372,3350,3395,0,0,0,0,0,0,14.52,14.39,14.54
$GC,4848,-0.39,-107.1,3248,1906,3348,3396,496.2,-8.6,191,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3373,3347,3400,0,0,0,0,0,0,14.71,14.73,14.72
$GC,5147,-0.39,-107.1,3252,1910,3345,3400,521.4,-8.4,196,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3373,3345,3401,0,0,0,0,0,0,14.71,14.73,14.73
$GC,5447,-0.39,-107.1,3248,1906,3344,3399,544.7,-7.7,201,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3372,3345,3400,0,0,0,0,0,0,14.71,14.73,14.73
$GC,5747,-0.39,-107.1,3248,1906,3340,3400,567.6,-7.6,206,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3371,3342,3400,0,0,0,0,0,0,14.72,14.76,14.73
$GC,6047,-0.39,-107.1,3247,1909,3342,3397,589.6,-7.3,211,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1905,3370,3342,3399,0,0,0,0,0,0,14.72,14.74,14.73
$GC,6347,-0.39,-107.1,3248,1903,3341,3401,610.8,-7.1,216,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3370,3341,3399,0,0,0,0,0,0,14.71,14.75,14.73
$GC,6647,-0.39,-107.1,3248,1906,3340,3398,633.1,-7.5,221,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3367,3336,3398,0,0,0,0,0,0,14.72,14.73,14.73
$GC,6947,-0.39,-107.1,3248,1906,3339,3394,656.8,-8.0,226,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3368,3339,3398,0,0,0,0,0,0,14.71,14.73,14.73
$GC,7247,-0.39,-107.1,3248,1906,3338,3397,681.2,-8.2,231,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3367,3338,3397,0,0,0,0,0,0,14.70,14.72,14.72
$GC,7547,-0.39,-107.1,3248,1906,3338,3397,706.5,-8.5,236,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1906,3367,3338,3397,0,0,0,0,0,0,14.71,14.75,14.72
$GC,7847,-0.39,-107.1,3248,1906,3337,3395,730.9,-8.1,241,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3367,3337,3397,0,0,0,0,0,0,14.71,14.72,14.72
$GC,8147,-0.39,-107.1,3248,1906,3336,3397,753.8,-7.5,246,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3365,3337,3393,0,0,0,0,0,0,14.70,14.72,14.71
$GC,8447,-0.39,-107.1,3248,1906,3336,3396,775.0,-7.0,251,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3366,3336,3397,0,0,0,0,0,0,14.70,14.72,14.72
$GC,8747,-0.39,-107.1,3248,1906,3334,3395,795.6,-6.9,256,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1906,3365,3334,3396,0,0,0,0,0,0,14.69,14.71,14.71
$GC,9047,-0.39,-107.1,3248,1906,3334,3395,816.8,-7.0,261,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3366,3335,3398,0,0,0,0,0,0,14.70,14.71,14.74
$GC,9347,-0.39,-107.1,3244,1906,3334,3395,838.0,-7.1,266,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1906,3366,3337,3395,0,0,0,0,0,0,14.69,14.71,14.71
$GC,9648,-0.39,-107.1,3248,1906,3333,3394,859.3,-7.1,271,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1906,3363,3333,3393,0,0,0,0,0,0,14.69,14.70,14.69
$GC,9947,-0.39,-107.1,3253,1906,3340,3395,881.5,-7.4,276,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1905,3363,3333,3394,0,0,0,0,0,0,14.69,14.71,14.71
$GC,10247,-0.39,-107.1,3248,1906,3333,3394,903.5,-7.3,281,10254,0.00,2.60,0.00,0.000,260,0.000,0.111,3248,3320,3363,3333,3394,0,0,0,0,0,0,14.69,14.31,14.70
$GC,10300,-0.39,-107.1,3248,3317,3332,3393,907.2,-7.1,290,10308,0.00,2.58,0.00,0.000,1030,0.000,0.099,3244,1899,3363,3332,3394,0,0,0,0,0,0,14.48,14.35,14.51
$GC,10625,-0.39,-107.1,3244,1897,3332,3393,929.6,-6.9,298,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1897,3365,3332,3398,0,0,0,0,0,0,14.68,14.69,14.69
$GC,10925,-0.39,-107.1,3247,1897,3331,3394,949.9,-6.7,303,10933,0.00,2.60,0.00,0.000,260,0.000,0.109,3249,3315,3360,3331,3390,0,0,0,0,0,0,14.68,14.31,14.69
$GC,10983,-0.39,-107.1,3248,3315,3331,3393,953.7,-6.5,313,10991,0.00,2.58,0.00,0.000,1030,0.000,0.100,3248,1899,3362,3331,3393,0,0,0,0,0,0,14.47,14.33,14.51
$GC,11302,-0.39,-107.1,3248,1899,3331,3393,974.5,-6.5,320,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1899,3361,3330,3393,0,0,0,0,0,0,14.68,14.70,14.69
$STATE,11597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11597,begin apogee
$GC,11609,-0.16,0.0,3248,2247,3329,3397,993.5,-6.4,325,11699,0.30,0.00,84.65,1.907,10246,0.166,0.000,3341,2247,2941,2883,3000,0,0,0,0,0,0,14.26,13.94,13.24
$STATE,11702,end apogee,CONTROL_FINISHED_OK
$STATE,11702,begin climb
$GC,11707,0.39,107.1,3341,2247,2881,2999,996.2,0.0,326,11816,0.52,2.78,88.65,1.867,10500,0.111,0.112,3519,3660,2498,2378,2618,0,0,0,0,0,0,13.96,13.71,13.07
$GC,11837,0.39,107.1,3518,3660,2381,2618,991.1,9.3,348,11848,0.00,2.67,0.00,0.000,1030,0.000,0.098,3527,2235,2499,2381,2618,0,0,0,0,0,0,13.95,13.85,13.96
$GC,12165,0.39,107.1,3527,2235,2381,2618,965.6,7.9,356,12176,0.00,2.55,0.00,0.000,516,0.000,0.112,3527,842,2499,2380,2619,0,0,0,0,0,0,14.42,14.12,14.44
$GC,12239,0.42,107.1,3527,842,2380,2618,960.2,5.8,368,12251,0.00,2.55,0.00,0.000,1030,0.000,0.094,3527,2257,2498,2380,2617,0,0,0,0,0,0,14.25,14.19,14.28
$GC,12613,0.42,107.1,3527,2257,2380,2618,929.7,8.2,385,12624,0.00,2.60,0.00,0.000,260,0.000,0.112,3527,3663,2498,2379,2618,0,0,0,0,0,0,14.58,14.23,14.59
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$FREEZE,23.04,17.148,-1.770,0,1,0
$STATE,25559,end climb,NO_VERTICAL_VELOCITY
$STATE,25559,begin surface
$SM_CCo,25565,271.58,0.680,0,0,469,606.14
$SM_GC,1.13,10.32,0.68,0.00,0.064,0.106,0.000,93,1903,466,-10.25,0.54,607.12,0,0,0,0,0,0,14.12,14.07,14.19
$IRIDIUM_FIX,4713.38,-12603.05,040815,161048
$TT8_MAMPS,0.020223,0.020223
$HUMID,45.78
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3859040
$24V_AH,13.05,54.713
$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,25.200,109.475,259.775,271.575,0.000,0.000,0.000,493.050,0.000,0.000,11.519,2236.272,20306.002,704.879,2609.016,903.783,0.000,2566.981,0.000,1523.207,0.000,0.537,0.000
$DEVICE_MAMPS,361.845,111.690,1907.145,680.085,0.000,0.000,0.000,159.120,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25637.000,12013.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.665,8.929,0.000,0.000
$MEM,286364
$DATA_FILE_SIZE,36714,1020
$CAP_FILE_SIZE,210180,0
$CFSIZE,260034560,234139648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,346.71,1
$GPS,050815,065539,4730.805,-12607.440,43,0.8,43,16.6,1.0,44.5,10,6.5