version: 66.12
glider: 187
mission: 8
dive: 215
start: 8 8 115 8 59 17
data:
$ID,187
$MISSION,8
$DIVE,215
$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,15
$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
$GPS1,080815,084109,4727.4932,-12619.8613,43,0.9,43,16.6,0.5,308.4,8,8.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-77.8
$GPS2,080815,085844,4727.7153,-12619.9375,3,1.1,5,16.6,0.3,0.0,7,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,173.1,72077,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.39,-107.1,83,1898,1200,1431,0.0,0.0,0,107,0.00,0.00,-71.68,0.000,16390,0.000,0.000,83,1899,3379,3374,3385,0,0,0,0,0,0,14.49,13.01,14.50
$GC,114,-0.39,-107.1,79,1899,3376,3385,2.4,-4.0,2,138,13.73,2.55,0.00,0.000,2820,0.357,0.088,3248,3322,3382,3376,3388,0,0,0,0,0,0,13.99,14.25,14.19
$GC,372,-0.39,-107.1,3248,3322,3375,3395,67.3,-13.5,51,384,0.00,2.55,0.00,0.000,1030,0.000,0.091,3248,1902,3385,3375,3396,0,0,0,0,0,0,14.40,14.28,14.44
$GC,594,-0.39,-107.1,3248,1901,3373,3400,96.6,-13.6,62,605,0.00,2.55,0.00,0.000,260,0.000,0.104,3248,3317,3384,3373,3396,0,0,0,0,0,0,14.62,14.31,14.64
$GC,666,-0.39,-107.1,3247,3317,3372,3400,105.1,-11.4,74,678,0.00,2.58,0.00,0.000,1030,0.000,0.091,3250,1889,3385,3373,3398,0,0,0,0,0,0,14.45,14.31,14.49
$GC,893,-0.39,-107.1,3248,1888,3372,3397,130.6,-11.2,86,905,0.00,2.50,0.00,0.000,516,0.000,0.105,3247,490,3387,3373,3401,0,0,0,0,0,0,14.66,14.33,14.67
$GC,960,-0.39,-107.1,3247,493,3372,3401,138.8,-11.4,97,972,0.00,2.47,0.00,0.000,1030,0.000,0.090,3248,1896,3386,3372,3401,0,0,0,0,0,0,14.47,14.35,14.52
$GC,1147,-0.39,-107.1,3247,1899,3370,3398,159.0,-10.9,104,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1900,3385,3370,3401,0,0,0,0,0,0,14.66,14.69,14.69
$GC,1326,-0.39,-107.1,3247,1899,3370,3401,178.5,-10.9,110,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1899,3387,3374,3401,0,0,0,0,0,0,14.68,14.70,14.69
$GC,1507,-0.39,-107.1,3247,1899,3365,3401,198.3,-11.1,116,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1899,3385,3370,3401,0,0,0,0,0,0,14.70,14.70,14.72
$GC,1686,-0.39,-107.1,3247,1899,3368,3401,216.3,-9.9,122,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1899,3384,3368,3401,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1867,-0.39,-107.1,3252,1896,3366,3401,233.9,-9.8,128,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1899,3383,3366,3401,0,0,0,0,0,0,14.72,14.74,14.74
$GC,2046,-0.39,-107.1,3247,1899,3365,3401,252.8,-10.4,134,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1895,3382,3364,3401,0,0,0,0,0,0,14.73,14.75,14.74
$GC,2347,-0.39,-107.1,3248,1899,3362,3401,283.9,-10.4,139,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1900,3381,3362,3401,0,0,0,0,0,0,14.73,14.75,14.75
$GC,2647,-0.39,-107.1,3247,1899,3359,3401,314.9,-10.3,144,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1899,3380,3359,3401,0,0,0,0,0,0,14.73,14.76,14.76
$GC,2946,-0.39,-107.1,3247,1901,3357,3401,345.1,-10.0,149,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1900,3379,3357,3402,0,0,0,0,0,0,14.75,14.76,14.77
$GC,3246,-0.39,-107.1,3246,1899,3355,3397,374.1,-9.6,154,3258,0.00,2.55,0.00,0.000,260,0.000,0.109,3248,3321,3377,3354,3401,0,0,0,0,0,0,14.75,14.38,14.76
$GC,3279,-0.39,-107.1,3244,3321,3353,3401,377.3,-10.1,158,3290,0.00,2.55,0.00,0.000,1030,0.000,0.093,3248,1889,3376,3354,3398,0,0,0,0,0,0,14.54,14.42,14.58
$GC,3636,-0.39,-107.1,3247,1890,3351,3401,411.3,-9.6,171,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1890,3377,3352,3402,0,0,0,0,0,0,14.74,14.76,14.76
$GC,3932,-0.39,-107.1,3247,1890,3350,3401,438.9,-9.1,176,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1890,3373,3346,3401,0,0,0,0,0,0,14.74,14.76,14.76
$GC,4231,-0.39,-107.1,3247,1890,3347,3396,464.2,-8.4,181,4242,0.00,2.50,0.00,0.000,516,0.000,0.112,3248,497,3375,3349,3401,0,0,0,0,0,0,14.75,14.37,14.76
$GC,4298,-0.39,-107.1,3247,496,3347,3400,470.3,-9.4,192,4310,0.00,2.50,0.00,0.000,1030,0.000,0.094,3247,1918,3373,3347,3400,0,0,0,0,0,0,14.54,14.42,14.57
$GC,4604,-0.39,-107.1,3250,1919,3344,3400,495.9,-8.4,198,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1918,3375,3344,3406,0,0,0,0,0,0,14.75,14.76,14.76
$GC,4904,-0.39,-107.1,3248,1918,3343,3400,521.8,-8.7,203,4915,0.00,2.58,0.00,0.000,516,0.000,0.110,3248,495,3372,3344,3401,0,0,0,0,0,0,14.75,14.38,14.77
$GC,4966,-0.39,-107.1,3247,495,3343,3400,528.0,-10.0,213,4977,0.00,2.47,0.00,0.000,1030,0.000,0.094,3252,1899,3371,3342,3400,0,0,0,0,0,0,14.51,14.37,14.54
$GC,5288,-0.39,-107.1,3247,1899,3341,3399,556.7,-8.9,220,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1899,3371,3343,3399,0,0,0,0,0,0,14.75,14.76,14.75
$GC,5589,-0.39,-107.1,3248,1899,3340,3398,582.9,-8.7,225,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1904,3369,3340,3399,0,0,0,0,0,0,14.76,14.77,14.77
$GC,5888,-0.39,-107.1,3247,1899,3339,3398,606.8,-7.8,230,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1899,3373,3346,3400,0,0,0,0,0,0,14.74,14.76,14.76
$GC,6189,-0.39,-107.1,3247,1899,3338,3397,629.3,-7.5,235,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1905,3372,3345,3399,0,0,0,0,0,0,14.74,14.74,14.76
$GC,6489,-0.39,-107.1,3247,1899,3337,3398,652.8,-7.9,240,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1899,3367,3338,3397,0,0,0,0,0,0,14.73,14.76,14.76
$GC,6788,-0.39,-107.1,3247,1899,3336,3397,676.5,-7.9,245,6799,0.00,2.55,0.00,0.000,260,0.000,0.109,3248,3321,3366,3336,3397,0,0,0,0,0,0,14.75,14.37,14.76
$GC,6840,-0.39,-107.1,3247,3321,3336,3395,680.4,-7.1,253,6851,0.00,2.53,0.00,0.000,1030,0.000,0.096,3248,1910,3365,3335,3396,0,0,0,0,0,0,14.53,14.39,14.57
$GC,7172,-0.39,-107.1,3247,1909,3334,3396,706.1,-7.7,262,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1914,3365,3335,3396,0,0,0,0,0,0,14.75,14.76,14.76
$GC,7473,-0.39,-107.1,3247,1909,3334,3394,729.2,-7.7,267,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1909,3365,3334,3396,0,0,0,0,0,0,14.74,14.74,14.76
$GC,7772,-0.39,-107.1,3249,1909,3333,3396,752.2,-7.7,272,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1908,3364,3333,3396,0,0,0,0,0,0,14.74,14.76,14.76
$GC,8073,-0.39,-107.1,3253,1909,3333,3397,774.4,-7.3,277,8084,0.00,2.58,0.00,0.000,516,0.000,0.113,3248,477,3363,3332,3395,0,0,0,0,0,0,14.74,14.35,14.76
$GC,8110,-0.39,-107.1,3247,477,3329,3395,777.4,-8.4,282,8122,0.00,2.53,0.00,0.000,1030,0.000,0.097,3248,1897,3364,3333,3395,0,0,0,0,0,0,14.52,14.37,14.57
$GC,8463,-0.39,-107.1,3247,1897,3332,3395,801.7,-6.9,294,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1897,3363,3332,3395,0,0,0,0,0,0,14.73,14.75,14.74
$GC,8759,-0.39,-107.1,3247,1897,3336,3396,821.9,-6.7,299,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1897,3362,3330,3395,0,0,0,0,0,0,14.73,14.76,14.75
$GC,9058,-0.39,-107.1,3247,1897,3329,3394,842.0,-6.7,304,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1897,3362,3330,3395,0,0,0,0,0,0,14.74,14.74,14.74
$GC,9358,-0.39,-107.1,3247,1896,3329,3394,862.0,-6.6,309,9369,0.00,2.58,0.00,0.000,260,0.000,0.110,3247,3323,3361,3329,3394,0,0,0,0,0,0,14.72,14.33,14.73
$GC,9390,-0.39,-107.1,3247,3323,3329,3393,864.2,-7.7,313,9401,0.00,2.58,0.00,0.000,1030,0.000,0.096,3248,1889,3360,3328,3393,0,0,0,0,0,0,14.49,14.36,14.54
$GC,9746,-0.39,-107.1,3247,1889,3328,3393,887.9,-6.7,326,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1890,3361,3329,3393,0,0,0,0,0,0,14.72,14.73,14.73
$GC,10043,-0.39,-107.1,3248,1889,3329,3393,909.0,-7.1,331,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1889,3360,3328,3393,0,0,0,0,0,0,14.71,14.73,14.73
$GC,10342,-0.39,-107.1,3247,1889,3324,3389,931.0,-7.3,336,10353,0.00,2.53,0.00,0.000,516,0.000,0.113,3248,496,3360,3328,3393,0,0,0,0,0,0,14.72,14.32,14.74
$GC,10378,-0.39,-107.1,3253,495,3328,3393,933.9,-8.6,341,10389,0.00,2.53,0.00,0.000,1030,0.000,0.096,3248,1900,3360,3328,3392,0,0,0,0,0,0,14.51,14.38,14.55
$GC,10730,-0.39,-107.1,3247,1900,3329,3393,959.2,-7.2,353,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1897,3360,3328,3392,0,0,0,0,0,0,14.70,14.72,14.71
$GC,11025,-0.39,-107.1,3247,1896,3328,3392,980.2,-7.0,358,11036,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1900,3359,3327,3392,0,0,0,0,0,0,14.72,14.74,14.73
$STATE,11200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11200,begin apogee
$GC,11213,-0.16,0.0,3248,2263,3323,3392,992.3,-6.7,361,11305,0.30,0.00,84.38,1.922,10246,0.168,0.000,3346,2260,2944,2882,3007,0,0,0,0,0,0,14.29,13.95,13.23
$STATE,11307,end apogee,CONTROL_FINISHED_OK
$STATE,11307,begin climb
$GC,11312,0.39,107.1,3341,2263,2877,3001,995.1,0.0,362,11420,0.50,2.67,89.00,1.867,10500,0.111,0.114,3518,3660,2501,2380,2622,0,0,0,0,0,0,13.96,13.69,13.06
$GC,11480,0.39,107.1,3517,3660,2379,2619,987.8,7.9,393,11491,0.00,2.65,0.00,0.000,1030,0.000,0.096,3517,2254,2498,2378,2619,0,0,0,0,0,0,14.01,13.92,14.03
$GC,11822,0.39,107.1,3517,2253,2378,2619,962.3,7.6,403,11834,0.00,2.62,0.00,0.000,516,0.000,0.111,3521,821,2498,2378,2619,0,0,0,0,0,0,14.42,14.12,14.45
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$STATE,25349,end climb,SURFACE_DEPTH_REACHED
$STATE,25349,begin surface coast
$FINISH,-0.2,1.013377
$STATE,25379,end surface coast,CONTROL_FINISHED_OK
$STATE,25379,begin surface
$SM_CCo,25410,4.00,0.083,0,0,1309,400.08
$SM_GC,2.18,10.12,0.68,4.00,0.039,0.102,0.083,92,1887,1309,-10.26,0.25,400.08,0,0,0,0,0,0,14.27,14.21,14.23
$IRIDIUM_FIX,4710.21,-12617.80,080815,084721
$TT8_MAMPS,0.020972,0.020972
$HUMID,48.50
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3854464
$24V_AH,13.01,57.859
$10V_AH,13.02,0.000
$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
$DEVICE_SECS,25.175,186.025,372.925,4.000,0.000,0.000,0.000,614.175,0.000,0.000,11.527,2599.562,18807.994,582.222,3356.220,1104.051,0.000,3044.640,0.000,1900.390,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25466.000,623.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.668,6.640,0.000,0.000
$MEM,286408
$DATA_FILE_SIZE,43302,1281
$CAP_FILE_SIZE,250388,0
$CFSIZE,260034560,232673280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,348.89,1
$GPS,080815,160437,4726.904,-12620.946,29,1.1,47,16.6,0.7,323.0,9,4.8