version: 66.12
glider: 187
mission: 8
dive: 391
start: 9 27 115 14 32 16
data:
$ID,187
$MISSION,8
$DIVE,391
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,21
$R_STBD_OVSHOOT,17
$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,48
$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
$GPS1,270915,141701,4746.7959,-12521.2373,53,0.8,53,16.5,0.4,146.6,10,4.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-76.1
$GPS2,270915,143144,4746.7485,-12521.2275,3,0.6,3,16.5,0.3,0.0,12,8.6
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,217.3,151854,-14.8,-7.333,-19.49,2243
$D_GRID,808
$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,30,-0.39,-107.1,82,1885,1210,1415,0.0,0.0,0,109,0.00,0.00,-72.65,0.000,16390,0.000,0.000,82,1882,3379,3378,3380,0,0,0,0,0,0,14.47,12.53,14.47
$GC,116,-0.39,-107.1,82,1887,3379,3382,2.1,-2.9,2,141,14.07,2.62,0.00,0.000,2308,0.358,0.093,3247,3322,3382,3381,3383,0,0,0,0,0,0,13.81,14.12,14.04
$GC,316,-0.39,-107.1,3246,3322,3377,3390,53.3,-12.8,39,327,0.00,2.58,0.00,0.000,1030,0.000,0.088,3251,1906,3383,3376,3390,0,0,0,0,0,0,14.21,14.09,14.25
$GC,538,-0.39,-107.1,3246,1904,3375,3395,81.4,-12.2,50,549,0.00,2.58,0.00,0.000,516,0.000,0.100,3247,475,3385,3375,3396,0,0,0,0,0,0,14.56,14.10,14.57
$GC,581,-0.39,-107.1,3247,475,3375,3392,87.1,-11.4,56,592,0.00,2.55,0.00,0.000,1030,0.000,0.085,3246,1897,3385,3375,3396,0,0,0,0,0,0,14.24,14.11,14.28
$GC,807,-0.39,-107.1,3246,1897,3375,3397,113.7,-12.2,68,819,0.00,2.58,0.00,0.000,260,0.000,0.097,3250,3319,3386,3375,3397,0,0,0,0,0,0,14.59,14.14,14.62
$GC,844,-0.39,-107.1,3246,3318,3375,3396,118.5,-12.0,73,856,0.00,2.55,0.00,0.000,1030,0.000,0.085,3247,1891,3386,3375,3397,0,0,0,0,0,0,14.31,14.19,14.36
$GC,1030,-0.39,-107.1,3246,1890,3375,3397,137.9,-10.4,80,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1890,3389,3382,3397,0,0,0,0,0,0,14.61,14.63,14.62
$GC,1210,-0.39,-107.1,3246,1890,3375,3397,156.2,-10.2,86,1222,0.00,2.65,0.00,0.000,260,0.000,0.099,3245,3322,3386,3375,3397,0,0,0,0,0,0,14.62,14.13,14.64
$GC,1263,-0.39,-107.1,3246,3321,3374,3397,161.4,-9.4,94,1275,0.00,2.55,0.00,0.000,1030,0.000,0.085,3247,1905,3385,3374,3397,0,0,0,0,0,0,14.33,14.20,14.38
$GC,1476,-0.39,-107.1,3246,1905,3374,3397,181.7,-9.3,104,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1909,3385,3374,3397,0,0,0,0,0,0,14.64,14.66,14.65
$GC,1657,-0.39,-107.1,3246,1905,3373,3397,197.7,-8.9,110,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1905,3385,3373,3398,0,0,0,0,0,0,14.63,14.65,14.64
$GC,1836,-0.39,-107.1,3246,1904,3371,3397,214.5,-9.5,116,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1904,3384,3371,3398,0,0,0,0,0,0,14.63,14.66,14.66
$GC,2016,-0.39,-107.1,3246,1904,3370,3397,231.9,-9.6,122,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1904,3383,3370,3397,0,0,0,0,0,0,14.65,14.66,14.66
$GC,2197,-0.39,-107.1,3246,1904,3370,3397,247.7,-8.6,128,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1903,3383,3370,3397,0,0,0,0,0,0,14.65,14.67,14.66
$GC,2406,-0.39,-107.1,3246,1901,3369,3397,264.5,-8.0,132,2417,0.00,2.58,0.00,0.000,516,0.000,0.103,3249,477,3382,3368,3397,0,0,0,0,0,0,14.66,14.15,14.69
$GC,2488,-0.39,-107.1,3245,475,3368,3397,271.5,-8.4,146,2500,0.00,2.58,0.00,0.000,1030,0.000,0.087,3247,1915,3382,3368,3397,0,0,0,0,0,0,14.35,14.21,14.38
$GC,2855,-0.39,-107.1,3246,1915,3364,3397,299.2,-7.6,161,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1912,3381,3365,3397,0,0,0,0,0,0,14.67,14.69,14.69
$GC,3152,-0.39,-107.1,3246,1915,3364,3397,321.4,-7.3,166,3163,0.00,2.55,0.00,0.000,260,0.000,0.103,3247,3310,3380,3363,3397,0,0,0,0,0,0,14.68,14.15,14.69
$GC,3214,-0.39,-107.1,3246,3306,3363,3397,326.0,-7.0,176,3225,0.00,2.55,0.00,0.000,1030,0.000,0.090,3246,1894,3383,3363,3403,0,0,0,0,0,0,14.35,14.21,14.39
$GC,3538,-0.39,-107.1,3244,1894,3360,3397,349.3,-7.3,183,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1894,3380,3364,3397,0,0,0,0,0,0,14.66,14.68,14.67
$GC,3836,-0.39,-107.1,3246,1894,3358,3397,372.7,-7.9,188,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1894,3378,3359,3397,0,0,0,0,0,0,14.67,14.68,14.68
$GC,4136,-0.39,-107.1,3243,1894,3358,3397,397.4,-8.3,193,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1894,3377,3357,3397,0,0,0,0,0,0,14.69,14.70,14.70
$GC,4436,-0.39,-107.1,3246,1894,3356,3397,422.7,-8.5,198,4448,0.00,2.58,0.00,0.000,516,0.000,0.106,3247,493,3376,3356,3397,0,0,0,0,0,0,14.66,14.12,14.69
$GC,4499,-0.39,-107.1,3246,493,3356,3398,428.1,-8.8,208,4510,0.00,2.53,0.00,0.000,1030,0.000,0.092,3247,1896,3376,3355,3397,0,0,0,0,0,0,14.30,14.15,14.35
$GC,4823,-0.39,-107.1,3244,1895,3356,3397,455.7,-8.7,215,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1896,3373,3349,3397,0,0,0,0,0,0,14.70,14.69,14.69
$GC,5121,-0.39,-107.1,3246,1895,3353,3397,479.8,-8.1,220,5132,0.00,2.62,0.00,0.000,260,0.000,0.106,3246,3321,3373,3353,3393,0,0,0,0,0,0,14.68,14.10,14.69
$GC,5169,-0.39,-107.1,3246,3321,3353,3397,483.8,-8.1,227,5180,0.00,2.58,0.00,0.000,1030,0.000,0.093,3247,1906,3372,3352,3393,0,0,0,0,0,0,14.31,14.16,14.36
$GC,5508,-0.39,-107.1,3246,1906,3352,3392,511.6,-8.2,237,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3374,3352,3397,0,0,0,0,0,0,14.64,14.66,14.66
$GC,5807,-0.39,-107.1,3246,1906,3350,3397,533.5,-7.3,242,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1906,3373,3350,3397,0,0,0,0,0,0,14.65,14.67,14.66
$GC,6108,-0.39,-107.1,3246,1906,3349,3397,554.4,-7.1,247,6119,0.00,2.62,0.00,0.000,260,0.000,0.104,3246,3304,3373,3349,3397,0,0,0,0,0,0,14.66,14.11,14.69
$GC,6169,-0.39,-107.1,3246,3300,3349,3397,558.3,-6.2,257,6180,0.00,2.58,0.00,0.000,1030,0.000,0.094,3247,1889,3372,3349,3396,0,0,0,0,0,0,14.29,14.14,14.35
$GC,6493,-0.39,-107.1,3246,1889,3345,3397,578.9,-6.5,264,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1886,3374,3352,3397,0,0,0,0,0,0,14.66,14.68,14.68
$GC,6792,-0.39,-107.1,3246,1889,3346,3396,600.0,-7.1,269,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1889,3371,3346,3397,0,0,0,0,0,0,14.64,14.66,14.66
$GC,7092,-0.39,-107.1,3246,1889,3346,3397,620.8,-7.1,274,7105,0.00,2.65,0.00,0.000,260,0.000,0.105,3247,3301,3371,3345,3397,0,0,0,0,0,0,14.66,14.02,14.67
$GC,7147,-0.39,-107.1,3246,3301,3345,3396,624.7,-7.0,282,7158,0.00,2.55,0.00,0.000,1030,0.000,0.092,3247,1906,3374,3351,3397,0,0,0,0,0,0,14.27,14.12,14.32
$GC,7480,-0.39,-107.1,3246,1907,3343,3396,648.8,-7.3,291,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1907,3370,3344,3396,0,0,0,0,0,0,14.67,14.67,14.66
$GC,7780,-0.39,-107.1,3246,1907,3343,3393,670.5,-7.2,296,7791,0.00,2.65,0.00,0.000,260,0.000,0.106,3243,3319,3367,3338,3396,0,0,0,0,0,0,14.65,14.07,14.66
$GC,7862,-0.39,-107.1,3250,3319,3343,3396,676.1,-6.5,310,7873,0.00,2.65,0.00,0.000,1030,0.000,0.093,3246,1889,3369,3343,3396,0,0,0,0,0,0,14.25,14.09,14.30
$GC,8230,-0.39,-107.1,3246,1889,3342,3395,699.6,-6.5,325,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1888,3368,3340,3396,0,0,0,0,0,0,14.62,14.63,14.63
$GC,8525,-0.39,-107.1,3246,1888,3342,3396,718.8,-6.4,330,8536,0.00,2.58,0.00,0.000,516,0.000,0.106,3246,480,3368,3341,3396,0,0,0,0,0,0,14.64,14.04,14.66
$GC,8577,-0.39,-107.1,3246,481,3342,3396,722.8,-7.6,338,8588,0.00,2.58,0.00,0.000,1030,0.000,0.090,3247,1899,3368,3341,3395,0,0,0,0,0,0,14.26,14.10,14.31
$GC,8911,-0.39,-107.1,3251,1898,3341,3396,743.8,-6.3,347,8922,0.00,2.62,0.00,0.000,260,0.000,0.106,3246,3316,3368,3341,3396,0,0,0,0,0,0,14.65,14.05,14.66
$GC,9017,-0.39,-107.1,3246,3316,3340,3399,749.8,-5.7,365,9028,0.00,2.60,0.00,0.000,1030,0.000,0.093,3247,1904,3368,3340,3396,0,0,0,0,0,0,14.25,14.10,14.30
$GC,9365,-0.39,-107.1,3246,1904,3339,3395,769.1,-5.6,376,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1904,3367,3339,3395,0,0,0,0,0,0,14.60,14.62,14.63
$GC,9659,-0.39,-107.1,3246,1903,3339,3395,785.4,-5.5,381,9671,0.00,2.62,0.00,0.000,516,0.000,0.106,3248,479,3367,3339,3395,0,0,0,0,0,0,14.64,14.03,14.65
$GC,9736,-0.39,-107.1,3246,479,3339,3395,790.9,-7.0,394,9748,0.00,2.60,0.00,0.000,1030,0.000,0.093,3247,1900,3365,3336,3395,0,0,0,0,0,0,14.24,14.09,14.29
$STATE,10043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10043,begin apogee
$GC,10055,-0.16,0.0,3247,2266,3338,3394,809.4,-6.0,409,10148,0.32,0.00,84.72,1.688,10246,0.164,0.000,3339,2266,2941,2884,2999,0,0,0,0,0,0,14.00,13.94,13.12
$STATE,10150,end apogee,CONTROL_FINISHED_OK
$STATE,10150,begin climb
$GC,10156,0.39,107.1,3340,2265,2882,2997,811.3,0.0,410,10262,0.50,2.75,87.88,1.664,10756,0.103,0.105,3518,822,2500,2377,2624,0,0,0,0,0,0,13.93,13.65,12.92
$GC,10309,0.42,107.1,3518,822,2378,2620,806.5,6.1,438,10320,0.00,2.67,0.00,0.000,1030,0.000,0.091,3518,2246,2499,2377,2622,0,0,0,0,0,0,13.91,13.79,13.94
$GC,10666,0.44,107.1,3518,2246,2373,2622,785.4,6.0,451,10677,0.00,2.65,0.00,0.000,260,0.000,0.109,3518,3664,2497,2373,2622,0,0,0,0,0,0,14.44,14.04,14.45
$GC,10769,0.44,107.1,3518,3663,2373,2627,777.7,7.5,468,10780,0.00,2.62,0.00,0.000,1030,0.000,0.093,3527,2236,2497,2373,2621,0,0,0,0,0,0,14.23,14.11,14.29
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$STATE,20710,end climb,SURFACE_DEPTH_REACHED
$STATE,20710,begin surface coast
$FINISH,1.6,1.023585
$STATE,20740,end surface coast,CONTROL_FINISHED_OK
$STATE,20740,begin surface
$SM_CCo,20772,49.12,0.086,0,0,1309,400.08
$SM_GC,1.62,10.05,0.68,49.12,0.047,0.095,0.086,97,1899,1309,-10.25,0.57,400.08,0,0,0,0,0,0,14.21,14.18,14.19
$IRIDIUM_FIX,4729.30,-12519.22,270915,092446
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.52
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3782048
$24V_AH,12.53,106.616
$10V_AH,12.82,0.000
$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,25.225,178.475,305.525,49.125,0.000,0.000,0.000,489.300,0.000,0.000,4.961,2180.329,15106.346,577.825,2798.571,1029.767,0.000,2639.945,0.000,1546.933,0.000,0.537,0.000
$DEVICE_MAMPS,358.020,110.160,1688.355,86.445,0.000,0.000,0.000,153.765,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20818.000,538.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.895,7.330,0.000,0.000
$MEM,286368
$DATA_FILE_SIZE,36738,1057
$CAP_FILE_SIZE,216565,0
$CFSIZE,260034560,210616320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,339.96,1
$GPS,270915,202120,4746.676,-12524.509,48,0.7,63,16.5,0.4,301.3,12,4.5