version: 66.12
glider: 187
mission: 8
dive: 533
start: 11 13 115 0 4 43
data:
$ID,187
$MISSION,8
$DIVE,533
$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,570
$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,2
$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,1970
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,10
$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
$GPS1,121115,234438,4747.3579,-12520.3389,116,1.4,121,16.5,0.2,0.0,6,9.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-73.8
$GPS2,131115,000415,4747.2480,-12520.0557,4,1.6,10,16.5,1.0,140.4,6,9.4
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,52.8,14934,-14.8,-7.333,-19.49,2243
$D_GRID,726
$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,24,begin dive
$GC,29,-0.39,-107.1,58,1967,1202,1428,0.0,0.0,0,110,0.00,0.00,-73.65,0.000,16390,0.000,0.000,56,1964,3377,3367,3388,0,0,0,0,0,0,14.49,12.38,14.44
$GC,118,-0.39,-107.1,56,1963,3365,3393,2.0,-3.1,2,143,14.65,2.65,0.00,0.000,2820,0.366,0.099,3251,3389,3383,3370,3396,0,0,0,0,0,0,13.72,14.09,14.10
$GC,378,-0.39,-107.1,3251,3388,3367,3402,56.2,-10.7,51,390,0.00,2.60,0.00,0.000,1030,0.000,0.089,3251,1973,3384,3367,3402,0,0,0,0,0,0,14.16,14.02,14.19
$GC,752,-0.39,-107.1,3251,1972,3365,3403,91.1,-9.3,67,763,0.00,2.62,0.00,0.000,260,0.000,0.100,3251,3388,3387,3365,3409,0,0,0,0,0,0,14.57,13.97,14.59
$GC,849,-0.39,-107.1,3250,3389,3364,3406,100.3,-8.3,84,860,0.00,2.58,0.00,0.000,1030,0.000,0.084,3256,1965,3387,3368,3406,0,0,0,0,0,0,14.17,14.05,14.23
$GC,1201,-0.39,-107.1,3251,1966,3364,3406,129.5,-8.4,96,1213,0.00,2.58,0.00,0.000,516,0.000,0.098,3251,560,3385,3364,3406,0,0,0,0,0,0,14.57,14.00,14.59
$GC,1258,-0.39,-107.1,3251,560,3364,3406,135.2,-9.3,105,1270,0.00,2.58,0.00,0.000,1030,0.000,0.087,3256,1987,3385,3364,3406,0,0,0,0,0,0,14.19,14.03,14.23
$GC,1587,-0.39,-107.1,3251,1991,3363,3406,161.2,-7.8,113,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1987,3384,3363,3406,0,0,0,0,0,0,14.60,14.62,14.62
$GC,1887,-0.39,-107.1,3251,1986,3362,3406,186.4,-8.4,118,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1986,3384,3362,3406,0,0,0,0,0,0,14.60,14.62,14.62
$GC,2187,-0.39,-107.1,3250,1986,3360,3406,209.9,-7.8,123,2198,0.00,2.58,0.00,0.000,260,0.000,0.102,3251,3386,3389,3367,3411,0,0,0,0,0,0,14.62,13.95,14.64
$GC,2229,-0.39,-107.1,3251,3386,3360,3406,213.1,-7.8,129,2241,0.00,2.60,0.00,0.000,1030,0.000,0.085,3251,1961,3383,3360,3406,0,0,0,0,0,0,14.18,14.04,14.23
$GC,2573,-0.39,-107.1,3248,1961,3358,3406,238.4,-7.6,140,2584,0.00,2.58,0.00,0.000,516,0.000,0.099,3251,563,3381,3357,3406,0,0,0,0,0,0,14.61,13.94,14.63
$GC,2610,-0.39,-107.1,3251,563,3358,3406,241.7,-8.9,145,2622,0.00,2.55,0.00,0.000,1030,0.000,0.087,3252,1967,3381,3358,3405,0,0,0,0,0,0,14.16,13.98,14.19
$GC,2962,-0.39,-107.1,3251,1966,3357,3406,269.1,-7.8,157,2974,0.00,2.62,0.00,0.000,260,0.000,0.101,3256,3387,3381,3357,3406,0,0,0,0,0,0,14.61,13.93,14.62
$GC,3070,-0.39,-107.1,3251,3390,3356,3407,277.3,-7.6,175,3081,0.00,2.60,0.00,0.000,1030,0.000,0.086,3247,1974,3381,3356,3406,0,0,0,0,0,0,14.13,13.98,14.18
$GC,3417,-0.39,-107.1,3251,1973,3355,3404,303.9,-7.7,186,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,3382,3358,3406,0,0,0,0,0,0,14.59,14.59,14.60
$GC,3713,-0.39,-107.1,3251,1977,3353,3406,325.9,-7.3,191,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,3379,3352,3406,0,0,0,0,0,0,14.62,14.62,14.64
$GC,4012,-0.39,-107.1,3251,1973,3353,3406,347.6,-7.3,196,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,3379,3353,3406,0,0,0,0,0,0,14.60,14.62,14.62
$GC,4313,-0.39,-107.1,3251,1973,3352,3406,368.7,-7.0,201,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,3379,3352,3406,0,0,0,0,0,0,14.62,14.64,14.64
$GC,4613,-0.39,-107.1,3251,1973,3351,3406,386.9,-6.0,206,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,3377,3349,3406,0,0,0,0,0,0,14.63,14.64,14.64
$GC,4912,-0.39,-107.1,3251,1973,3349,3406,403.5,-5.5,211,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,3377,3349,3406,0,0,0,0,0,0,14.62,14.63,14.63
$GC,5214,-0.39,-107.1,3251,1973,3348,3406,419.5,-5.3,216,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,3377,3348,3406,0,0,0,0,0,0,14.62,14.64,14.64
$GC,5512,-0.39,-107.1,3247,1973,3346,3411,435.8,-5.5,221,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,3377,3348,3406,0,0,0,0,0,0,14.59,14.62,14.61
$GC,5814,-0.39,-107.1,3251,1973,3345,3406,454.4,-6.3,226,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,3375,3345,3406,0,0,0,0,0,0,14.60,14.62,14.62
$GC,6112,-0.39,-107.1,3251,1973,3345,3405,474.1,-6.6,231,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1972,3375,3344,3406,0,0,0,0,0,0,14.61,14.63,14.63
$GC,6412,-0.39,-107.1,3251,1973,3343,3406,495.6,-7.2,236,6423,0.00,2.65,0.00,0.000,516,0.000,0.103,3251,549,3372,3340,3404,0,0,0,0,0,0,14.60,13.85,14.62
$GC,6480,-0.39,-107.1,3249,550,3338,3409,501.2,-8.6,247,6492,0.00,2.60,0.00,0.000,1030,0.000,0.089,3251,1970,3371,3337,3406,0,0,0,0,0,0,14.06,13.93,14.11
$GC,6785,-0.39,-107.1,3251,1968,3345,3401,525.3,-7.9,253,6796,0.00,2.65,0.00,0.000,260,0.000,0.105,3251,3388,3373,3341,3406,0,0,0,0,0,0,14.61,13.81,14.62
$GC,6868,-0.39,-107.1,3251,3387,3341,3406,531.7,-7.8,267,6879,0.00,2.62,0.00,0.000,1030,0.000,0.087,3251,1970,3373,3341,3406,0,0,0,0,0,0,14.08,13.93,14.13
$GC,7236,-0.39,-107.1,3251,1970,3335,3406,558.7,-7.3,282,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1968,3373,3340,3406,0,0,0,0,0,0,14.59,14.61,14.59
$GC,7532,-0.39,-107.1,3251,1970,3339,3405,579.9,-7.1,287,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1970,3372,3339,3405,0,0,0,0,0,0,14.60,14.62,14.62
$GC,7831,-0.39,-107.1,3251,1969,3339,3406,601.9,-7.4,292,7842,0.00,2.70,0.00,0.000,260,0.000,0.108,3251,3386,3372,3339,3406,0,0,0,0,0,0,14.61,13.81,14.62
$GC,7883,-0.39,-107.1,3252,3386,3340,3405,605.6,-6.8,300,7894,0.00,2.62,0.00,0.000,1030,0.000,0.087,3251,1959,3372,3338,3406,0,0,0,0,0,0,14.05,13.92,14.12
$GC,8216,-0.39,-107.1,3250,1959,3334,3405,626.9,-6.4,309,8228,0.00,2.60,0.00,0.000,516,0.000,0.103,3248,564,3371,3338,3405,0,0,0,0,0,0,14.59,13.79,14.62
$GC,8283,-0.39,-107.1,3251,564,3338,3405,631.9,-7.6,320,8295,0.00,2.60,0.00,0.000,1030,0.000,0.088,3251,1968,3372,3339,3405,0,0,0,0,0,0,14.02,13.84,14.08
$GC,8591,-0.39,-107.1,3251,1968,3337,3405,651.6,-6.4,326,8602,0.00,2.67,0.00,0.000,260,0.000,0.107,3251,3389,3369,3337,3401,0,0,0,0,0,0,14.59,13.77,14.61
$GC,8657,-0.39,-107.1,3251,3388,3337,3405,655.3,-5.4,337,8670,0.00,2.65,0.00,0.000,1030,0.000,0.089,3251,1973,3370,3337,3404,0,0,0,0,0,0,14.03,13.88,14.08
$GC,8964,-0.39,-107.1,3251,1973,3335,3402,671.9,-5.5,343,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1973,3370,3336,3405,0,0,0,0,0,0,14.59,14.62,14.61
$GC,9263,-0.39,-107.1,3251,1973,3335,3405,688.2,-5.5,348,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1973,3369,3334,3404,0,0,0,0,0,0,14.61,14.62,14.62
$GC,9563,-0.39,-107.1,3247,1970,3336,3406,705.4,-5.7,353,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1972,3369,3334,3405,0,0,0,0,0,0,14.61,14.62,14.62
$GC,9865,-0.39,-107.1,3251,1973,3333,3405,722.4,-5.4,358,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1973,3370,3337,3404,0,0,0,0,0,0,14.57,14.59,14.59
$STATE,9978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9978,begin apogee
$GC,9990,-0.16,0.0,3251,2253,3333,3404,728.5,-5.3,360,10085,0.30,0.00,86.80,1.611,10246,0.152,0.000,3338,2253,2940,2875,3005,0,0,0,0,0,0,13.85,13.87,12.90
$STATE,10087,end apogee,CONTROL_FINISHED_OK
$STATE,10087,begin climb
$GC,10094,0.39,107.1,3338,2254,2871,3003,730.2,0.0,361,10201,0.50,2.72,88.82,1.590,10500,0.096,0.108,3519,3665,2504,2376,2633,0,0,0,0,0,0,13.95,13.73,12.78
$GC,10223,0.42,165.0,3518,3664,2377,2625,727.7,4.7,383,10284,0.00,2.67,48.47,1.581,9222,0.000,0.092,3527,2236,2267,2109,2425,0,0,0,0,0,0,13.93,13.81,12.80
$GC,10606,0.43,165.0,3526,2236,2108,2423,702.6,6.8,403,10617,0.00,2.58,0.00,0.000,516,0.000,0.106,3527,838,2266,2108,2424,0,0,0,0,0,0,14.48,14.00,14.47
$GC,10673,0.43,165.0,3533,838,2108,2423,697.9,7.3,414,10686,0.00,2.60,0.00,0.000,1030,0.000,0.094,3527,2261,2265,2108,2423,0,0,0,0,0,0,14.17,14.03,14.21
$GC,10980,0.43,165.0,3527,2255,2108,2424,675.9,7.1,420,10991,0.00,2.62,0.00,0.000,260,0.000,0.106,3527,3664,2265,2108,2422,0,0,0,0,0,0,14.55,13.98,14.57
$GC,11016,0.43,165.0,3523,3663,2108,2421,672.9,7.8,425,11028,0.00,2.60,0.00,0.000,1030,0.000,0.091,3527,2254,2265,2108,2422,0,0,0,0,0,0,14.19,14.04,14.23
$GC,11369,0.43,165.0,3526,2256,2108,2421,648.6,6.9,437,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2255,2264,2107,2421,0,0,0,0,0,0,14.57,14.59,14.59
$GC,11664,0.43,165.0,3525,2254,2107,2421,628.2,6.8,442,11676,0.00,2.62,0.00,0.000,516,0.000,0.104,3527,826,2264,2107,2421,0,0,0,0,0,0,14.61,13.98,14.63
$GC,11713,0.44,165.0,3527,826,2108,2421,625.1,6.6,449,11724,0.00,2.58,0.00,0.000,1030,0.000,0.093,3527,2244,2264,2108,2421,0,0,0,0,0,0,14.16,14.01,14.22
$GC,12056,0.46,165.0,3527,2244,2107,2421,602.7,6.6,459,12066,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2244,2264,2107,2421,0,0,0,0,0,0,14.59,14.61,14.61
$GC,12352,0.47,165.0,3526,2244,2107,2421,582.9,6.7,464,12362,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2243,2263,2106,2421,0,0,0,0,0,0,14.59,14.62,14.61
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$STATE,20463,end climb,SURFACE_DEPTH_REACHED
$STATE,20463,begin surface coast
$FINISH,-0.2,1.024168
$STATE,20494,end surface coast,CONTROL_FINISHED_OK
$STATE,20494,begin surface
$SM_CCo,20526,29.73,0.083,0,0,1309,400.08
$SM_GC,1.41,10.07,0.52,29.73,0.040,0.099,0.083,89,1955,1309,-10.26,0.54,400.08,0,0,0,0,0,0,14.14,14.11,14.10
$IRIDIUM_FIX,4729.30,-12521.83,121115,165153
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.11
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3720224
$24V_AH,12.38,150.968
$10V_AH,12.16,0.000
$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,25.850,163.850,345.350,29.725,0.000,0.000,0.000,733.125,0.000,0.000,11.612,1785.107,15665.381,574.616,2700.427,987.226,0.000,2681.807,0.000,1270.995,0.000,0.537,0.000
$DEVICE_MAMPS,365.670,107.865,1611.090,82.620,0.000,0.000,0.000,153.765,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20585.000,490.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.963,7.657,0.000,0.000
$MEM,286364
$DATA_FILE_SIZE,30052,866
$CAP_FILE_SIZE,192778,0
$CFSIZE,260034560,191094784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,301.99,1
$GPS,131115,055018,4748.097,-12517.728,116,1.5,120,16.5,1.3,326.9,5,9.6