version: 66.12
glider: 187
mission: 8
dive: 542
start: 11 14 115 3 32 36
data:
$ID,187
$MISSION,8
$DIVE,542
$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,23
$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,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
$GPS1,141115,031902,4752.3149,-12512.7305,9,1.5,43,16.5,0.8,312.2,5,3.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-77.0
$GPS2,141115,033206,4752.4639,-12512.7119,3,1.0,4,16.5,0.9,334.1,10,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,172.9,166745,-14.8,-7.333,-19.49,2243
$D_GRID,218
$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,31,-0.39,-107.1,69,1968,1118,1404,0.0,0.0,0,112,0.00,0.00,-76.28,0.000,16390,0.000,0.000,69,1972,3380,3368,3392,0,0,0,0,0,0,14.53,12.39,14.47
$GC,119,-0.39,-107.1,69,1971,3369,3396,1.9,-2.2,2,141,14.52,2.58,0.00,0.000,2308,0.369,0.094,3250,3388,3382,3368,3396,0,0,0,0,0,0,13.77,14.16,14.13
$GC,223,-0.39,-107.1,3246,3384,3368,3401,33.8,-8.5,20,231,0.00,2.55,0.00,0.000,1030,0.000,0.087,3250,1976,3382,3364,3401,0,0,0,0,0,0,14.21,14.07,14.25
$GC,562,-0.39,-107.1,3248,1976,3365,3405,72.2,-11.5,33,571,0.00,2.58,0.00,0.000,260,0.000,0.103,3250,3386,3385,3365,3405,0,0,0,0,0,0,14.59,14.03,14.58
$GC,611,-0.39,-107.1,3249,3383,3365,3405,77.7,-10.6,41,619,0.00,2.53,0.00,0.000,1030,0.000,0.083,3250,1973,3383,3361,3405,0,0,0,0,0,0,14.23,14.10,14.28
$GC,942,-0.39,-107.1,3250,1974,3365,3405,106.7,-8.4,50,949,0.00,2.55,0.00,0.000,516,0.000,0.098,3251,558,3386,3365,3407,0,0,0,0,0,0,14.57,14.00,14.60
$GC,974,-0.39,-107.1,3249,557,3365,3406,109.6,-8.6,55,982,0.00,2.53,0.00,0.000,1030,0.000,0.086,3250,1973,3385,3365,3406,0,0,0,0,0,0,14.23,14.09,14.28
$GC,1319,-0.39,-107.1,3250,1971,3364,3406,136.7,-8.0,67,1326,0.00,2.58,0.00,0.000,260,0.000,0.103,3253,3389,3384,3365,3403,0,0,0,0,0,0,14.59,14.01,14.61
$GC,1377,-0.39,-107.1,3250,3389,3364,3406,142.1,-9.2,77,1385,0.00,2.58,0.00,0.000,1030,0.000,0.084,3249,1955,3387,3363,3411,0,0,0,0,0,0,14.16,14.06,14.20
$GC,1696,-0.39,-107.1,3250,1955,3364,3406,170.4,-8.7,84,1704,0.00,2.55,0.00,0.000,516,0.000,0.100,3252,551,3387,3364,3411,0,0,0,0,0,0,14.59,13.95,14.63
$GC,1736,-0.39,-107.1,3250,550,3363,3406,173.9,-9.3,90,1743,0.00,2.55,0.00,0.000,1030,0.000,0.086,3247,1982,3385,3364,3406,0,0,0,0,0,0,14.21,14.08,14.28
$GC,2074,-0.39,-107.1,3250,1982,3362,3406,201.5,-8.2,101,2083,0.00,2.55,0.00,0.000,260,0.000,0.104,3250,3371,3386,3366,3406,0,0,0,0,0,0,14.60,13.99,14.62
$GC,2113,-0.39,-107.1,3249,3371,3361,3405,204.6,-8.1,107,2120,0.00,2.53,0.00,0.000,1030,0.000,0.086,3250,1967,3384,3362,3406,0,0,0,0,0,0,14.21,14.07,14.26
$STATE,2326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2326,begin apogee
$GC,2339,-0.16,0.0,3250,2246,3367,3406,222.4,-8.3,116,2429,0.30,0.00,83.62,0.974,10246,0.153,0.000,3343,2246,2939,2871,3008,0,0,0,0,0,0,13.98,14.07,13.39
$STATE,2432,end apogee,CONTROL_FINISHED_OK
$STATE,2432,begin climb
$GC,2437,0.39,107.1,3342,2246,2869,3007,226.2,0.0,117,2538,0.47,2.62,81.38,0.967,10500,0.109,0.103,3515,3664,2501,2373,2629,0,0,0,0,0,0,14.08,13.97,13.28
$GC,2619,0.44,208.9,3519,3663,2373,2628,227.0,2.7,151,2708,0.00,2.55,77.18,0.978,9222,0.000,0.084,3516,2249,2089,1920,2258,0,0,0,0,0,0,14.19,14.06,13.33
$GC,3060,0.47,267.0,3516,2249,1922,2252,209.1,4.7,182,3116,0.00,2.55,44.45,0.949,8708,0.000,0.100,3517,822,1848,1692,2005,0,0,0,0,0,0,14.59,13.96,13.47
$GC,3192,0.47,267.0,3516,821,1693,2003,200.5,7.1,206,3204,0.00,2.55,0.00,0.000,1030,0.000,0.087,3516,2247,1848,1693,2003,0,0,0,0,0,0,14.26,14.13,14.29
$GC,3570,0.47,267.0,3516,2247,1693,2003,173.5,7.3,223,3581,0.00,2.60,0.00,0.000,260,0.000,0.104,3516,3667,1848,1693,2004,0,0,0,0,0,0,14.59,14.13,14.61
$GC,3736,0.47,267.0,3515,3667,1699,2002,158.9,9.0,253,3747,0.00,2.58,0.00,0.000,1030,0.000,0.087,3516,2249,1849,1697,2002,0,0,0,0,0,0,14.31,14.18,14.35
$GC,4078,0.47,267.0,3516,2249,1692,2002,132.0,7.6,264,4089,0.00,2.55,0.00,0.000,516,0.000,0.098,3516,838,1847,1693,2001,0,0,0,0,0,0,14.64,14.12,14.69
$GC,4129,0.49,267.0,3516,842,1693,2002,128.9,6.4,271,4140,0.12,2.53,0.00,0.000,3078,0.126,0.089,3579,2255,1847,1693,2002,0,0,0,0,0,0,14.14,14.13,14.25
$GC,4471,0.49,267.0,3579,2256,1693,2001,104.3,7.4,281,4483,0.08,2.60,0.00,0.000,4612,0.218,0.100,3556,825,1845,1693,1998,0,0,0,0,0,0,14.17,14.09,14.24
$GC,4697,0.49,267.0,3554,825,1690,2001,89.2,7.1,323,4708,0.00,2.58,0.00,0.000,1030,0.000,0.091,3554,2255,1847,1693,2001,0,0,0,0,0,0,14.27,14.13,14.32
$GC,5045,0.51,267.0,3554,2255,1693,2001,66.8,6.4,334,5057,0.00,2.58,0.00,0.000,260,0.000,0.105,3554,3664,1847,1693,2001,0,0,0,0,0,0,14.64,14.07,14.66
$GC,5098,0.53,267.0,3554,3664,1690,2001,63.6,6.1,342,5110,0.00,2.58,0.00,0.000,1030,0.000,0.090,3554,2236,1847,1693,2001,0,0,0,0,0,0,14.30,14.13,14.32
$GC,5438,0.55,267.0,3554,2235,1692,2001,45.5,6.5,352,5449,0.00,2.50,0.00,0.000,516,0.000,0.100,3555,842,1847,1693,2001,0,0,0,0,0,0,14.62,14.06,14.64
$GC,5515,0.58,322.1,3555,842,1693,2001,41.8,4.8,365,5568,0.00,2.53,40.75,0.785,9222,0.000,0.087,3555,2254,1624,1466,1782,0,0,0,0,0,0,14.26,14.12,13.64
$GC,5880,0.61,322.1,3554,2254,1465,1780,26.0,5.5,386,5891,0.08,0.00,0.00,0.000,2054,0.151,0.000,3617,2254,1622,1465,1780,0,0,0,0,0,0,14.31,14.40,14.37
$GC,6185,0.61,322.1,3620,2253,1466,1780,5.9,7.2,396,6196,0.00,2.58,0.00,0.000,516,0.000,0.099,3620,840,1622,1464,1780,0,0,0,0,0,0,14.64,14.08,14.64
$STATE,6201,end climb,SURFACE_DEPTH_REACHED
$STATE,6201,begin surface coast
$FINISH,1.5,1.024126
$STATE,6232,end surface coast,CONTROL_FINISHED_OK
$STATE,6233,begin surface
$SM_CCo,6270,32.33,0.082,0,0,1309,400.08
$SM_GC,1.35,9.82,2.08,32.33,0.034,0.092,0.082,83,1967,1309,-10.27,-0.68,400.08,0,0,0,0,0,0,14.30,14.15,14.20
$IRIDIUM_FIX,4732.49,-12541.59,141115,014952
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.06
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3716736
$24V_AH,12.39,152.554
$10V_AH,12.04,0.000
$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,25.400,71.675,327.375,32.325,0.000,0.000,0.000,482.150,0.000,0.000,5.748,773.264,4133.259,451.178,1228.126,501.844,0.000,1447.288,0.000,600.478,0.000,0.537,0.000
$DEVICE_MAMPS,368.730,106.335,977.670,81.855,0.000,0.000,0.000,148.410,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6289.000,2486.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.296,9.235,0.000,0.000
$MEM,286392
$DATA_FILE_SIZE,13434,404
$CAP_FILE_SIZE,78395,0
$CFSIZE,260034560,190517248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,316.99,1
$GPS,141115,051901,4752.597,-12513.839,24,0.8,24,16.5,0.3,276.9,10,5.4