version: 66.12
glider: 187
mission: 8
dive: 705
start: 1 6 116 8 5 33
data:
$ID,187
$MISSION,8
$DIVE,705
$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,8
$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,1970
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,16
$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
$GPS1,060116,074841,4751.3364,-12512.0586,35,1.0,37,16.5,0.6,43.1,9,9.6
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-73.5
$GPS2,060116,080503,4751.4082,-12512.0293,3,1.0,9,16.5,0.7,267.3,9,8.1
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,219.5,166320,-14.8,-7.333,-19.49,2243
$D_GRID,280
$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,-107.1,82,1962,1192,1430,0.0,0.0,0,115,0.00,0.00,-77.20,0.000,16390,0.000,0.000,82,1961,3378,3375,3381,0,0,0,0,0,0,14.48,12.57,14.37
$GC,123,-0.39,-107.1,82,1962,3375,3384,1.4,-2.5,2,149,14.35,2.60,0.00,0.000,2564,0.360,0.096,3257,557,3381,3376,3386,0,0,0,0,0,0,13.74,14.05,14.10
$GC,294,-0.39,-107.1,3257,557,3373,3393,40.3,-10.1,33,306,0.00,2.60,0.00,0.000,1030,0.000,0.090,3255,1971,3382,3373,3392,0,0,0,0,0,0,14.07,13.90,14.11
$GC,633,-0.39,-107.1,3257,1971,3372,3393,75.3,-10.5,44,644,0.00,2.65,0.00,0.000,260,0.000,0.100,3257,3391,3382,3371,3393,0,0,0,0,0,0,14.47,13.79,14.49
$GC,696,-0.39,-107.1,3257,3389,3371,3393,81.3,-9.2,54,708,0.00,2.60,0.00,0.000,1030,0.000,0.081,3258,1974,3380,3367,3393,0,0,0,0,0,0,13.95,13.88,13.99
$GC,1019,-0.39,-107.1,3257,1974,3371,3394,113.3,-10.0,61,1031,0.00,2.62,0.00,0.000,516,0.000,0.095,3259,545,3379,3370,3389,0,0,0,0,0,0,14.46,13.83,14.48
$GC,1067,-0.39,-107.1,3257,545,3370,3394,117.6,-8.6,68,1078,0.00,2.62,0.00,0.000,1030,0.000,0.084,3258,1984,3382,3371,3394,0,0,0,0,0,0,13.99,13.83,14.04
$GC,1405,-0.39,-107.1,3258,1983,3370,3394,147.6,-8.3,78,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1984,3382,3370,3395,0,0,0,0,0,0,14.47,14.49,14.50
$GC,1706,-0.39,-107.1,3258,1984,3370,3395,171.6,-8.0,83,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1984,3382,3370,3395,0,0,0,0,0,0,14.45,14.47,14.47
$GC,2005,-0.39,-107.1,3257,1983,3370,3391,194.7,-7.7,88,2017,0.00,2.60,0.00,0.000,260,0.000,0.099,3257,3372,3380,3366,3395,0,0,0,0,0,0,14.46,13.81,14.48
$GC,2072,-0.39,-107.1,3257,3373,3370,3391,199.9,-7.6,99,2084,0.00,2.58,0.00,0.000,1030,0.000,0.080,3254,1962,3383,3370,3396,0,0,0,0,0,0,13.94,13.83,13.98
$GC,2379,-0.39,-107.1,3257,1967,3369,3395,222.1,-7.2,105,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1962,3382,3369,3395,0,0,0,0,0,0,14.46,14.48,14.47
$GC,2678,-0.39,-107.1,3258,1962,3369,3397,243.9,-7.2,110,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1962,3383,3365,3401,0,0,0,0,0,0,14.47,14.51,14.48
$GC,2979,-0.39,-107.1,3258,1962,3369,3395,266.1,-7.4,115,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1962,3382,3369,3396,0,0,0,0,0,0,14.41,14.45,14.45
$STATE,3213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3213,begin apogee
$GC,3225,-0.16,0.0,3258,2244,3369,3395,283.3,-7.2,119,3319,0.28,0.00,86.30,1.049,10246,0.154,0.000,3343,2247,2939,2878,3001,0,0,0,0,0,0,13.66,14.06,13.41
$STATE,3321,end apogee,CONTROL_FINISHED_OK
$STATE,3321,begin climb
$GC,3326,0.39,107.1,3344,2247,2873,3000,286.2,0.0,120,3430,0.47,2.72,84.50,1.049,10500,0.109,0.101,3514,3666,2503,2380,2627,0,0,0,0,0,0,13.92,13.95,13.28
$GC,3450,0.43,195.1,3510,3666,2373,2628,286.4,3.3,141,3531,0.00,2.60,68.70,1.047,9222,0.000,0.081,3514,2240,2144,1988,2300,0,0,0,0,0,0,14.06,13.94,13.27
$GC,3832,0.47,195.1,3514,2240,1987,2298,267.0,5.4,162,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2240,2142,1987,2297,0,0,0,0,0,0,14.46,14.48,14.47
$GC,4131,0.51,195.1,3514,2240,1989,2299,251.1,5.3,167,4143,0.08,2.70,0.00,0.000,2308,0.144,0.099,3595,3665,2143,1989,2298,0,0,0,0,0,0,14.17,13.94,14.18
$GC,4185,0.51,195.1,3595,3665,1989,2298,247.7,7.5,175,4199,0.10,2.58,0.00,0.000,5126,0.187,0.086,3566,2251,2143,1989,2298,0,0,0,0,0,0,13.82,13.95,13.93
$GC,4525,0.54,195.1,3565,2251,1990,2298,226.9,5.9,184,4536,0.00,2.60,0.00,0.000,516,0.000,0.096,3569,824,2144,1991,2298,0,0,0,0,0,0,14.48,13.90,14.52
$GC,4637,0.56,195.1,3568,824,1992,2298,219.1,6.5,203,4648,0.00,2.62,0.00,0.000,1030,0.000,0.086,3569,2263,2144,1990,2298,0,0,0,0,0,0,14.13,14.00,14.18
$GC,4979,0.58,195.1,3568,2263,1992,2298,198.6,6.0,213,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2263,2145,1992,2298,0,0,0,0,0,0,14.47,14.49,14.49
$GC,5276,0.58,195.1,3568,2262,1991,2298,177.9,6.9,218,5287,0.00,2.65,0.00,0.000,260,0.000,0.100,3569,3665,2143,1989,2298,0,0,0,0,0,0,14.51,13.90,14.52
$GC,5328,0.58,195.1,3568,3666,1991,2298,173.9,7.6,226,5339,0.00,2.60,0.00,0.000,1030,0.000,0.083,3568,2238,2145,1992,2298,0,0,0,0,0,0,14.12,13.98,14.16
$GC,5667,0.62,195.1,3568,2237,1992,2298,155.0,5.5,235,5678,0.00,2.55,0.00,0.000,516,0.000,0.096,3571,844,2145,1992,2298,0,0,0,0,0,0,14.45,13.88,14.48
$GC,5837,0.66,195.1,3569,843,1992,2298,146.8,5.4,266,5849,0.10,2.60,0.00,0.000,3078,0.116,0.086,3641,2260,2145,1992,2298,0,0,0,0,0,0,14.02,13.95,14.13
$GC,6184,0.66,195.1,3641,2260,1992,2298,122.1,7.2,276,6195,0.10,2.62,0.00,0.000,4356,0.221,0.099,3607,3668,2145,1992,2298,0,0,0,0,0,0,13.74,13.85,13.81
$GC,6321,0.69,195.1,3608,3662,1991,2296,113.3,5.8,300,6333,0.00,2.58,0.00,0.000,1030,0.000,0.082,3609,2255,2144,1991,2297,0,0,0,0,0,0,14.07,13.93,14.12
$GC,6694,0.72,250.6,3609,2255,1991,2297,96.0,4.8,317,6750,0.00,2.55,42.45,0.837,8708,0.000,0.094,3609,826,1919,1771,2067,0,0,0,0,0,0,14.50,14.16,13.59
$GC,6800,0.73,250.6,3609,826,1771,2061,89.8,6.8,336,6811,0.00,2.58,0.00,0.000,1030,0.000,0.086,3609,2251,1914,1766,2062,0,0,0,0,0,0,14.17,14.04,14.21
$GC,7143,0.75,250.6,3609,2249,1771,2061,68.6,6.3,346,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,3609,2251,1915,1770,2061,0,0,0,0,0,0,14.48,14.52,14.50
$GC,7439,0.77,250.6,3609,2251,1771,2061,48.9,6.5,351,7451,0.00,2.62,0.00,0.000,516,0.000,0.095,3609,831,1915,1770,2061,0,0,0,0,0,0,14.50,13.85,14.50
$GC,7517,0.78,250.6,3608,831,1771,2061,43.8,6.8,364,7528,0.08,2.58,0.00,0.000,3078,0.145,0.087,3673,2246,1916,1771,2061,0,0,0,0,0,0,14.02,13.97,14.15
$GC,7854,0.78,250.6,3673,2246,1771,2061,15.2,8.5,379,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,3674,2245,1913,1767,2060,0,0,0,0,0,0,14.48,14.50,14.50
$STATE,7999,end climb,SURFACE_DEPTH_REACHED
$STATE,7999,begin surface coast
$FINISH,0.9,1.024687
$STATE,8031,end surface coast,CONTROL_FINISHED_OK
$STATE,8031,begin surface
$SM_CCo,8064,62.97,0.076,0,0,1309,400.08
$SM_GC,0.63,10.20,0.55,62.97,0.044,0.103,0.076,85,1956,1309,-10.26,0.31,400.08,0,0,0,0,0,0,14.14,13.95,14.13
$IRIDIUM_FIX,4732.49,-12513.98,060116,075648
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.96
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3645248
$24V_AH,12.57,205.073
$10V_AH,13.45,0.000
$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,25.750,63.750,281.950,62.975,0.000,0.000,0.000,495.450,0.000,0.000,11.104,799.691,5936.671,444.373,1369.736,556.707,0.000,1546.642,0.000,582.984,0.000,0.538,0.000
$DEVICE_MAMPS,359.550,102.510,1048.815,76.500,0.000,0.000,0.000,150.705,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8096.000,203.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.629,8.029,0.000,0.000
$MEM,286312
$DATA_FILE_SIZE,13447,385
$CAP_FILE_SIZE,88690,0
$CFSIZE,260034560,168452096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,66.53,1
$GPS,060116,102303,4751.175,-12512.403,63,0.9,65,16.5,0.9,324.9,12,7.3