version: 66.12
glider: 187
mission: 8
dive: 43
start: 6 22 115 22 41 24
data:
$ID,187
$MISSION,8
$DIVE,43
$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,120
$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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,3400
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$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,1800
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,18
$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,0.00079999998
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,220615,223039,4719.8545,-12605.3242,29,1.2,30,16.5,0.4,47.1,7,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-78.9
$GPS2,220615,224050,4719.9321,-12605.2773,3,1.5,7,16.5,0.6,81.8,6,10.0
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,183.3,78358,-14.0,-7.333,-18.81,2445
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,27,-0.49,-116.8,90,1808,1266,1557,0.0,0.0,0,100,0.00,0.00,-65.82,0.000,16386,0.000,0.000,90,1808,3199,3180,3219,0,0,0,0,0,0,14.67,28.83,14.69
$GC,107,-0.49,-116.8,90,1808,3183,3221,3.9,-5.7,7,136,13.27,2.67,-3.28,0.000,18692,0.366,2.214,3226,3203,3420,3404,3437,0,0,0,0,0,0,14.33,13.76,14.54
$GC,146,-0.49,-116.8,3233,3204,3404,3439,25.0,-48.7,12,157,0.00,2.50,0.00,0.000,1030,0.000,0.097,3229,1790,3422,3404,3440,0,0,0,0,0,0,14.54,14.43,14.54
$GC,349,-0.49,-116.8,3229,1789,3404,3441,66.3,-17.7,32,360,0.00,2.53,0.00,0.000,260,0.000,0.103,3229,3215,3422,3404,3441,0,0,0,0,0,0,14.71,14.52,14.75
$GC,370,-0.49,-116.8,3229,3218,3404,3441,70.1,-17.3,34,382,0.00,2.50,0.00,0.000,1030,0.000,0.094,3230,1788,3423,3404,3442,0,0,0,0,0,0,14.60,14.50,14.62
$GC,573,-0.49,-116.8,3229,1788,3400,3442,103.2,-15.7,54,585,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1789,3425,3405,3445,0,0,0,0,0,0,14.75,14.77,14.77
$GC,765,-0.49,-116.8,3229,1789,3404,3444,130.3,-12.8,73,777,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1789,3423,3403,3444,0,0,0,0,0,0,14.78,14.80,14.80
$GC,958,-0.49,-116.8,3229,1788,3399,3444,153.5,-11.9,92,969,0.00,2.50,0.00,0.000,260,0.000,0.102,3229,3206,3424,3405,3444,0,0,0,0,0,0,14.80,14.61,14.81
$GC,1000,-0.49,-116.8,3229,3206,3404,3444,158.7,-12.0,98,1011,0.00,2.45,0.00,0.000,1030,0.000,0.093,3229,1793,3424,3404,3444,0,0,0,0,0,0,14.68,14.61,14.70
$GC,1202,-0.49,-116.8,3230,1793,3404,3444,182.7,-11.4,118,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1792,3424,3404,3444,0,0,0,0,0,0,14.81,14.83,14.83
$GC,1395,-0.49,-116.8,3229,1792,3404,3444,204.1,-11.3,137,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1793,3423,3404,3443,0,0,0,0,0,0,14.83,14.83,14.84
$GC,1587,-0.49,-116.8,3229,1792,3404,3443,226.1,-11.8,156,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1792,3423,3403,3444,0,0,0,0,0,0,14.83,14.85,14.88
$GC,1780,-0.49,-116.8,3229,1792,3402,3444,248.0,-10.8,175,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1792,3422,3402,3442,0,0,0,0,0,0,14.84,14.86,14.86
$GC,1982,-0.49,-116.8,3229,1792,3401,3444,269.0,-10.2,183,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1794,3422,3400,3444,0,0,0,0,0,0,14.85,14.88,14.87
$GC,2286,-0.49,-116.8,3229,1792,3399,3443,299.9,-10.6,193,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1792,3421,3399,3444,0,0,0,0,0,0,14.85,14.88,14.88
$GC,2586,-0.49,-116.8,3226,1792,3397,3444,331.6,-10.5,203,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1792,3420,3397,3443,0,0,0,0,0,0,14.87,14.88,14.88
$GC,2886,-0.49,-116.8,3229,1792,3395,3444,363.0,-10.3,213,2897,0.00,2.50,0.00,0.000,260,0.000,0.106,3229,3206,3419,3395,3444,0,0,0,0,0,0,14.88,14.69,14.89
$GC,2917,-0.49,-116.8,3229,3205,3395,3443,366.8,-10.4,217,2928,0.00,2.45,0.00,0.000,1030,0.000,0.099,3229,1809,3419,3394,3444,0,0,0,0,0,0,14.76,14.66,14.78
$GC,3239,-0.49,-116.8,3229,1806,3391,3443,399.6,-10.2,229,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1809,3418,3392,3444,0,0,0,0,0,0,14.88,14.90,14.89
$GC,3544,-0.49,-116.8,3229,1808,3390,3444,429.2,-10.0,239,3555,0.00,2.42,0.00,0.000,516,0.000,0.116,3225,432,3417,3390,3444,0,0,0,0,0,0,14.88,14.66,14.89
$GC,3586,-0.49,-116.8,3229,432,3390,3443,434.1,-11.1,245,3597,0.00,2.38,0.00,0.000,1030,0.000,0.094,3226,1801,3416,3390,3443,0,0,0,0,0,0,14.76,14.68,14.78
$GC,3928,-0.49,-116.8,3229,1801,3388,3443,466.0,-9.3,261,3939,0.00,2.47,0.00,0.000,260,0.000,0.107,3229,3222,3415,3388,3443,0,0,0,0,0,0,14.87,14.67,14.89
$GC,3965,-0.49,-116.8,3229,3222,3387,3443,469.4,-9.1,266,3977,0.00,2.50,0.00,0.000,1030,0.000,0.099,3229,1786,3417,3387,3448,0,0,0,0,0,0,14.78,14.66,14.78
$GC,4274,-0.49,-116.8,3228,1789,3384,3442,498.6,-9.9,277,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1789,3416,3384,3448,0,0,0,0,0,0,14.87,14.88,14.88
$GC,4575,-0.49,-116.8,3229,1789,3382,3442,529.3,-10.3,287,4586,0.00,2.35,0.00,0.000,516,0.000,0.116,3229,453,3412,3383,3442,0,0,0,0,0,0,14.90,14.66,14.88
$GC,4636,-0.49,-116.8,3229,453,3387,3442,537.0,-11.9,297,4647,0.00,2.33,0.00,0.000,1030,0.000,0.094,3229,1801,3412,3383,3442,0,0,0,0,0,0,14.76,14.67,14.78
$GC,4963,-0.49,-116.8,3229,1801,3382,3441,570.8,-10.3,309,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1798,3411,3381,3442,0,0,0,0,0,0,14.88,14.88,14.88
$GC,5263,-0.49,-116.8,3229,1801,3380,3441,600.4,-9.6,319,5274,0.00,2.47,0.00,0.000,260,0.000,0.109,3230,3215,3410,3380,3441,0,0,0,0,0,0,14.86,14.68,14.88
$GC,5300,-0.49,-116.8,3232,3215,3380,3440,604.3,-9.2,324,5312,0.00,2.47,0.00,0.000,1030,0.000,0.102,3229,1808,3410,3380,3440,0,0,0,0,0,0,14.76,14.67,14.77
$GC,5610,-0.49,-116.8,3229,1808,3378,3440,631.3,-8.6,335,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1812,3409,3378,3440,0,0,0,0,0,0,14.85,14.88,14.88
$GC,5906,-0.49,-116.8,3228,1808,3376,3440,657.0,-8.7,345,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1808,3407,3376,3439,0,0,0,0,0,0,14.86,14.88,14.88
$GC,6206,-0.49,-116.8,3225,1809,3375,3439,683.0,-8.9,355,6217,0.00,2.50,0.00,0.000,260,0.000,0.111,3229,3219,3408,3376,3440,0,0,0,0,0,0,14.86,14.66,14.88
$GC,6258,-0.49,-116.8,3226,3220,3376,3439,687.7,-9.0,363,6269,0.00,2.50,0.00,0.000,1030,0.000,0.100,3229,1791,3407,3375,3439,0,0,0,0,0,0,14.75,14.66,14.77
$GC,6590,-0.49,-116.8,3229,1790,3375,3439,715.8,-8.2,377,6602,0.00,2.53,0.00,0.000,260,0.000,0.108,3229,3210,3408,3379,3438,0,0,0,0,0,0,14.85,14.66,14.90
$GC,6637,-0.49,-116.8,3229,3210,3375,3438,719.5,-7.9,384,6648,0.00,2.47,0.00,0.000,1030,0.000,0.101,3226,1802,3406,3375,3438,0,0,0,0,0,0,14.75,14.66,14.76
$GC,6974,-0.49,-116.8,3226,1801,3374,3438,747.9,-8.4,399,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1802,3406,3374,3438,0,0,0,0,0,0,14.85,14.87,14.87
$GC,7274,-0.49,-116.8,3229,1801,3373,3438,771.8,-8.0,409,7285,0.00,2.53,0.00,0.000,260,0.000,0.111,3231,3222,3405,3373,3438,0,0,0,0,0,0,14.85,14.65,14.85
$GC,7326,-0.49,-116.8,3229,3222,3371,3437,775.9,-7.7,417,7337,0.00,2.50,0.00,0.000,1030,0.000,0.103,3229,1795,3405,3373,3437,0,0,0,0,0,0,14.74,14.65,14.76
$GC,7658,-0.49,-116.8,3229,1794,3371,3437,801.5,-7.8,431,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1794,3402,3367,3437,0,0,0,0,0,0,14.84,14.86,14.86
$GC,7958,-0.49,-116.8,3229,1794,3370,3437,825.2,-8.0,441,7969,0.00,2.53,0.00,0.000,260,0.000,0.112,3229,3205,3403,3370,3436,0,0,0,0,0,0,14.83,14.65,14.86
$GC,7994,-0.49,-116.8,3229,3204,3370,3433,828.2,-9.9,446,8007,0.00,2.47,0.00,0.000,1030,0.000,0.103,3229,1802,3403,3370,3436,0,0,0,0,0,0,14.73,14.65,14.76
$GC,8304,-0.49,-116.8,3229,1802,3365,3436,852.4,-7.9,457,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1802,3406,3376,3436,0,0,0,0,0,0,14.83,14.86,14.86
$GC,8601,-0.49,-116.8,3229,1801,3369,3436,876.2,-7.9,467,8613,0.00,2.50,0.00,0.000,260,0.000,0.112,3229,3204,3402,3369,3435,0,0,0,0,0,0,14.83,14.64,14.85
$GC,8654,-0.49,-116.8,3229,3204,3369,3435,880.9,-7.5,475,8665,0.00,2.50,0.00,0.000,1030,0.000,0.106,3229,1790,3402,3369,3436,0,0,0,0,0,0,14.72,14.62,14.74
$GC,8986,-0.49,-116.8,3229,1789,3369,3435,905.3,-7.5,489,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1793,3402,3369,3435,0,0,0,0,0,0,14.83,14.85,14.85
$GC,9291,-0.49,-116.8,3229,1789,3368,3435,926.7,-6.9,499,9302,0.00,2.53,0.00,0.000,260,0.000,0.109,3226,3203,3402,3369,3435,0,0,0,0,0,0,14.83,14.64,14.85
$GC,9368,-0.49,-116.8,3229,3205,3368,3435,932.3,-6.6,512,9379,0.00,2.47,0.00,0.000,1030,0.000,0.103,3234,1808,3401,3368,3435,0,0,0,0,0,0,14.72,14.64,14.73
$GC,9706,-0.49,-116.8,3229,1806,3367,3434,954.2,-6.4,527,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1806,3400,3367,3434,0,0,0,0,0,0,14.83,14.85,14.84
$GC,10010,-0.49,-116.8,3229,1806,3367,3434,973.1,-6.3,537,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1804,3398,3366,3430,0,0,0,0,0,0,14.83,14.85,14.85
$STATE,10270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10270,begin apogee
$GC,10282,-0.20,0.0,3229,2353,3366,3434,990.8,-6.4,546,10381,0.35,0.00,90.32,1.919,10246,0.184,0.000,3338,2354,2943,2882,3004,0,0,0,0,0,0,14.60,13.95,13.31
$STATE,10383,end apogee,CONTROL_FINISHED_OK
$STATE,10383,begin climb
$GC,10388,0.49,116.8,3339,2354,2877,3002,993.8,0.0,549,10506,0.62,2.78,96.28,1.869,10500,0.122,0.116,3553,3764,2464,2346,2583,0,0,0,0,0,0,13.95,13.69,13.10
$GC,10562,0.49,116.8,3553,3767,2339,2582,979.7,12.3,581,10573,0.00,2.67,0.00,0.000,1030,0.000,0.106,3557,2343,2460,2339,2582,0,0,0,0,0,0,14.08,13.99,14.10
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$STATE,21653,end climb,SURFACE_DEPTH_REACHED
$STATE,21653,begin surface coast
$FINISH,-0.0,1.012367
$STATE,21708,end surface coast,CONTROL_FINISHED_OK
$STATE,21708,begin surface
$SM_CCo,21740,3.95,0.086,0,0,1411,375.06
$SM_GC,2.90,9.85,1.00,3.95,0.050,0.101,0.086,86,1806,1411,-10.29,0.68,375.06,0,0,0,0,0,0,14.45,14.43,14.43
$IRIDIUM_FIX,4700.70,-12603.28,220615,214424
$TT8_MAMPS,0.020972,0.020972
$HUMID,48.54
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,14.90
$XPDR_PINGS,0
$SC_FREEKB,3921536
$24V_AH,13.10,10.710
$10V_AH,13.09,0.000
$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,24.525,187.950,378.000,3.950,0.000,0.000,0.000,363.975,0.000,0.000,12.774,3267.454,14068.815,624.021,3183.219,1221.296,0.000,2851.796,0.000,2325.043,0.000,0.538,0.000
$DEVICE_MAMPS,365.670,2213.910,1918.620,86.445,0.000,0.000,0.000,131.580,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21717.000,538.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.837,6.836,0.000,0.000
$MEM,286344
$DATA_FILE_SIZE,53284,1492
$CAP_FILE_SIZE,268286,0
$CFSIZE,260034560,252542976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,38.21,1
$GPS,230615,044539,4717.845,-12606.303,54,1.2,54,16.5,0.3,48.3,7,8.0