version: 66.12
glider: 187
mission: 8
dive: 91
start: 7 5 115 16 43 19
data:
$ID,187
$MISSION,8
$DIVE,91
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$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,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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,050715,163349,4749.9917,-12513.6484,69,0.9,69,16.5,0.3,334.2,10,5.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-79.3
$GPS2,050715,164251,4749.9785,-12513.5635,2,0.8,3,16.5,0.3,288.3,11,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,26.7,5460,-14.8,-7.333,-19.49,2243
$D_GRID,338
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,28,-0.39,-107.1,90,1879,1407,1627,0.0,0.0,0,101,0.00,0.00,-65.85,0.000,16386,0.000,0.000,90,1880,3361,3358,3365,0,0,0,0,0,0,14.61,28.83,14.63
$GC,107,-0.39,-107.1,90,1880,3359,3366,5.4,-9.5,7,136,13.52,2.83,-0.28,0.000,18692,0.369,2.219,3249,3295,3382,3377,3388,0,0,0,0,0,0,14.23,13.54,14.47
$GC,291,-0.39,-107.1,3255,3295,3376,3393,51.5,-14.9,39,302,0.00,2.47,0.00,0.000,1030,0.000,0.097,3249,1906,3387,3376,3398,0,0,0,0,0,0,14.47,14.38,14.50
$GC,493,-0.39,-107.1,3254,1907,3375,3398,80.6,-13.1,59,504,0.00,2.53,0.00,0.000,516,0.000,0.108,3249,492,3386,3375,3397,0,0,0,0,0,0,14.65,14.44,14.66
$GC,603,-0.39,-107.1,3249,492,3375,3397,97.2,-14.4,78,615,0.00,2.47,0.00,0.000,1030,0.000,0.090,3247,1905,3386,3375,3397,0,0,0,0,0,0,14.56,14.47,14.58
$GC,796,-0.39,-107.1,3247,1902,3374,3398,121.9,-12.4,97,808,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1903,3386,3375,3398,0,0,0,0,0,0,14.68,14.71,14.71
$GC,989,-0.39,-107.1,3243,1901,3375,3399,143.2,-11.3,116,1000,0.00,2.55,0.00,0.000,516,0.000,0.112,3248,476,3387,3375,3399,0,0,0,0,0,0,14.71,14.48,14.73
$GC,1075,-0.39,-107.1,3247,475,3376,3399,153.6,-12.1,130,1086,0.00,2.47,0.00,0.000,1030,0.000,0.090,3248,1896,3386,3374,3398,0,0,0,0,0,0,14.60,14.52,14.63
$GC,1278,-0.39,-107.1,3247,1896,3374,3394,176.3,-10.6,150,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1896,3386,3374,3399,0,0,0,0,0,0,14.76,14.73,14.77
$GC,1470,-0.39,-107.1,3247,1896,3373,3399,196.2,-9.8,169,1481,0.00,2.53,0.00,0.000,260,0.000,0.106,3247,3319,3386,3373,3399,0,0,0,0,0,0,14.74,14.52,14.76
$GC,1517,-0.39,-107.1,3246,3322,3373,3399,200.7,-9.9,176,1529,0.00,2.50,0.00,0.000,1030,0.000,0.095,3247,1905,3386,3373,3399,0,0,0,0,0,0,14.64,14.54,14.65
$GC,1710,-0.39,-107.1,3247,1902,3372,3399,221.6,-11.0,195,1721,0.00,2.53,0.00,0.000,516,0.000,0.109,3247,475,3385,3372,3399,0,0,0,0,0,0,14.76,14.55,14.77
$GC,1796,-0.39,-107.1,3244,475,3372,3399,231.6,-12.5,209,1808,0.00,2.50,0.00,0.000,1030,0.000,0.090,3247,1907,3384,3372,3397,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2019,-0.39,-107.1,3247,1907,3371,3399,256.8,-10.7,227,2030,0.00,2.50,0.00,0.000,260,0.000,0.109,3247,3319,3384,3370,3399,0,0,0,0,0,0,14.78,14.54,14.78
$GC,2100,-0.39,-107.1,3247,3319,3377,3399,265.6,-10.4,241,2112,0.00,2.53,0.00,0.000,1030,0.000,0.096,3247,1887,3384,3370,3399,0,0,0,0,0,0,14.64,14.55,14.66
$GC,2433,-0.39,-107.1,3246,1892,3369,3398,301.0,-10.1,255,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1886,3383,3369,3398,0,0,0,0,0,0,14.78,14.80,14.80
$GC,2733,-0.39,-107.1,3247,1887,3368,3399,331.8,-10.0,265,2744,0.00,2.47,0.00,0.000,516,0.000,0.112,3247,483,3383,3368,3399,0,0,0,0,0,0,14.80,14.57,14.81
$STATE,2790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2790,begin apogee
$GC,2804,-0.16,0.0,3246,2246,3367,3399,338.2,-10.3,275,2891,0.30,0.00,78.97,1.117,10246,0.197,0.000,3338,2251,2940,2881,3000,0,0,0,0,0,0,14.52,14.22,13.76
$STATE,2894,end apogee,CONTROL_FINISHED_OK
$STATE,2894,begin climb
$GC,2899,0.39,107.1,3338,2247,2876,2998,343.0,0.0,278,2997,0.50,2.62,78.62,1.087,10500,0.142,0.108,3511,3661,2498,2379,2618,0,0,0,0,0,0,14.18,13.97,13.58
$GC,3043,0.41,151.5,3510,3661,2379,2618,339.1,5.3,304,3086,0.00,2.60,33.00,1.087,9222,0.000,0.094,3513,2250,2324,2190,2458,0,0,0,0,0,0,14.21,14.13,13.63
$GC,3403,0.43,195.1,3512,2252,2186,2457,320.6,5.3,324,3446,0.00,2.58,33.05,1.073,8708,0.000,0.107,3511,840,2141,1998,2285,0,0,0,0,0,0,14.55,14.16,13.80
$GC,3514,0.46,195.1,3513,840,1997,2285,314.4,6.1,344,3525,0.00,2.53,0.00,0.000,1030,0.000,0.093,3513,2260,2144,2004,2284,0,0,0,0,0,0,14.36,14.27,14.38
$GC,3847,0.48,195.1,3513,2261,1998,2285,295.1,6.3,358,3858,0.10,0.00,0.00,0.000,2054,0.148,0.000,3583,2261,2141,1997,2285,0,0,0,0,0,0,14.47,14.54,14.53
$GC,4150,0.48,195.1,3577,2261,1998,2285,264.9,10.3,368,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2261,2141,1998,2285,0,0,0,0,0,0,14.69,14.71,14.71
$GC,4447,0.48,195.1,3578,2261,1998,2285,236.8,10.0,386,4458,0.00,2.50,0.00,0.000,260,0.000,0.108,3578,3661,2141,1998,2285,0,0,0,0,0,0,14.73,14.51,14.74
$GC,4473,0.48,195.1,3578,3661,2005,2285,233.9,10.2,389,4486,0.10,2.53,0.00,0.000,5126,0.236,0.096,3556,2233,2141,1997,2285,0,0,0,0,0,0,14.48,14.52,14.60
$GC,4668,0.48,195.1,3551,2233,1998,2285,216.2,8.8,408,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2233,2141,1998,2285,0,0,0,0,0,0,14.73,14.76,14.75
$GC,4860,0.48,195.1,3551,2233,1998,2285,199.8,8.5,427,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2233,2141,1998,2285,0,0,0,0,0,0,14.75,14.75,14.76
$GC,5052,0.48,195.1,3552,2232,1998,2285,182.5,9.5,446,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2233,2141,1998,2285,0,0,0,0,0,0,14.76,14.77,14.77
$GC,5244,0.48,195.1,3552,2238,1998,2285,164.7,9.2,465,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2233,2141,1997,2285,0,0,0,0,0,0,14.75,14.77,14.77
$GC,5437,0.48,195.1,3549,2233,1998,2285,146.8,9.2,484,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2233,2141,1998,2285,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5628,0.48,195.1,3552,2233,1998,2284,130.1,9.4,503,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2234,2141,1998,2285,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5821,0.48,195.1,3554,2233,1998,2285,114.4,7.7,522,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2233,2141,1998,2285,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6013,0.50,195.1,3551,2233,1998,2285,100.8,6.4,541,6024,0.00,2.58,0.00,0.000,260,0.000,0.109,3551,3661,2141,1998,2285,0,0,0,0,0,0,14.76,14.56,14.78
$GC,6065,0.50,195.1,3555,3661,1998,2285,97.2,7.3,549,6077,0.00,2.50,0.00,0.000,1030,0.000,0.096,3554,2253,2141,1998,2285,0,0,0,0,0,0,14.63,14.53,14.65
$GC,6268,0.52,195.1,3553,2253,1998,2285,84.6,5.9,569,6280,0.00,2.50,0.00,0.000,516,0.000,0.108,3556,833,2142,1998,2287,0,0,0,0,0,0,14.76,14.56,14.78
$GC,6335,0.54,195.1,3556,833,1998,2285,80.5,6.4,580,6347,0.00,2.47,0.00,0.000,1030,0.000,0.093,3557,2255,2141,1998,2285,0,0,0,0,0,0,14.65,14.57,14.64
$GC,6528,0.56,195.1,3554,2254,1998,2285,68.2,6.4,599,6539,0.00,2.53,0.00,0.000,516,0.000,0.107,3556,837,2141,1998,2285,0,0,0,0,0,0,14.76,14.55,14.78
$GC,6550,0.59,195.1,3556,837,1998,2285,67.0,6.1,601,6561,0.00,2.47,0.00,0.000,1030,0.000,0.093,3556,2257,2142,1999,2285,0,0,0,0,0,0,14.64,14.57,14.66
$GC,6753,0.63,195.1,3556,2252,1998,2285,55.4,5.4,621,6765,0.12,2.50,0.00,0.000,2564,0.125,0.106,3638,841,2143,1999,2287,0,0,0,0,0,0,14.59,14.54,14.62
$GC,7003,0.63,195.1,3635,840,1999,2285,36.4,8.0,667,7015,0.17,2.47,0.00,0.000,5126,0.219,0.096,3593,2251,2141,1998,2285,0,0,0,0,0,0,14.50,14.57,14.63
$GC,7206,0.66,255.0,3593,2251,1999,2285,26.0,4.6,687,7257,0.00,2.55,40.00,0.773,8452,0.000,0.106,3593,3662,1897,1760,2035,0,0,0,0,0,0,14.76,14.37,14.08
$GC,7291,0.66,255.0,3593,3661,1759,2032,20.9,7.5,701,7302,0.00,2.53,0.00,0.000,1030,0.000,0.096,3595,2252,1895,1759,2032,0,0,0,0,0,0,14.49,14.39,14.51
$GC,7493,0.70,341.1,3595,2250,1760,2029,10.8,3.4,721,7541,0.00,2.60,37.05,0.124,8708,0.000,0.109,3592,829,1550,1416,1685,0,0,0,0,0,0,14.68,14.43,14.42
$GC,7626,0.73,341.1,3595,828,1413,1688,4.2,5.6,744,7638,0.10,2.50,0.00,0.000,3078,0.122,0.093,3673,2257,1550,1413,1688,0,0,0,0,0,0,14.52,14.48,14.56
$STATE,7645,end climb,SURFACE_DEPTH_REACHED
$STATE,7645,begin surface coast
$FINISH,-0.1,1.015216
$STATE,7706,end surface coast,CONTROL_FINISHED_OK
$STATE,7706,begin surface
$SM_CCo,7737,3.70,0.086,0,0,1513,350.04
$SM_GC,3.17,9.93,0.68,3.70,0.047,0.104,0.086,94,1887,1513,-10.25,0.34,350.04,0,0,0,0,0,0,14.50,14.49,14.50
$IRIDIUM_FIX,4729.30,-12516.60,050715,134005
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.91
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3903104
$24V_AH,13.54,24.542
$10V_AH,13.19,0.000
$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,24.850,82.250,300.700,3.700,0.000,0.000,0.000,264.750,0.000,0.000,4.938,1657.205,3876.366,433.936,1690.773,613.343,0.000,1587.786,0.000,1179.172,0.000,0.537,0.000
$DEVICE_MAMPS,369.495,2218.500,1116.900,85.680,0.000,0.000,0.000,146.115,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7725.000,218.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.254,7.027,0.000,0.000
$MEM,286368
$DATA_FILE_SIZE,26776,752
$CAP_FILE_SIZE,133953,0
$CFSIZE,260034560,247283712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,96.80,0x2137a8,0,24
$CURRENT,0.059,174.77,1
$GPS,050715,185409,4750.375,-12512.553,29,0.9,52,16.5,0.2,0.0,11,4.9