version: 66.12
glider: 187
mission: 8
dive: 166
start: 7 27 115 5 11 17
data:
$ID,187
$MISSION,8
$DIVE,166
$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,400
$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,12
$R_STBD_OVSHOOT,19
$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
$GPS1,270715,050001,4745.8633,-12525.9980,31,1.0,31,16.5,0.2,0.0,9,4.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-79.3
$GPS2,270715,051045,4745.8687,-12526.0078,2,1.0,4,16.5,0.9,278.2,9,4.6
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,52.2,22547,-14.8,-7.333,-19.49,2243
$D_GRID,782
$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,30,-0.39,-107.1,86,1899,1214,1410,0.0,0.0,0,103,0.00,0.00,-67.95,0.000,16386,0.000,0.000,87,1900,3243,3228,3259,0,0,0,0,0,0,14.52,28.83,14.54
$GC,109,-0.39,-107.1,87,1900,3228,3260,5.2,-9.4,7,135,13.60,2.83,-2.05,0.000,18948,0.356,2.196,3260,475,3383,3364,3403,0,0,0,0,0,0,14.04,13.22,14.35
$GC,373,-0.39,-107.1,3260,475,3363,3409,57.7,-12.7,56,382,0.00,2.53,0.00,0.000,1030,0.000,0.093,3260,1898,3387,3364,3410,0,0,0,0,0,0,14.42,14.33,14.45
$GC,564,-0.39,-107.1,3266,1897,3364,3411,81.3,-12.5,75,571,0.00,2.55,0.00,0.000,516,0.000,0.109,3260,486,3388,3364,3412,0,0,0,0,0,0,14.61,14.33,14.62
$GC,741,-0.39,-107.1,3260,485,3365,3412,103.6,-11.4,108,749,0.00,2.50,0.00,0.000,1030,0.000,0.095,3260,1897,3390,3369,3412,0,0,0,0,0,0,14.47,14.37,14.50
$GC,930,-0.39,-107.1,3259,1897,3372,3411,123.9,-10.8,127,938,0.00,2.55,0.00,0.000,260,0.000,0.106,3260,3321,3388,3364,3412,0,0,0,0,0,0,14.64,14.35,14.66
$GC,1003,-0.39,-107.1,3260,3321,3364,3411,131.2,-9.1,140,1012,0.00,2.55,0.00,0.000,1030,0.000,0.093,3260,1887,3388,3364,3412,0,0,0,0,0,0,14.49,14.37,14.52
$GC,1193,-0.39,-107.1,3258,1886,3369,3412,150.0,-10.1,159,1201,0.00,2.50,0.00,0.000,516,0.000,0.108,3260,491,3388,3364,3412,0,0,0,0,0,0,14.66,14.38,14.67
$GC,1263,-0.39,-107.1,3260,492,3366,3412,157.3,-10.6,171,1271,0.00,2.50,0.00,0.000,1030,0.000,0.093,3260,1912,3387,3364,3411,0,0,0,0,0,0,14.49,14.40,14.52
$GC,1462,-0.39,-107.1,3260,1912,3364,3412,175.8,-9.5,191,1470,0.00,2.50,0.00,0.000,260,0.000,0.109,3258,3304,3388,3364,3412,0,0,0,0,0,0,14.66,14.40,14.68
$GC,1512,-0.39,-107.1,3260,3305,3364,3411,180.3,-9.0,199,1520,0.00,2.50,0.00,0.000,1030,0.000,0.096,3260,1909,3388,3365,3412,0,0,0,0,0,0,14.52,14.42,14.54
$GC,1711,-0.39,-107.1,3260,1905,3363,3411,199.4,-9.6,219,1719,0.00,2.55,0.00,0.000,516,0.000,0.110,3260,475,3387,3363,3411,0,0,0,0,0,0,14.67,14.37,14.69
$GC,1761,-0.39,-107.1,3260,474,3363,3411,204.7,-11.2,227,1768,0.00,2.50,0.00,0.000,1030,0.000,0.093,3260,1897,3387,3362,3412,0,0,0,0,0,0,14.52,14.40,14.54
$GC,1959,-0.39,-107.1,3257,1897,3362,3412,223.7,-9.4,247,1966,0.00,2.53,0.00,0.000,260,0.000,0.106,3260,3321,3385,3359,3412,0,0,0,0,0,0,14.68,14.39,14.70
$GC,2038,-0.39,-107.1,3259,3321,3361,3407,230.7,-8.5,261,2046,0.00,2.55,0.00,0.000,1030,0.000,0.095,3259,1888,3386,3361,3411,0,0,0,0,0,0,14.52,14.41,14.55
$GC,2237,-0.39,-107.1,3260,1888,3360,3408,247.7,-8.3,281,2246,0.00,2.47,0.00,0.000,516,0.000,0.109,3261,496,3387,3362,3412,0,0,0,0,0,0,14.69,14.38,14.71
$GC,2297,-0.39,-107.1,3260,496,3359,3412,253.4,-9.8,291,2304,0.00,2.47,0.00,0.000,1030,0.000,0.093,3260,1901,3385,3359,3411,0,0,0,0,0,0,14.54,14.43,14.56
$GC,2621,-0.39,-107.1,3260,1901,3358,3412,278.4,-7.6,303,2628,0.00,2.53,0.00,0.000,260,0.000,0.107,3260,3325,3384,3358,3411,0,0,0,0,0,0,14.71,14.41,14.72
$GC,2678,-0.39,-107.1,3260,3320,3358,3412,283.1,-7.3,313,2686,0.00,2.55,0.00,0.000,1030,0.000,0.096,3257,1905,3384,3357,3411,0,0,0,0,0,0,14.55,14.45,14.58
$GC,3001,-0.39,-107.1,3260,1903,3357,3411,308.3,-8.2,325,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1904,3384,3357,3411,0,0,0,0,0,0,14.71,14.72,14.72
$GC,3298,-0.39,-107.1,3260,1905,3355,3411,332.2,-7.9,335,3305,0.00,2.55,0.00,0.000,516,0.000,0.113,3260,474,3383,3355,3411,0,0,0,0,0,0,14.71,14.39,14.73
$GC,3376,-0.39,-107.1,3259,474,3356,3411,339.4,-9.0,349,3383,0.00,2.53,0.00,0.000,1030,0.000,0.094,3260,1910,3382,3354,3411,0,0,0,0,0,0,14.56,14.45,14.58
$GC,3709,-0.39,-107.1,3260,1910,3353,3411,365.5,-7.9,363,3717,0.00,2.50,0.00,0.000,260,0.000,0.109,3260,3310,3382,3353,3412,0,0,0,0,0,0,14.72,14.45,14.73
$GC,3813,-0.39,-107.1,3257,3310,3353,3412,373.8,-7.7,382,3822,0.00,2.53,0.00,0.000,1030,0.000,0.099,3257,1891,3382,3353,3412,0,0,0,0,0,0,14.55,14.43,14.60
$GC,4152,-0.39,-107.1,3260,1890,3352,3413,402.8,-9.0,397,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1890,3381,3351,3411,0,0,0,0,0,0,14.71,14.71,14.73
$GC,4448,-0.39,-107.1,3260,1890,3350,3411,432.0,-9.9,407,4456,0.00,2.50,0.00,0.000,516,0.000,0.112,3260,492,3380,3350,3411,0,0,0,0,0,0,14.75,14.43,14.74
$GC,4491,-0.39,-107.1,3259,491,3350,3411,436.5,-10.3,414,4499,0.00,2.47,0.00,0.000,1030,0.000,0.096,3260,1898,3380,3350,3411,0,0,0,0,0,0,14.57,14.44,14.59
$GC,4829,-0.39,-107.1,3260,1898,3349,3411,466.6,-9.0,429,4837,0.00,2.53,0.00,0.000,260,0.000,0.109,3266,3315,3379,3349,3410,0,0,0,0,0,0,14.71,14.43,14.73
$GC,4908,-0.39,-107.1,3260,3314,3349,3416,473.9,-8.6,443,4916,0.00,2.53,0.00,0.000,1030,0.000,0.098,3260,1904,3380,3349,3411,0,0,0,0,0,0,14.56,14.45,14.58
$GC,5241,-0.39,-107.1,3260,1904,3347,3408,502.6,-8.6,457,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1904,3381,3347,3415,0,0,0,0,0,0,14.71,14.73,14.73
$GC,5538,-0.39,-107.1,3260,1905,3346,3411,526.8,-7.9,467,5546,0.00,2.58,0.00,0.000,260,0.000,0.110,3260,3322,3378,3346,3410,0,0,0,0,0,0,14.71,14.40,14.75
$GC,5587,-0.39,-107.1,3261,3323,3345,3413,530.6,-7.5,475,5594,0.00,2.55,0.00,0.000,1030,0.000,0.097,3260,1887,3382,3352,3413,0,0,0,0,0,0,14.54,14.46,14.57
$GC,5920,-0.39,-107.1,3260,1886,3345,3410,556.7,-7.9,489,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1890,3377,3345,3410,0,0,0,0,0,0,14.71,14.73,14.73
$GC,6216,-0.39,-107.1,3260,1890,3344,3409,578.9,-6.9,499,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1890,3376,3344,3409,0,0,0,0,0,0,14.72,14.73,14.73
$GC,6516,-0.39,-107.1,3261,1890,3344,3413,597.4,-5.9,509,6523,0.00,2.60,0.00,0.000,260,0.000,0.111,3260,3322,3376,3343,3409,0,0,0,0,0,0,14.72,14.42,14.73
$GC,6569,-0.39,-107.1,3260,3322,3339,3408,600.1,-5.0,518,6578,0.00,2.53,0.00,0.000,1030,0.000,0.099,3260,1910,3375,3342,3408,0,0,0,0,0,0,14.54,14.42,14.57
$GC,6899,-0.39,-107.1,3260,1910,3343,3408,622.0,-7.6,531,6907,0.00,2.58,0.00,0.000,516,0.000,0.113,3260,481,3375,3343,3408,0,0,0,0,0,0,14.71,14.39,14.76
$GC,6957,-0.39,-107.1,3260,476,3343,3408,627.7,-8.9,541,6965,0.00,2.53,0.00,0.000,1030,0.000,0.096,3260,1899,3375,3343,3408,0,0,0,0,0,0,14.54,14.43,14.57
$GC,7280,-0.39,-107.1,3260,1899,3342,3408,652.9,-8.0,553,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1899,3375,3342,3408,0,0,0,0,0,0,14.71,14.73,14.72
$GC,7576,-0.39,-107.1,3260,1901,3337,3408,679.0,-9.2,563,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1901,3374,3341,3407,0,0,0,0,0,0,14.71,14.73,14.72
$GC,7876,-0.39,-107.1,3261,1900,3341,3408,704.4,-7.7,573,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1906,3374,3341,3407,0,0,0,0,0,0,14.70,14.71,14.73
$GC,8176,-0.39,-107.1,3260,1901,3340,3408,725.5,-6.9,583,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1901,3374,3340,3408,0,0,0,0,0,0,14.69,14.73,14.73
$GC,8476,-0.39,-107.1,3260,1901,3339,3410,745.7,-6.8,593,8484,0.00,2.55,0.00,0.000,260,0.000,0.110,3260,3323,3369,3335,3403,0,0,0,0,0,0,14.70,14.38,14.72
$GC,8564,-0.39,-107.1,3259,3321,3339,3406,751.5,-6.6,609,8572,0.00,2.55,0.00,0.000,1030,0.000,0.099,3260,1902,3374,3341,3407,0,0,0,0,0,0,14.56,14.42,14.59
$GC,8887,-0.39,-107.1,3265,1902,3339,3406,771.2,-6.2,621,8895,0.00,2.55,0.00,0.000,516,0.000,0.115,3260,484,3372,3339,3406,0,0,0,0,0,0,14.71,14.39,14.72
$GC,8966,-0.39,-107.1,3260,484,3339,3406,777.1,-7.5,635,8973,0.00,2.53,0.00,0.000,1030,0.000,0.099,3260,1900,3371,3339,3403,0,0,0,0,0,0,14.51,14.41,14.56
$STATE,9049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9049,begin apogee
$GC,9061,-0.16,0.0,3259,2265,3339,3406,783.1,-6.8,641,9150,0.25,0.00,83.82,1.648,10246,0.169,0.000,3339,2265,2942,2884,3000,0,0,0,0,0,0,14.35,14.01,13.44
$STATE,9153,end apogee,CONTROL_FINISHED_OK
$STATE,9153,begin climb
$GC,9158,0.39,107.1,3339,2265,2877,2997,785.9,0.0,644,9253,0.55,0.00,85.45,1.624,10758,0.122,0.000,3521,2265,2503,2388,2618,0,0,0,0,0,0,14.01,13.82,13.25
$GC,9534,0.39,107.1,3521,2265,2379,2616,764.7,7.0,662,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2265,2496,2376,2616,0,0,0,0,0,0,14.42,14.45,14.44
$GC,9834,0.39,107.1,3517,2265,2379,2616,744.0,6.9,672,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2270,2499,2380,2618,0,0,0,0,0,0,14.56,14.57,14.57
$GC,10139,0.39,107.1,3519,2265,2379,2616,723.3,6.9,682,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2265,2497,2379,2616,0,0,0,0,0,0,14.62,14.64,14.64
$GC,10438,0.39,107.1,3521,2265,2375,2618,701.1,7.5,692,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2265,2497,2379,2616,0,0,0,0,0,0,14.66,14.68,14.69
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$STATE,19645,end climb,SURFACE_DEPTH_REACHED
$STATE,19645,begin surface coast
$FINISH,-0.1,1.002264
$STATE,19961,end surface coast,NO_VERTICAL_VELOCITY
$STATE,19961,begin surface
$SM_CCo,19992,65.38,0.086,0,0,1309,400.08
$SM_GC,0.82,9.75,0.65,65.38,0.041,0.118,0.086,94,1906,1309,-10.25,0.59,400.08,0,0,0,0,0,0,14.49,14.42,14.43
$IRIDIUM_FIX,4722.92,-12522.59,260715,221557
$TT8_MAMPS,0.020223,0.020223
$HUMID,46.77
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3874304
$24V_AH,13.22,45.519
$10V_AH,13.61,0.000
$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,24.425,184.875,261.725,65.375,0.000,0.000,0.000,364.875,0.000,0.000,5.889,3255.545,12789.494,580.061,3035.565,1015.848,0.000,2504.699,0.000,2271.816,0.000,0.536,0.000
$DEVICE_MAMPS,355.725,2195.550,1647.810,86.445,0.000,0.000,0.000,154.530,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19986.000,9372.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.930,8.967,0.000,0.000
$MEM,286428
$DATA_FILE_SIZE,49982,1469
$CAP_FILE_SIZE,246184,0
$CFSIZE,260034560,238243840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,266.05,1
$GPS,270715,104701,4746.640,-12524.814,29,0.9,29,16.5,0.3,282.7,9,4.4