version: 66.12
glider: 187
mission: 8
dive: 289
start: 8 31 115 5 36 57
data:
$ID,187
$MISSION,8
$DIVE,289
$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,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,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,21
$R_STBD_OVSHOOT,22
$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,48
$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
$GPS1,310815,052125,4749.7842,-12513.9688,43,1.4,43,16.5,0.8,179.6,9,6.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-75.8
$GPS2,310815,053625,4749.8027,-12513.6318,2,0.8,3,16.5,0.4,266.5,12,7.1
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,45.6,5742,-14.8,-7.333,-19.49,2243
$D_GRID,344
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,29,-0.39,-107.1,69,1881,1220,1403,0.0,0.0,0,108,0.00,0.00,-72.45,0.000,16390,0.000,0.000,69,1882,3378,3376,3380,0,0,0,0,0,0,14.47,12.87,14.49
$GC,115,-0.39,-107.1,69,1881,3376,3381,2.3,-3.5,2,144,14.18,2.65,0.00,0.000,2308,0.367,0.105,3253,3307,3380,3377,3384,0,0,0,0,0,0,13.93,14.21,14.26
$GC,379,-0.39,-107.1,3252,3311,3375,3391,61.7,-13.6,52,390,0.00,2.55,0.00,0.000,1030,0.000,0.094,3253,1904,3383,3375,3392,0,0,0,0,0,0,14.35,14.23,14.38
$GC,591,-0.39,-107.1,3257,1902,3376,3396,89.2,-12.6,62,602,0.00,2.58,0.00,0.000,260,0.000,0.105,3252,3314,3385,3374,3396,0,0,0,0,0,0,14.59,14.19,14.61
$GC,837,-0.39,-107.1,3252,3314,3374,3396,114.6,-9.7,108,848,0.00,2.55,0.00,0.000,1030,0.000,0.093,3252,1892,3384,3373,3396,0,0,0,0,0,0,14.40,14.26,14.43
$GC,1040,-0.39,-107.1,3252,1892,3373,3396,136.2,-10.6,116,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1892,3385,3374,3396,0,0,0,0,0,0,14.63,14.66,14.65
$GC,1219,-0.39,-107.1,3256,1892,3373,3397,153.7,-9.6,122,1231,0.00,2.60,0.00,0.000,260,0.000,0.104,3252,3305,3382,3373,3392,0,0,0,0,0,0,14.64,14.26,14.68
$GC,1307,-0.39,-107.1,3252,3307,3371,3396,161.2,-8.4,137,1318,0.00,2.53,0.00,0.000,1030,0.000,0.091,3252,1905,3384,3372,3396,0,0,0,0,0,0,14.42,14.29,14.47
$GC,1514,-0.39,-107.1,3252,1906,3370,3396,179.4,-8.6,146,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1905,3383,3370,3396,0,0,0,0,0,0,14.66,14.69,14.68
$GC,1694,-0.39,-107.1,3252,1905,3367,3396,195.0,-8.6,152,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1910,3383,3370,3396,0,0,0,0,0,0,14.66,14.67,14.67
$GC,1874,-0.39,-107.1,3250,1906,3369,3396,211.0,-8.9,158,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1905,3383,3369,3398,0,0,0,0,0,0,14.66,14.70,14.70
$GC,2054,-0.39,-107.1,3252,1904,3369,3396,227.3,-9.0,164,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1905,3382,3368,3396,0,0,0,0,0,0,14.69,14.71,14.71
$GC,2235,-0.39,-107.1,3252,1905,3367,3396,243.3,-8.8,170,2246,0.00,2.60,0.00,0.000,260,0.000,0.106,3252,3317,3380,3364,3396,0,0,0,0,0,0,14.69,14.27,14.71
$GC,2323,-0.39,-107.1,3252,3317,3372,3396,251.3,-9.3,185,2334,0.00,2.55,0.00,0.000,1030,0.000,0.093,3252,1893,3381,3366,3396,0,0,0,0,0,0,14.44,14.31,14.48
$GC,2532,-0.39,-107.1,3252,1892,3365,3396,270.9,-9.5,191,2543,0.00,2.60,0.00,0.000,260,0.000,0.105,3252,3318,3384,3372,3396,0,0,0,0,0,0,14.69,14.28,14.71
$GC,2613,-0.39,-107.1,3252,3322,3365,3396,278.3,-8.7,205,2624,0.00,2.55,0.00,0.000,1030,0.000,0.093,3252,1906,3380,3365,3396,0,0,0,0,0,0,14.44,14.30,14.47
$GC,2980,-0.39,-107.1,3252,1906,3362,3396,310.4,-8.9,220,2991,0.00,2.58,0.00,0.000,260,0.000,0.104,3252,3303,3379,3362,3396,0,0,0,0,0,0,14.70,14.27,14.71
$GC,3028,-0.39,-107.1,3257,3302,3362,3396,315.3,-9.0,227,3039,0.00,2.55,0.00,0.000,1030,0.000,0.093,3252,1888,3379,3362,3396,0,0,0,0,0,0,14.46,14.26,14.50
$STATE,3360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3365,begin apogee
$GC,3377,-0.16,0.0,3249,2246,3359,3393,346.9,-9.3,237,3465,0.30,0.00,79.88,1.114,10246,0.177,0.000,3343,2246,2942,2884,3000,0,0,0,0,0,0,14.20,14.19,13.64
$STATE,3467,end apogee,CONTROL_FINISHED_OK
$STATE,3467,begin climb
$GC,3472,0.39,107.1,3343,2246,2880,2999,350.5,0.0,238,3573,0.50,2.70,80.00,1.089,10500,0.125,0.103,3519,3661,2496,2372,2621,0,0,0,0,0,0,14.14,13.92,13.48
$GC,3634,0.42,164.9,3518,3661,2377,2619,347.8,4.7,268,3691,0.00,2.60,43.72,1.079,9222,0.000,0.090,3518,2252,2263,2116,2411,0,0,0,0,0,0,14.11,14.00,13.51
$GC,4036,0.45,164.9,3518,2252,2119,2408,326.1,5.8,291,4048,0.00,2.58,0.00,0.000,516,0.000,0.105,3518,841,2261,2115,2408,0,0,0,0,0,0,14.51,14.19,14.53
$GC,4088,0.48,164.9,3518,840,2120,2408,322.7,6.0,299,4100,0.00,2.53,0.00,0.000,1030,0.000,0.091,3518,2249,2264,2120,2408,0,0,0,0,0,0,14.35,14.23,14.38
$GC,4423,0.51,164.9,3518,2249,2119,2408,303.8,5.7,308,4434,0.10,0.00,0.00,0.000,2054,0.125,0.000,3590,2249,2263,2119,2408,0,0,0,0,0,0,14.38,14.47,14.45
$GC,4721,0.51,164.9,3590,2249,2119,2408,276.4,9.4,313,4733,0.12,2.60,0.00,0.000,4356,0.228,0.105,3556,3666,2263,2119,2408,0,0,0,0,0,0,14.19,14.28,14.29
$GC,4921,0.51,164.9,3556,3666,2119,2408,260.2,7.7,350,4933,0.00,2.58,0.00,0.000,1030,0.000,0.093,3562,2249,2263,2119,2408,0,0,0,0,0,0,14.44,14.31,14.47
$GC,5260,0.51,164.9,3556,2249,2119,2408,236.6,7.3,368,5271,0.00,2.62,0.00,0.000,260,0.000,0.106,3556,3668,2263,2119,2408,0,0,0,0,0,0,14.66,14.29,14.68
$GC,5332,0.51,164.9,3556,3668,2119,2408,230.4,8.8,380,5343,0.00,2.58,0.00,0.000,1030,0.000,0.094,3557,2239,2261,2114,2408,0,0,0,0,0,0,14.44,14.31,14.47
$GC,5560,0.51,164.9,3556,2239,2119,2404,213.1,7.8,392,5571,0.00,2.62,0.00,0.000,260,0.000,0.104,3557,3660,2264,2120,2408,0,0,0,0,0,0,14.66,14.28,14.66
$GC,5612,0.51,164.9,3556,3666,2114,2408,208.1,9.1,400,5623,0.00,2.55,0.00,0.000,1030,0.000,0.090,3560,2256,2263,2119,2408,0,0,0,0,0,0,14.45,14.31,14.47
$GC,5828,0.51,164.9,3557,2251,2119,2408,191.2,7.9,410,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2251,2263,2119,2408,0,0,0,0,0,0,14.67,14.69,14.69
$GC,6005,0.51,164.9,3556,2251,2119,2409,177.0,7.9,416,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2256,2263,2119,2408,0,0,0,0,0,0,14.68,14.69,14.68
$GC,6184,0.51,164.9,3557,2251,2118,2408,162.5,8.0,422,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2251,2264,2119,2410,0,0,0,0,0,0,14.68,14.70,14.70
$GC,6365,0.51,164.9,3556,2251,2119,2408,148.1,8.0,428,6376,0.00,2.62,0.00,0.000,260,0.000,0.107,3557,3662,2263,2118,2408,0,0,0,0,0,0,14.68,14.28,14.70
$GC,6441,0.51,164.9,3556,3663,2119,2408,141.6,8.9,441,6452,0.00,2.58,0.00,0.000,1030,0.000,0.090,3557,2234,2263,2119,2408,0,0,0,0,0,0,14.42,14.29,14.47
$GC,6664,0.53,164.9,3556,2234,2119,2408,127.1,6.4,452,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2235,2266,2123,2409,0,0,0,0,0,0,14.67,14.69,14.71
$GC,6840,0.56,164.9,3557,2235,2124,2408,116.7,5.7,458,6851,0.00,2.65,0.00,0.000,260,0.000,0.104,3557,3667,2263,2119,2408,0,0,0,0,0,0,14.68,14.29,14.69
$GC,6868,0.59,164.9,3557,3667,2116,2408,114.9,6.0,461,6879,0.00,2.55,0.00,0.000,1030,0.000,0.090,3557,2254,2263,2119,2408,0,0,0,0,0,0,14.45,14.31,14.48
$GC,7080,0.62,164.9,3556,2254,2119,2408,102.6,5.9,470,7091,0.12,2.55,0.00,0.000,2564,0.129,0.101,3639,835,2263,2119,2408,0,0,0,0,0,0,14.40,14.27,14.46
$GC,7137,0.62,164.9,3638,835,2119,2408,97.5,9.7,479,7150,0.17,2.55,0.00,0.000,5126,0.222,0.092,3593,2267,2266,2119,2413,0,0,0,0,0,0,14.14,14.29,14.37
$GC,7351,0.62,164.9,3597,2267,2119,2408,81.1,8.0,488,7362,0.00,2.55,0.00,0.000,260,0.000,0.105,3597,3661,2263,2119,2408,0,0,0,0,0,0,14.66,14.25,14.66
$GC,7412,0.62,164.9,3596,3661,2119,2408,75.1,8.8,498,7423,0.00,2.55,0.00,0.000,1030,0.000,0.089,3596,2238,2263,2119,2408,0,0,0,0,0,0,14.42,14.30,14.46
$GC,7620,0.64,164.9,3596,2238,2119,2408,61.4,6.4,506,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,2238,2263,2119,2408,0,0,0,0,0,0,14.66,14.70,14.67
$GC,7795,0.67,230.8,3593,2238,2119,2408,53.1,4.3,512,7857,0.00,2.50,47.55,0.765,8708,0.000,0.107,3603,842,1995,1850,2140,0,0,0,0,0,0,14.68,14.28,13.93
$GC,8095,0.67,230.8,3603,842,1850,2138,29.7,8.5,569,8106,0.00,2.53,0.00,0.000,1030,0.000,0.092,3609,2253,1991,1845,2138,0,0,0,0,0,0,14.36,14.23,14.40
$GC,8307,0.71,313.6,3603,2253,1849,2137,20.7,3.5,578,8374,0.00,2.55,55.60,0.715,8708,0.000,0.102,3609,842,1657,1515,1799,0,0,0,0,0,0,14.59,14.19,13.88
$GC,8573,0.75,313.6,3608,842,1515,1797,5.6,5.3,628,8584,0.00,2.53,0.00,0.000,1030,0.000,0.092,3609,2252,1656,1515,1797,0,0,0,0,0,0,14.33,14.21,14.36
$STATE,8595,end climb,SURFACE_DEPTH_REACHED
$STATE,8595,begin surface coast
$FINISH,0.5,1.023552
$STATE,8662,end surface coast,CONTROL_FINISHED_OK
$STATE,8662,begin surface
$SM_CCo,8694,36.25,0.087,0,0,1309,400.08
$SM_GC,1.40,9.90,0.65,36.25,0.046,0.109,0.087,90,1908,1309,-10.26,0.79,400.08,0,0,0,0,0,0,14.31,14.23,14.28
$IRIDIUM_FIX,4729.30,-12600.23,310815,013919
$TT8_MAMPS,0.020972,0.020972
$HUMID,48.89
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3823776
$24V_AH,12.87,79.047
$10V_AH,13.15,0.000
$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,25.400,88.850,306.750,36.250,0.000,0.000,0.000,527.050,0.000,0.000,4.955,1253.882,5438.447,457.263,1842.326,632.910,0.000,1846.601,0.000,933.635,0.000,0.539,0.000
$DEVICE_MAMPS,367.200,108.630,1113.840,87.210,0.000,0.000,0.000,152.235,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8731.000,255.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.307,7.314,0.000,0.000
$MEM,286368
$DATA_FILE_SIZE,20083,634
$CAP_FILE_SIZE,121697,0
$CFSIZE,260034560,223145984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,342.02,1
$GPS,310815,080457,4750.757,-12513.013,73,1.3,91,16.5,1.3,0.0,9,10.0