version: 66.12
glider: 187
mission: 8
dive: 296
start: 8 31 115 20 35 15
data:
$ID,187
$MISSION,8
$DIVE,296
$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,32
$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,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
$GPS1,310815,201656,4751.3696,-12512.9414,32,1.2,69,16.5,0.6,141.6,6,4.6
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-77.6
$GPS2,310815,203447,4751.4155,-12512.6738,1,1.3,3,16.5,1.0,277.6,6,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,176.9,165661,-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,-107.1,81,1882,1214,1410,0.0,0.0,0,110,0.00,0.00,-73.85,0.000,16390,0.000,0.000,78,1882,3377,3375,3380,0,0,0,0,0,0,14.50,12.88,14.50
$GC,117,-0.39,-107.1,83,1883,3377,3381,1.9,-2.1,2,135,14.00,0.00,0.00,0.000,2054,0.360,0.000,3259,1883,3378,3374,3382,0,0,0,0,0,0,14.00,14.35,14.31
$GC,304,-0.39,-107.1,3258,1883,3374,3392,46.9,-12.5,9,312,0.00,2.60,0.00,0.000,260,0.000,0.103,3259,3306,3383,3374,3393,0,0,0,0,0,0,14.55,14.21,14.57
$GC,445,-0.39,-107.1,3259,3306,3381,3393,64.2,-11.9,35,453,0.00,2.50,0.00,0.000,1030,0.000,0.092,3259,1914,3384,3374,3394,0,0,0,0,0,0,14.36,14.24,14.40
$GC,654,-0.39,-107.1,3259,1913,3374,3395,88.2,-10.8,45,657,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1911,3384,3374,3395,0,0,0,0,0,0,14.60,14.65,14.62
$GC,835,-0.39,-107.1,3259,1913,3374,3396,107.3,-10.5,51,838,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1913,3385,3374,3396,0,0,0,0,0,0,14.61,14.64,14.64
$GC,1014,-0.39,-107.1,3259,1914,3374,3395,124.9,-9.3,57,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1913,3384,3373,3395,0,0,0,0,0,0,14.64,14.66,14.65
$GC,1194,-0.39,-107.1,3258,1913,3373,3391,139.7,-8.0,63,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1913,3384,3373,3396,0,0,0,0,0,0,14.66,14.66,14.67
$GC,1375,-0.39,-107.1,3259,1913,3371,3396,154.1,-8.1,69,1383,0.00,2.58,0.00,0.000,516,0.000,0.106,3259,481,3384,3372,3396,0,0,0,0,0,0,14.66,14.26,14.68
$GC,1447,-0.39,-107.1,3258,481,3371,3395,161.1,-9.9,82,1455,0.00,2.50,0.00,0.000,1030,0.000,0.090,3259,1897,3383,3370,3396,0,0,0,0,0,0,14.35,14.23,14.41
$GC,1661,-0.39,-107.1,3259,1898,3369,3392,180.0,-9.1,93,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1898,3383,3370,3396,0,0,0,0,0,0,14.64,14.66,14.66
$GC,1841,-0.39,-107.1,3259,1898,3369,3400,197.2,-9.6,99,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1898,3384,3372,3396,0,0,0,0,0,0,14.64,14.67,14.69
$GC,2021,-0.39,-107.1,3259,1898,3368,3396,215.6,-10.2,105,2028,0.00,2.55,0.00,0.000,516,0.000,0.104,3259,486,3382,3368,3396,0,0,0,0,0,0,14.66,14.26,14.68
$GC,2049,-0.39,-107.1,3259,486,3367,3396,218.7,-10.9,109,2056,0.00,2.50,0.00,0.000,1030,0.000,0.090,3259,1899,3387,3373,3401,0,0,0,0,0,0,14.42,14.29,14.46
$GC,2248,-0.39,-107.1,3259,1899,3366,3395,238.3,-9.5,117,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1901,3380,3365,3396,0,0,0,0,0,0,14.66,14.67,14.69
$GC,2457,-0.39,-107.1,3258,1901,3364,3395,257.0,-8.9,123,2466,0.00,2.55,0.00,0.000,260,0.000,0.102,3258,3319,3380,3364,3396,0,0,0,0,0,0,14.66,14.26,14.68
$GC,2517,-0.39,-107.1,3260,3318,3364,3396,262.2,-8.1,133,2524,0.00,2.55,0.00,0.000,1030,0.000,0.091,3259,1896,3379,3363,3396,0,0,0,0,0,0,14.43,14.30,14.46
$STATE,2770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2770,begin apogee
$GC,2782,-0.16,0.0,3260,2255,3362,3396,285.4,-9.0,139,2867,0.25,0.00,79.47,1.036,10246,0.180,0.000,3336,2255,2943,2886,3001,0,0,0,0,0,0,14.19,14.21,13.69
$STATE,2870,end apogee,CONTROL_FINISHED_OK
$STATE,2870,begin climb
$GC,2875,0.39,107.1,3337,2254,2882,2999,289.2,0.0,140,2965,0.55,0.00,80.93,1.012,10246,0.132,0.000,3518,2254,2502,2380,2625,0,0,0,0,0,0,14.15,14.02,13.54
$GC,3262,0.43,187.3,3518,2255,2374,2623,280.1,3.7,147,3329,0.00,0.00,59.33,1.004,8710,0.000,0.000,3518,2256,2173,2026,2320,0,0,0,0,0,0,14.50,14.14,13.64
$GC,3617,0.45,236.3,3518,2256,2025,2320,263.5,5.1,164,3663,0.00,0.00,37.70,0.988,8198,0.000,0.000,3518,2256,1977,1827,2128,0,0,0,0,0,0,14.54,14.24,13.75
$GC,3916,0.49,236.3,3518,2256,1827,2114,245.0,5.6,170,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2256,1973,1828,2118,0,0,0,0,0,0,14.56,14.57,14.57
$GC,4097,0.50,236.3,3518,2255,1827,2118,233.4,6.6,176,4108,0.10,0.00,0.00,0.000,2054,0.122,0.000,3586,2256,1972,1827,2117,0,0,0,0,0,0,14.39,14.47,14.45
$GC,4275,0.50,236.3,3590,2256,1827,2116,215.2,10.9,182,4287,0.12,2.58,0.00,0.000,4612,0.214,0.103,3560,841,1972,1827,2117,0,0,0,0,0,0,14.23,14.28,14.33
$GC,4328,0.50,236.3,3560,841,1827,2115,209.9,10.1,190,4339,0.00,2.50,0.00,0.000,1030,0.000,0.092,3560,2247,1973,1830,2116,0,0,0,0,0,0,14.45,14.32,14.47
$GC,4545,0.50,236.3,3558,2246,1827,2115,190.6,9.2,200,4557,0.00,2.60,0.00,0.000,260,0.000,0.106,3560,3674,1971,1827,2115,0,0,0,0,0,0,14.66,14.26,14.68
$GC,4627,0.50,236.3,3560,3674,1827,2113,180.8,11.2,214,4639,0.00,2.58,0.00,0.000,1030,0.000,0.092,3569,2243,1973,1834,2113,0,0,0,0,0,0,14.46,14.34,14.50
$GC,4841,0.50,236.3,3569,2242,1828,2113,159.8,9.8,224,4853,0.00,2.53,0.00,0.000,516,0.000,0.107,3566,839,1971,1828,2114,0,0,0,0,0,0,14.67,14.31,14.69
$GC,4898,0.50,236.3,3569,839,1828,2112,154.1,9.6,233,4909,0.00,2.53,0.00,0.000,1030,0.000,0.091,3570,2248,1970,1828,2112,0,0,0,0,0,0,14.46,14.35,14.50
$GC,5106,0.50,236.3,3569,2247,1827,2113,133.3,10.4,242,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2252,1971,1829,2113,0,0,0,0,0,0,14.68,14.69,14.69
$GC,5285,0.50,236.3,3569,2247,1827,2112,113.2,11.2,248,5297,0.00,2.62,0.00,0.000,260,0.000,0.107,3566,3681,1969,1827,2112,0,0,0,0,0,0,14.69,14.25,14.70
$GC,5402,0.50,236.3,3570,3680,1827,2111,99.6,10.5,268,5413,0.00,2.58,0.00,0.000,1030,0.000,0.094,3570,2255,1970,1829,2111,0,0,0,0,0,0,14.46,14.32,14.51
$GC,5619,0.50,236.3,3569,2255,1827,2111,80.9,8.4,278,5630,0.00,2.55,0.00,0.000,516,0.000,0.105,3570,840,1970,1827,2113,0,0,0,0,0,0,14.69,14.31,14.71
$GC,5696,0.50,236.3,3570,839,1828,2111,74.7,7.4,291,5707,0.00,2.53,0.00,0.000,1030,0.000,0.091,3570,2268,1969,1828,2111,0,0,0,0,0,0,14.41,14.26,14.45
$GC,5918,0.52,236.3,3569,2268,1834,2111,60.4,6.3,302,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2265,1969,1828,2111,0,0,0,0,0,0,14.69,14.69,14.71
$GC,6095,0.54,236.3,3569,2268,1828,2111,48.3,6.6,308,6106,0.00,2.60,0.00,0.000,516,0.000,0.103,3570,840,1969,1828,2111,0,0,0,0,0,0,14.69,14.30,14.71
$GC,6191,0.54,236.3,3570,840,1828,2111,41.3,7.7,324,6202,0.00,2.50,0.00,0.000,1030,0.000,0.092,3570,2246,1967,1827,2108,0,0,0,0,0,0,14.44,14.28,14.50
$GC,6395,0.56,285.4,3570,2246,1828,2111,29.1,5.1,332,6437,0.00,0.00,34.45,0.747,8198,0.000,0.000,3570,2246,1775,1629,1922,0,0,0,0,0,0,14.69,14.43,14.00
$GC,6604,0.59,347.6,3569,2246,1627,1920,19.1,4.5,339,6643,0.00,2.58,29.12,0.165,8452,0.000,0.102,3570,3663,1524,1382,1667,0,0,0,0,0,0,14.61,14.25,14.13
$GC,6819,0.62,347.6,3570,3663,1384,1667,6.6,5.8,379,6831,0.00,2.55,0.00,0.000,1030,0.000,0.090,3570,2248,1526,1385,1667,0,0,0,0,0,0,14.40,14.27,14.43
$STATE,6867,end climb,SURFACE_DEPTH_REACHED
$STATE,6867,begin surface coast
$FINISH,1.7,1.023624
$STATE,6929,end surface coast,CONTROL_FINISHED_OK
$STATE,6929,begin surface
$SM_CCo,6965,22.25,0.081,0,0,1309,400.08
$SM_GC,1.36,9.90,0.62,22.25,0.061,0.097,0.081,93,1894,1309,-10.25,0.62,400.08,0,0,0,0,0,0,14.36,14.34,14.35
$IRIDIUM_FIX,4732.49,-12513.98,310815,202402
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.55
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3821088
$24V_AH,12.88,80.098
$10V_AH,13.79,0.000
$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,24.925,57.425,321.000,22.250,0.000,0.000,0.000,649.100,0.000,0.000,5.323,886.239,4747.639,471.707,1411.197,537.414,0.000,1651.799,0.000,574.595,0.000,0.538,0.000
$DEVICE_MAMPS,360.315,107.100,1035.810,81.090,0.000,0.000,0.000,146.115,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6974.000,2956.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.603,8.969,0.000,0.000
$MEM,286424
$DATA_FILE_SIZE,13412,384
$CAP_FILE_SIZE,93295,0
$CFSIZE,260034560,222666752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,339.12,1
$GPS,310815,223303,4751.139,-12513.250,13,1.2,24,16.5,1.0,66.6,6,8.6