version: 66.12
glider: 187
mission: 8
dive: 382
start: 9 26 115 11 42 25
data:
$ID,187
$MISSION,8
$DIVE,382
$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,18
$R_STBD_OVSHOOT,15
$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
$GPS1,260915,112743,4750.5889,-12512.8203,13,1.2,13,16.5,0.5,190.6,5,6.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-78.7
$GPS2,260915,114152,4750.4214,-12513.0068,2,1.2,4,16.5,0.6,202.4,5,6.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,32.5,4402,-14.8,-7.333,-19.49,2243
$D_GRID,287
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,32,-0.39,-107.1,85,1905,1216,1412,0.0,0.0,0,109,0.00,0.00,-72.85,0.000,16390,0.000,0.000,86,1906,3381,3380,3382,0,0,0,0,0,0,14.50,12.59,14.47
$GC,116,-0.39,-107.1,84,1907,3380,3381,2.2,-3.3,2,138,13.95,2.53,0.00,0.000,2564,0.356,0.085,3255,489,3383,3381,3386,0,0,0,0,0,0,13.85,14.17,14.07
$GC,223,-0.39,-107.1,3255,494,3376,3392,36.9,-14.9,21,232,0.00,2.53,0.00,0.000,1030,0.000,0.090,3255,1898,3384,3376,3393,0,0,0,0,0,0,14.21,14.07,14.25
$GC,438,-0.39,-107.1,3255,1899,3371,3393,65.4,-13.0,32,445,0.00,2.58,0.00,0.000,260,0.000,0.099,3256,3319,3385,3375,3395,0,0,0,0,0,0,14.55,14.06,14.57
$GC,603,-0.39,-107.1,3255,3319,3376,3397,81.6,-8.9,63,611,0.00,2.55,0.00,0.000,1030,0.000,0.087,3255,1905,3386,3375,3397,0,0,0,0,0,0,14.26,14.12,14.32
$GC,818,-0.39,-107.1,3255,1906,3375,3397,99.1,-8.5,74,821,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1906,3387,3376,3398,0,0,0,0,0,0,14.58,14.58,14.60
$GC,998,-0.39,-107.1,3255,1906,3375,3398,115.5,-9.1,80,1006,0.00,2.60,0.00,0.000,260,0.000,0.101,3255,3320,3385,3375,3396,0,0,0,0,0,0,14.59,14.08,14.60
$GC,1086,-0.39,-107.1,3255,3320,3375,3398,122.6,-7.7,96,1093,0.00,2.58,0.00,0.000,1030,0.000,0.086,3255,1888,3384,3371,3398,0,0,0,0,0,0,14.31,14.17,14.38
$GC,1285,-0.39,-107.1,3255,1888,3375,3398,139.2,-8.6,104,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1888,3386,3375,3398,0,0,0,0,0,0,14.61,14.64,14.62
$GC,1465,-0.39,-107.1,3255,1890,3374,3397,154.6,-8.7,110,1473,0.00,2.62,0.00,0.000,260,0.000,0.099,3256,3321,3386,3370,3402,0,0,0,0,0,0,14.61,14.14,14.62
$GC,1528,-0.39,-107.1,3255,3319,3370,3398,160.0,-8.5,121,1537,0.00,2.58,0.00,0.000,1030,0.000,0.086,3257,1901,3389,3381,3398,0,0,0,0,0,0,14.25,14.13,14.28
$GC,1714,-0.39,-107.1,3255,1901,3373,3398,176.3,-8.8,128,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1901,3385,3373,3398,0,0,0,0,0,0,14.61,14.62,14.62
$GC,1894,-0.39,-107.1,3255,1901,3371,3398,190.9,-8.0,134,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1901,3384,3371,3398,0,0,0,0,0,0,14.61,14.63,14.63
$GC,2074,-0.39,-107.1,3255,1902,3370,3398,207.0,-9.1,140,2081,0.00,2.60,0.00,0.000,260,0.000,0.100,3255,3319,3384,3370,3398,0,0,0,0,0,0,14.62,14.13,14.66
$GC,2114,-0.39,-107.1,3255,3319,3370,3398,210.3,-8.7,146,2121,0.00,2.55,0.00,0.000,1030,0.000,0.087,3255,1902,3384,3370,3398,0,0,0,0,0,0,14.32,14.19,14.36
$GC,2333,-0.39,-107.1,3257,1902,3375,3398,229.1,-8.4,158,2341,0.00,2.58,0.00,0.000,516,0.000,0.103,3255,475,3383,3369,3398,0,0,0,0,0,0,14.62,14.10,14.62
$GC,2391,-0.39,-107.1,3255,477,3369,3398,234.5,-9.2,168,2399,0.00,2.58,0.00,0.000,1030,0.000,0.086,3256,1915,3383,3369,3398,0,0,0,0,0,0,14.31,14.19,14.35
$GC,2591,-0.39,-107.1,3255,1915,3367,3398,249.8,-7.5,176,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1915,3383,3368,3398,0,0,0,0,0,0,14.62,14.63,14.63
$GC,2800,-0.39,-107.1,3255,1915,3366,3398,266.0,-7.7,180,2808,0.00,2.55,0.00,0.000,260,0.000,0.103,3255,3317,3380,3366,3394,0,0,0,0,0,0,14.63,14.14,14.65
$GC,2844,-0.39,-107.1,3255,3316,3366,3398,269.4,-7.7,187,2851,0.00,2.58,0.00,0.000,1030,0.000,0.089,3255,1888,3382,3366,3398,0,0,0,0,0,0,14.30,14.15,14.35
$STATE,3113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3113,begin apogee
$GC,3125,-0.16,0.0,3255,2246,3364,3398,290.1,-7.6,196,3209,0.30,0.00,79.38,1.051,10246,0.171,0.000,3341,2246,2940,2882,2999,0,0,0,0,0,0,14.09,14.16,13.57
$STATE,3212,end apogee,CONTROL_FINISHED_OK
$STATE,3212,begin climb
$GC,3218,0.39,107.1,3342,2246,2878,2997,293.0,0.0,197,3315,0.50,2.65,77.95,1.026,10500,0.121,0.099,3517,3666,2501,2377,2625,0,0,0,0,0,0,14.10,13.86,13.43
$GC,3342,0.42,174.4,3517,3664,2377,2622,291.7,4.2,219,3403,0.00,2.60,49.53,1.016,9222,0.000,0.086,3517,2249,2229,2083,2376,0,0,0,0,0,0,14.12,14.02,13.38
$GC,3720,0.45,174.4,3517,2249,2082,2374,270.1,6.1,238,3731,0.00,2.58,0.00,0.000,516,0.000,0.101,3522,824,2228,2082,2374,0,0,0,0,0,0,14.52,14.07,14.53
$GC,3802,0.46,174.4,3517,820,2083,2380,264.7,6.5,252,3813,0.00,2.58,0.00,0.000,1030,0.000,0.089,3517,2264,2224,2083,2366,0,0,0,0,0,0,14.31,14.19,14.35
$GC,4134,0.49,174.4,3517,2264,2083,2374,243.8,6.0,268,4146,0.08,0.00,0.00,0.000,2054,0.147,0.000,3582,2264,2228,2083,2374,0,0,0,0,0,0,14.36,14.45,14.42
$GC,4314,0.49,174.4,3582,2264,2085,2374,228.5,8.8,274,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2269,2229,2083,2376,0,0,0,0,0,0,14.63,14.65,14.65
$GC,4495,0.49,174.4,3582,2264,2083,2374,213.5,8.4,280,4506,0.00,2.60,0.00,0.000,516,0.000,0.101,3583,828,2227,2081,2374,0,0,0,0,0,0,14.64,14.20,14.66
$GC,4537,0.49,174.4,3582,827,2083,2374,209.8,8.4,286,4549,0.00,2.55,0.00,0.000,1030,0.000,0.091,3583,2245,2228,2083,2374,0,0,0,0,0,0,14.37,14.26,14.40
$GC,4767,0.49,174.4,3582,2245,2083,2374,191.5,8.1,298,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,2245,2228,2083,2374,0,0,0,0,0,0,14.66,14.68,14.67
$GC,4940,0.49,174.4,3582,2245,2084,2374,177.4,7.9,304,4951,0.00,2.60,0.00,0.000,260,0.000,0.102,3583,3664,2228,2083,2373,0,0,0,0,0,0,14.66,14.21,14.67
$GC,4967,0.49,174.4,3588,3664,2083,2370,175.0,8.1,307,4978,0.00,2.55,0.00,0.000,1030,0.000,0.088,3586,2252,2228,2083,2374,0,0,0,0,0,0,14.38,14.24,14.42
$GC,5176,0.49,174.4,3586,2253,2083,2375,156.9,8.7,316,5188,0.08,2.62,0.00,0.000,4356,0.249,0.101,3564,3664,2228,2083,2374,0,0,0,0,0,0,14.14,14.19,14.23
$GC,5204,0.49,174.4,3559,3664,2083,2374,154.5,8.2,319,5215,0.00,2.58,0.00,0.000,1030,0.000,0.089,3559,2234,2228,2083,2374,0,0,0,0,0,0,14.37,14.22,14.41
$GC,5412,0.49,174.4,3559,2234,2083,2374,139.4,7.1,328,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2234,2229,2083,2375,0,0,0,0,0,0,14.66,14.69,14.68
$GC,5591,0.51,174.4,3559,2234,2083,2374,127.5,6.5,334,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2232,2228,2083,2374,0,0,0,0,0,0,14.67,14.69,14.69
$GC,5772,0.51,174.4,3559,2235,2083,2374,114.9,7.0,340,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2236,2228,2083,2373,0,0,0,0,0,0,14.66,14.67,14.67
$GC,5951,0.53,174.4,3561,2234,2083,2374,103.5,6.1,346,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2234,2228,2082,2374,0,0,0,0,0,0,14.66,14.68,14.67
$GC,6132,0.57,174.4,3557,2234,2083,2374,93.4,5.7,352,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2234,2228,2083,2374,0,0,0,0,0,0,14.66,14.68,14.67
$GC,6311,0.59,174.4,3559,2234,2083,2374,82.7,6.0,358,6323,0.00,2.67,0.00,0.000,260,0.000,0.103,3559,3664,2228,2083,2374,0,0,0,0,0,0,14.66,14.19,14.67
$GC,6420,0.61,174.4,3559,3664,2083,2374,76.2,6.5,376,6431,0.00,2.58,0.00,0.000,1030,0.000,0.089,3559,2252,2228,2083,2374,0,0,0,0,0,0,14.34,14.19,14.38
$GC,6646,0.63,221.7,3559,2249,2083,2374,64.0,5.2,388,6695,0.12,2.55,35.30,0.790,10756,0.122,0.103,3638,821,2033,1885,2181,0,0,0,0,0,0,14.29,14.32,13.84
$GC,6849,0.63,221.7,3638,821,1885,2179,46.4,8.8,426,6862,0.15,2.58,0.00,0.000,5126,0.214,0.088,3602,2247,2031,1885,2178,0,0,0,0,0,0,13.99,14.12,14.22
$GC,7068,0.66,221.7,3601,2247,1883,2178,33.7,6.1,436,7079,0.00,2.62,0.00,0.000,260,0.000,0.103,3602,3664,2029,1882,2177,0,0,0,0,0,0,14.57,14.18,14.61
$GC,7177,0.66,221.7,3601,3664,1883,2176,26.0,7.3,454,7189,0.00,2.58,0.00,0.000,1030,0.000,0.088,3607,2235,2029,1883,2176,0,0,0,0,0,0,14.32,14.19,14.37
$GC,7405,0.70,310.5,3607,2235,1882,2175,15.6,3.3,466,7460,0.00,2.65,40.58,0.151,8452,0.000,0.099,3607,3660,1675,1531,1819,0,0,0,0,0,0,14.62,14.19,14.14
$STATE,7608,end climb,SURFACE_DEPTH_REACHED
$STATE,7608,begin surface coast
$FINISH,2.0,1.023619
$STATE,7645,end surface coast,CONTROL_FINISHED_OK
$STATE,7645,begin surface
$SM_CCo,7679,38.20,0.083,0,0,1309,400.08
$SM_GC,1.64,9.82,3.22,38.20,0.041,0.088,0.083,83,1908,1309,-10.27,0.76,400.08,0,0,0,0,0,0,14.28,14.19,14.25
$IRIDIUM_FIX,4732.49,-12509.51,260915,113247
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.84
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3785536
$24V_AH,12.59,104.889
$10V_AH,12.84,0.000
$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,25.000,84.000,282.725,38.200,0.000,0.000,0.000,476.400,0.000,0.000,6.361,1065.823,4983.187,439.525,1511.293,563.505,0.000,1603.722,0.000,754.861,0.000,0.538,0.000
$DEVICE_MAMPS,355.725,103.275,1051.110,82.620,0.000,0.000,0.000,149.940,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7705.000,3328.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.722,9.188,0.000,0.000
$MEM,286352
$DATA_FILE_SIZE,16743,511
$CAP_FILE_SIZE,105739,0
$CFSIZE,260034560,211513344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.011,246.97,1
$GPS,260915,135238,4750.839,-12512.187,39,0.9,39,16.5,0.3,208.9,9,9.4