version: 66.12
glider: 187
mission: 4
dive: 37
start: 6 27 114 2 33 10
data:
$ID,187
$MISSION,4
$DIVE,37
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,330
$T_MISSION,370
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0016
$HD_B,0.0099999998
$HD_C,1.4e-05
$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,9
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1593227.4
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3360
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2892
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367308
$SEABIRD_T_I,2.3111006e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,270614,022605,4752.019,-12511.582,34,1.0,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.1
$GPS2,270614,023237,4752.017,-12511.557,16,1.7,16,18.7
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,207.4,167455,-15.7,-10.000,-22.91,1951
$D_GRID,210
$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,26,-0.85,-136.3,395,2385,1375,1142,0.0,0.0,0,101,0.00,0.00,-70.10,0.000,16386,0.000,0.000,395,2386,3115,3141,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.85,-136.3,395,2385,3143,3093,3.7,-4.9,7,137,13.07,2.53,-5.43,0.000,18948,0.436,0.135,3080,996,3451,3464,3438,0,0,0,0,0,0,14.21,14.37,14.59
$GC,266,-0.82,-136.3,3081,996,3467,3439,45.3,-15.9,34,276,0.00,2.50,0.00,0.000,1030,0.000,0.100,3081,2406,3454,3467,3441,0,0,0,0,0,0,28.83,14.42,28.83
$GC,458,-0.80,-136.3,3081,2407,3467,3441,76.3,-17.5,53,467,0.00,2.53,0.00,0.000,516,0.000,0.113,3081,982,3454,3468,3441,0,0,0,0,0,0,28.83,14.45,28.83
$GC,524,-0.77,-136.3,3078,982,3468,3441,87.9,-15.9,64,535,0.00,2.50,0.00,0.000,1030,0.000,0.101,3081,2409,3454,3468,3441,0,0,0,0,0,0,28.83,14.46,28.83
$GC,716,-0.76,-136.3,3081,2409,3464,3441,113.2,-12.9,83,725,0.12,2.55,0.00,0.000,2564,0.311,0.123,3114,987,3454,3468,3441,0,0,0,0,0,0,14.43,14.47,28.83
$GC,772,-0.76,-136.3,3114,984,3468,3441,120.1,-12.1,92,783,0.00,2.50,0.00,0.000,1030,0.000,0.108,3114,2405,3454,3468,3441,0,0,0,0,0,0,28.83,14.48,28.83
$GC,964,-0.76,-136.3,3114,2405,3474,3442,141.9,-11.1,111,973,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2405,3455,3469,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1154,-0.76,-136.3,3114,2405,3468,3444,161.0,-9.3,130,1163,0.00,2.50,0.00,0.000,260,0.000,0.119,3114,3824,3454,3468,3441,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1246,-0.76,-136.3,3114,3822,3475,3441,169.8,-10.0,146,1255,0.00,2.55,0.00,0.000,1030,0.000,0.120,3114,2402,3454,3468,3441,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1445,-0.76,-136.3,3114,2401,3465,3441,191.6,-11.0,166,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3454,3468,3441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1605,begin apogee
$GC,1613,-0.32,0.0,3114,2705,3465,3441,210.8,-11.9,182,1726,0.45,0.00,104.25,0.939,10246,0.203,0.000,3249,2705,2889,2953,2826,0,0,0,0,0,0,14.51,28.83,13.77
$STATE,1730,end apogee,CONTROL_FINISHED_OK
$STATE,1730,begin climb
$GC,1733,0.85,136.3,3250,2705,2952,2823,218.0,0.0,194,1857,1.20,2.50,106.72,0.912,10500,0.155,0.122,3627,4008,2335,2477,2193,0,0,0,0,0,0,14.12,13.90,13.58
$GC,1964,0.79,136.3,3627,4008,2474,2187,196.9,14.8,229,1975,0.00,2.40,0.00,0.000,1030,0.000,0.112,3628,2690,2331,2475,2188,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2167,0.74,136.3,3628,2689,2473,2184,168.4,13.8,249,2178,0.00,2.65,0.00,0.000,516,0.000,0.151,3630,1292,2326,2469,2184,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2231,0.70,136.3,3630,1288,2473,2183,158.7,15.2,259,2242,0.17,2.55,0.00,0.000,5126,0.294,0.116,3592,2697,2328,2473,2183,0,0,0,0,0,0,14.27,14.35,28.83
$GC,2433,0.66,136.3,3590,2697,2473,2178,136.1,10.3,279,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,2697,2327,2473,2181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,0.66,164.8,3592,2696,2473,2181,118.1,8.5,298,2658,0.00,2.67,21.88,0.847,8708,0.000,0.135,3600,1285,2217,2371,2063,0,0,0,0,0,0,28.83,14.33,14.07
$GC,2726,0.64,177.4,3600,1285,2372,2064,109.3,9.3,314,2753,0.15,2.55,11.40,0.843,13318,0.287,0.113,3565,2698,2166,2324,2009,0,0,0,0,0,0,14.34,14.40,14.04
$GC,2944,0.63,177.4,3562,2698,2323,2007,88.3,10.2,336,2956,0.00,2.62,0.00,0.000,516,0.000,0.144,3564,1282,2164,2322,2007,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3045,0.63,190.6,3565,1282,2322,2007,78.3,9.3,353,3070,0.00,2.58,11.30,0.823,9222,0.000,0.116,3565,2713,2113,2273,1954,0,0,0,0,0,0,28.83,14.44,14.10
$GC,3251,0.67,237.6,3565,2713,2272,1952,60.0,7.5,374,3293,0.00,0.00,36.33,0.776,8198,0.000,0.000,3561,2713,1922,2072,1772,0,0,0,0,0,0,28.83,28.83,14.03
$GC,3474,0.67,237.6,3565,2715,2068,1770,41.0,10.3,396,3486,0.00,2.62,0.00,0.000,516,0.000,0.138,3566,1285,1918,2068,1769,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3583,0.68,252.5,3565,1285,2067,1769,29.7,9.2,415,3610,0.00,2.53,11.75,0.770,9222,0.000,0.111,3569,2697,1858,2011,1706,0,0,0,0,0,0,28.83,14.43,14.10
$GC,3791,0.74,316.4,3565,2697,2011,1705,14.4,6.6,436,3831,0.12,2.67,29.23,0.160,10756,0.161,0.138,3617,1285,1602,1768,1436,0,0,0,0,0,0,14.48,14.38,14.39
$STATE,3921,end climb,SURFACE_DEPTH_REACHED
$STATE,3921,begin surface coast
$FINISH,0.6,1.023746
$STATE,3963,end surface coast,CONTROL_FINISHED_OK
$STATE,3963,begin surface
$SM_CCo,3993,14.45,0.107,0,0,1464,350.04
$SM_GC,2.56,9.32,2.03,14.45,0.086,0.106,0.107,396,2405,1464,-9.22,-0.45,350.04,0,0,0,0,0,0,14.46,14.47,14.47
$IRIDIUM_FIX,4735.69,-12500.57,230407,141416
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.58
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3926176
$PM_FREEKB,61909376
$24V_AH,13.6,6.383
$10V_AH,13.8,0.000
$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,24.625,51.100,332.850,14.450,0.000,0.000,0.000,195.600,0.000,0.000,17.162,1383.746,1238.273,466.837,1026.267,295.467,0.000,1162.583,0.000,726.280,0.000,0.536,0.000
$DEVICE_MAMPS,436.050,150.705,938.655,107.100,0.000,0.000,0.000,152.235,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3966.000,1749.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.539,4.164,0.000,0.000
$MEM,290868
$DATA_FILE_SIZE,16762,466
$CAP_FILE_SIZE,83673,0
$CFSIZE,260034560,254595072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4053.68,0x2378ba,7,5
$INTR,1,1696.51,0x234488,2,24
$EKF,4078,2871.735352,-7512.000488,0.537727,0.000096,-0.000233,-0.075431,0.000946,0.002102,0.001935,0.026900,0.026900,0.000121
$CURRENT,0.088,255.7,1
$GPS,270614,034105,4751.688,-12512.281,13,1.6,17,18.7