version: 66.12
glider: 187
mission: 4
dive: 41
start: 6 27 114 9 19 10
data:
$ID,187
$MISSION,4
$DIVE,41
$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,-1593235
$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,17
$R_STBD_OVSHOOT,14
$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
$GPS1,270614,091133,4750.617,-12515.183,13,2.5,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.0
$GPS2,270614,091837,4750.716,-12515.212,15,1.6,15,18.7
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,201.9,162295,-15.7,-10.000,-22.91,1951
$D_GRID,436
$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,-136.3,401,2385,1599,1313,0.0,0.0,0,91,0.00,0.00,-60.65,0.000,16386,0.000,0.000,401,2385,3034,3072,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.85,-136.3,401,2385,3073,2997,3.5,-5.1,6,127,12.73,2.50,-7.20,0.000,18948,0.425,0.126,3076,977,3450,3471,3430,0,0,0,0,0,0,14.21,14.36,14.59
$GC,306,-0.82,-136.3,3077,977,3472,3433,54.0,-18.9,44,317,0.00,2.50,0.00,0.000,1030,0.000,0.101,3076,2403,3452,3472,3433,0,0,0,0,0,0,28.83,14.41,28.83
$GC,507,-0.79,-136.3,3077,2403,3473,3434,84.8,-14.5,64,518,0.00,2.50,0.00,0.000,516,0.000,0.110,3076,982,3453,3473,3434,0,0,0,0,0,0,28.83,14.45,28.83
$GC,553,-0.77,-136.3,3077,982,3473,3435,91.5,-15.1,71,563,0.12,2.47,0.00,0.000,3078,0.298,0.099,3108,2401,3454,3473,3435,0,0,0,0,0,0,14.40,14.47,28.83
$GC,743,-0.77,-136.3,3106,2400,3473,3434,112.9,-10.6,90,753,0.00,2.47,0.00,0.000,516,0.000,0.120,3106,996,3456,3473,3439,0,0,0,0,0,0,28.83,14.45,28.83
$GC,783,-0.76,-136.3,3106,998,3473,3435,117.5,-11.9,96,794,0.00,2.45,0.00,0.000,1030,0.000,0.104,3106,2398,3454,3473,3435,0,0,0,0,0,0,28.83,14.50,28.83
$GC,984,-0.76,-136.3,3106,2398,3468,3435,138.6,-10.7,116,995,0.00,2.50,0.00,0.000,260,0.000,0.119,3106,3813,3454,3473,3435,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1097,-0.76,-136.3,3103,3814,3473,3435,151.2,-11.0,136,1108,0.00,2.55,0.00,0.000,1030,0.000,0.126,3105,2408,3454,3473,3435,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1298,-0.76,-136.3,3106,2412,3473,3435,173.0,-10.4,156,1309,0.00,2.60,0.00,0.000,516,0.000,0.148,3106,982,3457,3473,3441,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1369,-0.76,-136.3,3106,985,3473,3435,181.0,-11.3,168,1379,0.00,2.50,0.00,0.000,1030,0.000,0.110,3106,2403,3457,3473,3441,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1569,-0.76,-136.3,3106,2403,3473,3435,202.7,-10.8,188,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3454,3473,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1761,-0.76,-136.3,3106,2402,3473,3440,223.6,-10.6,207,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3455,3474,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1951,-0.76,-136.3,3106,2403,3480,3435,244.0,-10.5,226,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3452,3471,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2163,-0.76,-136.3,3106,2402,3473,3435,265.9,-10.3,237,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2402,3455,3475,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2461,-0.76,-136.3,3106,2402,3469,3434,296.4,-10.2,247,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2402,3453,3473,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,-0.76,-136.3,3106,2402,3472,3432,327.0,-10.1,257,2771,0.00,2.50,0.00,0.000,516,0.000,0.116,3106,980,3451,3471,3432,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2854,-0.76,-136.3,3106,980,3474,3432,337.1,-12.0,273,2864,0.00,2.50,0.00,0.000,1030,0.000,0.106,3104,2407,3452,3474,3431,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3180,-0.76,-136.3,3106,2405,3479,3431,369.4,-10.3,285,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2404,3452,3473,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3474,-0.76,-136.3,3106,2404,3473,3430,398.4,-9.7,295,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2405,3451,3473,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3776,-0.76,-136.3,3106,2405,3473,3430,427.4,-9.9,305,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2405,3452,3473,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3860,begin apogee
$GC,3869,-0.32,0.0,3106,2702,3472,3429,436.6,-10.1,308,3984,0.50,0.00,107.88,1.242,10246,0.220,0.000,3251,2707,2889,2958,2820,0,0,0,0,0,0,14.54,28.83,13.57
$STATE,3988,end apogee,CONTROL_FINISHED_OK
$STATE,3988,begin climb
$GC,3992,0.85,136.3,3251,2702,2957,2819,440.7,0.0,312,4120,1.23,2.45,111.43,1.206,10500,0.162,0.126,3628,3993,2332,2478,2186,0,0,0,0,0,0,14.01,13.78,13.36
$GC,4160,0.79,136.3,3628,3992,2476,2185,428.6,14.3,338,4171,0.00,2.42,0.00,0.000,1030,0.000,0.117,3630,2691,2330,2476,2185,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4492,0.74,136.3,3630,2691,2475,2180,380.3,14.8,352,4505,0.12,2.70,0.00,0.000,4612,0.334,0.166,3604,1286,2328,2476,2180,0,0,0,0,0,0,14.23,14.25,28.83
$GC,4589,0.70,136.3,3604,1286,2475,2180,366.9,13.8,368,4601,0.00,2.60,0.00,0.000,1030,0.000,0.126,3604,2701,2327,2475,2180,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4914,0.66,136.3,3608,2700,2475,2177,321.3,13.7,380,4927,0.15,2.70,0.00,0.000,4612,0.318,0.170,3576,1293,2323,2470,2177,0,0,0,0,0,0,14.38,14.38,28.83
$GC,5076,0.63,136.3,3575,1293,2475,2177,303.1,11.2,409,5088,0.00,2.55,0.00,0.000,1030,0.000,0.125,3574,2700,2325,2475,2176,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5384,0.60,136.3,3575,2696,2474,2174,271.8,10.0,420,5396,0.00,2.70,0.00,0.000,516,0.000,0.174,3578,1293,2322,2470,2175,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5520,0.58,143.6,3581,1293,2474,2174,258.3,9.6,444,5535,0.12,2.55,4.40,0.875,13318,0.301,0.125,3553,2710,2307,2458,2157,0,0,0,0,0,0,14.45,14.51,14.01
$GC,5849,0.59,176.6,3553,2709,2458,2159,230.5,8.3,474,5888,0.00,2.72,28.40,1.011,8708,0.000,0.145,3561,1291,2170,2329,2012,0,0,0,0,0,0,28.83,14.35,14.03
$GC,5995,0.60,194.7,3560,1290,2329,2012,217.2,9.0,499,6023,0.00,2.55,15.93,0.983,9222,0.000,0.119,3561,2698,2097,2258,1937,0,0,0,0,0,0,28.83,14.41,13.98
$GC,6203,0.58,194.7,3561,2698,2258,1935,195.0,11.7,520,6216,0.00,2.67,0.00,0.000,516,0.000,0.160,3562,1282,2097,2258,1936,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6280,0.57,194.7,3562,1282,2257,1935,186.7,11.0,532,6292,0.00,2.60,0.00,0.000,1030,0.000,0.122,3562,2710,2097,2258,1936,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6483,0.55,194.7,3562,2710,2257,1934,164.4,10.7,552,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2712,2096,2258,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6677,0.54,194.7,3562,2710,2257,1933,142.7,11.6,571,6687,0.00,2.62,0.00,0.000,516,0.000,0.146,3565,1289,2093,2253,1934,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6808,0.52,194.7,3562,1289,2257,1933,127.7,11.2,593,6819,0.12,2.53,0.00,0.000,5126,0.278,0.116,3535,2699,2095,2258,1933,0,0,0,0,0,0,14.44,14.50,28.83
$GC,7012,0.56,228.6,3535,2699,2257,1931,109.1,8.2,613,7050,0.00,2.65,27.25,0.864,8708,0.000,0.151,3535,1298,1956,2112,1801,0,0,0,0,0,0,28.83,14.34,14.09
$GC,7126,0.57,238.2,3535,1293,2110,1801,98.3,9.5,631,7146,0.00,2.55,8.90,0.854,9222,0.000,0.120,3535,2702,1916,2072,1760,0,0,0,0,0,0,28.83,14.42,14.05
$GC,7327,0.60,267.8,3535,2705,2071,1757,80.1,8.4,651,7365,0.00,2.75,23.45,0.825,8708,0.000,0.162,3535,1294,1796,1961,1632,0,0,0,0,0,0,28.83,14.26,14.04
$GC,7437,0.64,294.9,3535,1295,1960,1632,70.0,8.6,669,7468,0.00,2.55,21.40,0.808,9222,0.000,0.119,3535,2700,1687,1856,1519,0,0,0,0,0,0,28.83,14.36,13.97
$GC,7659,0.66,306.2,3535,2700,1854,1515,49.3,9.4,692,7680,0.12,0.00,10.05,0.798,10502,0.167,0.000,3585,2700,1639,1811,1468,0,0,0,0,0,0,14.41,28.83,14.04
$GC,7860,0.66,306.2,3585,2700,1809,1468,24.8,12.0,712,7873,0.00,2.67,0.00,0.000,516,0.000,0.159,3587,1285,1639,1810,1468,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8023,0.67,319.6,3588,1285,1813,1468,11.2,9.3,741,8041,0.00,2.55,5.68,0.148,9222,0.000,0.112,3586,2710,1588,1758,1418,0,0,0,0,0,0,28.83,14.42,14.40
$STATE,8101,end climb,SURFACE_DEPTH_REACHED
$STATE,8101,begin surface coast
$FINISH,0.4,1.022136
$STATE,8140,end surface coast,CONTROL_FINISHED_OK
$STATE,8140,begin surface
$SM_CCo,8165,12.95,0.107,0,0,1465,350.04
$SM_GC,1.95,9.43,0.60,12.95,0.103,0.121,0.107,402,2390,1465,-9.21,0.37,350.04,0,0,0,0,0,0,14.42,14.47,14.46
$IRIDIUM_FIX,4732.49,-12519.22,230407,202017
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.13
$INTERNAL_PRESSURE,8.92297
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3924896
$PM_FREEKB,61833184
$24V_AH,13.4,7.012
$10V_AH,13.1,0.000
$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,24.650,83.300,364.750,12.950,0.000,0.000,0.000,217.850,0.000,0.000,18.813,2256.773,3844.688,563.284,1538.198,403.812,0.000,1543.651,0.000,1159.578,0.000,0.535,0.000
$DEVICE_MAMPS,425.340,173.655,1242.360,107.100,0.000,0.000,0.000,159.885,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8149.000,4029.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.849,4.123,0.000,0.000
$MEM,290868
$DATA_FILE_SIZE,26676,753
$CAP_FILE_SIZE,127777,0
$CFSIZE,260034560,254283776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,7954.06,0x2378ba,7,5
$EKF,8288,2870.057373,-7516.142090,0.339197,-0.000438,-0.000508,-0.065541,0.005330,0.011830,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.117,282.1,1
$GPS,270614,113715,4750.167,-12516.905,36,5.5,56,18.7