version: 66.12
glider: 187
mission: 4
dive: 333
start: 9 10 114 6 23 24
data:
$ID,187
$MISSION,4
$DIVE,333
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,375
$N_FILEKB,4
$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,-1593843.4
$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,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$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,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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,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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-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,2.0
$PM_MOTORS,1.0
$GPS1,100914,061405,4749.908,-12516.372,40,1.3,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-73.0
$GPS2,100914,062255,4750.019,-12516.463,15,2.0,15,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,67.5,8470,-14.0,-7.333,-18.81,2445
$D_GRID,441
$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,-0.59,-116.8,398,2416,1345,1035,0.0,0.0,0,80,0.00,0.00,-48.08,0.000,16386,0.000,0.000,398,2417,2405,2488,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,404,2416,2488,2319,3.1,-1.6,5,132,12.65,2.58,-23.33,0.000,19204,0.387,0.098,3125,990,3336,3384,3288,0,0,0,0,0,0,13.94,14.24,14.50
$GC,154,-0.59,-116.8,3126,990,3384,3292,13.0,-16.0,12,165,0.00,2.45,0.00,0.000,1030,0.000,0.071,3125,2392,3337,3384,3291,0,0,0,0,0,0,28.83,14.23,28.83
$GC,405,-0.59,-116.8,3126,2392,3384,3292,51.1,-11.9,37,416,0.00,2.53,0.00,0.000,260,0.000,0.089,3125,3821,3338,3384,3293,0,0,0,0,0,0,28.83,14.19,28.83
$GC,646,-0.59,-116.8,3125,3821,3384,3293,82.1,-12.7,61,657,0.00,2.42,0.00,0.000,1030,0.000,0.062,3125,2404,3339,3385,3293,0,0,0,0,0,0,28.83,14.33,28.83
$GC,897,-0.59,-116.8,3125,2402,3385,3294,105.9,-9.4,86,908,0.00,2.50,0.00,0.000,260,0.000,0.087,3127,3821,3341,3388,3294,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1138,-0.59,-116.8,3125,3821,3385,3292,132.1,-11.6,110,1150,0.00,2.45,0.00,0.000,1030,0.000,0.063,3126,2391,3342,3386,3299,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1390,-0.59,-116.8,3126,2392,3385,3293,159.4,-10.8,135,1401,0.00,2.53,0.00,0.000,260,0.000,0.090,3126,3815,3339,3385,3294,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1631,-0.59,-116.8,3125,3815,3385,3294,185.8,-10.9,159,1642,0.00,2.42,0.00,0.000,1030,0.000,0.065,3125,2402,3339,3385,3293,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1881,-0.59,-116.8,3125,2401,3391,3299,210.4,-9.3,184,1892,0.00,2.50,0.00,0.000,260,0.000,0.088,3125,3812,3339,3385,3294,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1995,-0.59,-116.8,3125,3812,3385,3293,220.8,-9.4,195,2006,0.00,2.42,0.00,0.000,1030,0.000,0.065,3125,2397,3337,3381,3293,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2245,-0.59,-116.8,3125,2394,3380,3290,243.3,-8.8,220,2256,0.00,2.45,0.00,0.000,516,0.000,0.077,3125,983,3339,3385,3293,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2296,-0.59,-116.8,3124,983,3385,3293,247.8,-9.3,225,2307,0.00,2.47,0.00,0.000,1030,0.000,0.072,3123,2409,3339,3385,3293,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2571,-0.59,-116.8,3126,2409,3384,3296,272.3,-8.9,236,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2409,3338,3385,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2867,-0.59,-116.8,3125,2409,3386,3291,297.8,-8.6,246,2878,0.00,2.47,0.00,0.000,260,0.000,0.091,3126,3816,3338,3385,3291,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2976,-0.59,-116.8,3126,3817,3384,3287,307.7,-8.7,257,2987,0.00,2.42,0.00,0.000,1030,0.000,0.065,3125,2398,3338,3386,3291,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3291,-0.59,-116.8,3125,2398,3385,3290,335.0,-9.0,268,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3337,3385,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,-0.59,-116.8,3125,2398,3383,3289,356.9,-7.1,278,3598,0.00,2.45,0.00,0.000,516,0.000,0.080,3125,995,3336,3385,3288,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3679,-0.59,-116.8,3125,995,3383,3288,365.0,-10.6,287,3689,0.00,2.45,0.00,0.000,1030,0.000,0.073,3125,2401,3336,3385,3288,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4009,-0.59,-116.8,3125,2401,3384,3287,390.4,-6.5,300,4019,0.00,2.47,0.00,0.000,260,0.000,0.092,3125,3804,3335,3384,3287,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4070,-0.59,-116.8,3125,3804,3384,3287,394.4,-6.6,306,4080,0.00,2.42,0.00,0.000,1030,0.000,0.067,3125,2387,3335,3384,3287,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4400,-0.59,-116.8,3125,2385,3385,3286,417.0,-7.3,319,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2388,3335,3385,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4701,-0.59,-116.8,3125,2381,3385,3286,439.6,-7.2,329,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2385,3334,3384,3285,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4727,begin apogee
$GC,4735,-0.25,0.0,3125,2317,3385,3286,441.6,-7.0,330,4836,0.40,0.00,93.62,1.238,10246,0.187,0.000,3241,2316,2857,2931,2783,0,0,0,0,0,0,14.17,28.83,13.53
$STATE,4838,end apogee,CONTROL_FINISHED_OK
$STATE,4838,begin climb
$GC,4843,0.59,116.8,3241,2317,2928,2777,445.2,0.0,333,4947,0.82,0.00,95.55,1.215,10758,0.126,0.000,3509,2317,2378,2516,2241,0,0,0,0,0,0,14.06,28.83,13.37
$GC,5240,0.59,116.8,3508,2316,2513,2237,422.7,7.0,349,5250,0.00,2.55,0.00,0.000,260,0.000,0.090,3508,3740,2374,2513,2236,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5289,0.59,116.8,3508,3739,2513,2236,418.6,8.3,354,5301,0.00,2.45,0.00,0.000,1030,0.000,0.070,3508,2343,2374,2513,2235,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5603,0.59,116.8,3508,2343,2512,2235,397.0,6.8,365,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2340,2373,2512,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5901,0.59,116.8,3508,2343,2512,2234,375.3,7.3,375,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2343,2373,2512,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6200,0.59,116.8,3508,2343,2511,2230,353.1,7.2,385,6210,0.00,2.50,0.00,0.000,260,0.000,0.090,3508,3741,2372,2516,2229,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6330,0.59,116.8,3508,3741,2509,2234,341.2,10.5,398,6340,0.00,2.47,0.00,0.000,1030,0.000,0.073,3508,2328,2371,2509,2234,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6653,0.60,116.8,3508,2331,2509,2234,318.2,6.7,410,6664,0.00,2.50,0.00,0.000,516,0.000,0.087,3509,920,2368,2504,2233,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6837,0.62,116.8,3508,920,2509,2234,305.9,6.5,428,6847,0.00,2.47,0.00,0.000,1030,0.000,0.074,3509,2342,2371,2509,2234,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7167,0.62,116.8,3508,2342,2508,2233,283.3,7.8,441,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2342,2369,2509,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7470,0.67,188.9,3508,2342,2508,2232,269.1,4.3,451,7536,0.00,2.47,55.72,1.027,8452,0.000,0.089,3509,3734,2086,2237,1935,0,0,0,0,0,0,28.83,14.26,13.79
$GC,7656,0.67,188.9,3508,3734,2237,1935,256.4,7.5,470,7667,0.00,2.47,0.00,0.000,1030,0.000,0.071,3510,2320,2086,2237,1935,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7968,0.67,188.9,3508,2319,2237,1935,234.3,8.1,495,7980,0.10,2.47,0.00,0.000,2564,0.161,0.081,3559,921,2086,2237,1935,0,0,0,0,0,0,14.29,14.22,28.83
$GC,8039,0.67,188.9,3563,921,2237,1934,227.2,10.2,502,8051,0.00,2.47,0.00,0.000,1030,0.000,0.074,3562,2330,2086,2237,1935,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8291,0.67,188.9,3562,2330,2237,1935,202.1,9.7,527,8302,0.00,2.47,0.00,0.000,260,0.000,0.088,3562,3738,2085,2237,1934,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8362,0.67,188.9,3562,3739,2242,1933,194.1,11.8,534,8374,0.00,2.45,0.00,0.000,1030,0.000,0.073,3561,2334,2085,2237,1934,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8614,0.67,188.9,3562,2336,2237,1934,167.6,10.9,559,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2334,2085,2237,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8863,0.67,188.9,3562,2334,2231,1934,141.8,9.6,584,8874,0.00,2.47,0.00,0.000,516,0.000,0.085,3562,918,2085,2236,1935,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8935,0.67,188.9,3562,918,2237,1933,135.5,8.9,591,8945,0.00,2.47,0.00,0.000,1030,0.000,0.072,3562,2343,2085,2237,1934,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9186,0.67,188.9,3562,2342,2237,1933,113.4,8.8,616,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2343,2082,2235,1930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9436,0.67,188.9,3562,2342,2237,1933,90.2,8.8,641,9446,0.00,2.53,0.00,0.000,516,0.000,0.086,3568,915,2084,2236,1933,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9487,0.67,188.9,3562,915,2237,1933,85.7,8.8,646,9498,0.00,2.47,0.00,0.000,1030,0.000,0.072,3559,2340,2084,2236,1933,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9740,0.67,188.9,3562,2339,2236,1933,62.3,10.2,671,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2339,2084,2236,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9989,0.67,188.9,3562,2339,2236,1933,36.3,9.6,696,10000,0.00,2.50,0.00,0.000,516,0.000,0.086,3562,918,2084,2237,1932,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10092,0.67,188.9,3562,919,2236,1937,27.8,7.9,706,10104,0.00,2.47,0.00,0.000,1030,0.000,0.073,3560,2331,2084,2235,1933,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10345,0.76,311.7,3562,2330,2236,1932,22.5,2.2,731,10444,0.00,0.00,87.72,0.712,8454,0.000,0.000,3562,2330,1582,1733,1431,0,0,0,0,0,0,28.83,28.83,13.84
$STATE,10670,end climb,SURFACE_DEPTH_REACHED
$STATE,10671,begin surface coast
$FINISH,1.3,1.013804
$STATE,10722,end surface coast,CONTROL_FINISHED_OK
$STATE,10722,begin surface
$SM_CCo,10748,26.88,0.102,0,0,1329,375.06
$SM_GC,2.15,9.12,0.12,26.88,0.065,0.157,0.102,397,2409,1329,-9.10,-0.71,375.06,0,0,0,0,0,0,14.24,14.26,14.23
$IRIDIUM_FIX,4729.30,-12507.66,100914,020243
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.92
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3831456
$PM_FREEKB,52919424
$24V_AH,13.4,81.589
$10V_AH,13.6,0.000
$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,23.100,89.350,332.625,26.875,0.000,0.000,0.000,277.050,0.000,0.000,15.965,1823.119,6703.897,545.061,1726.775,500.643,0.000,1691.816,0.000,1182.714,0.000,0.536,0.000
$DEVICE_MAMPS,387.090,197.370,1237.770,101.745,0.000,0.000,0.000,159.120,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10740.000,161.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.785,5.261,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,26683,769
$CAP_FILE_SIZE,144876,0
$CFSIZE,260034560,224362496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12121.97,0x2378ba,7,5
$CURRENT,0.112,336.5,1
$GPS,100914,092429,4750.522,-12515.569,38,1.9,39,18.7