version: 66.12
glider: 187
mission: 4
dive: 335
start: 9 10 114 12 25 29
data:
$ID,187
$MISSION,4
$DIVE,335
$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,-1593845.9
$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,31
$R_STBD_OVSHOOT,30
$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
$GPS1,100914,121626,4750.789,-12514.300,33,2.6,54,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-73.9
$GPS2,100914,122503,4750.729,-12514.249,15,2.6,35,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,62.6,5421,-14.0,-7.333,-18.81,2445
$D_GRID,312
$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,-116.8,391,2411,1451,1209,0.0,0.0,0,80,0.00,0.00,-48.03,0.000,16386,0.000,0.000,395,2411,2545,2635,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,391,2412,2636,2456,3.1,-1.4,5,131,12.48,2.55,-18.25,0.000,18948,0.377,0.099,3126,990,3335,3381,3290,0,0,0,0,0,0,13.93,14.22,14.52
$GC,361,-0.59,-116.8,3125,991,3382,3294,45.1,-12.0,33,372,0.00,2.47,0.00,0.000,1030,0.000,0.073,3125,2394,3338,3382,3294,0,0,0,0,0,0,28.83,14.22,28.83
$GC,611,-0.59,-116.8,3125,2394,3383,3294,72.8,-11.7,58,622,0.00,2.42,0.00,0.000,516,0.000,0.073,3125,994,3339,3383,3295,0,0,0,0,0,0,28.83,14.27,28.83
$GC,736,-0.59,-116.8,3125,994,3383,3295,86.7,-11.2,70,747,0.00,2.45,0.00,0.000,1030,0.000,0.072,3130,2403,3339,3383,3295,0,0,0,0,0,0,28.83,14.28,28.83
$GC,987,-0.59,-116.8,3125,2402,3383,3296,112.3,-9.7,95,998,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2402,3340,3383,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1238,-0.59,-116.8,3125,2402,3383,3292,134.8,-9.4,120,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1487,-0.59,-116.8,3125,2402,3383,3295,158.0,-9.3,145,1498,0.00,2.50,0.00,0.000,260,0.000,0.091,3125,3817,3340,3383,3297,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1538,-0.59,-116.8,3125,3818,3383,3295,162.6,-9.3,150,1549,0.00,2.45,0.00,0.000,1030,0.000,0.066,3126,2391,3339,3383,3295,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1789,-0.59,-116.8,3125,2386,3383,3295,185.4,-8.5,175,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2386,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2039,-0.59,-116.8,3125,2386,3383,3295,207.2,-9.0,200,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2386,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2289,-0.59,-116.8,3125,2386,3383,3294,230.2,-9.8,225,2300,0.00,2.55,0.00,0.000,260,0.000,0.092,3125,3821,3338,3383,3294,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2403,-0.59,-116.8,3121,3821,3383,3294,241.2,-10.1,236,2414,0.00,2.42,0.00,0.000,1030,0.000,0.065,3125,2405,3338,3383,3294,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2674,-0.59,-116.8,3121,2401,3383,3293,268.2,-9.7,251,2684,0.00,2.45,0.00,0.000,516,0.000,0.076,3125,986,3338,3383,3294,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2744,-0.59,-116.8,3125,986,3383,3294,275.0,-10.0,258,2754,0.00,2.47,0.00,0.000,1030,0.000,0.072,3125,2407,3338,3383,3294,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3066,-0.59,-116.8,3125,2406,3383,3288,302.9,-8.8,270,3076,0.00,2.47,0.00,0.000,260,0.000,0.092,3125,3815,3341,3383,3299,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3136,-0.59,-116.8,3125,3815,3386,3292,309.6,-9.1,277,3147,0.00,2.40,0.00,0.000,1030,0.000,0.067,3125,2406,3341,3383,3299,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,3183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3184,begin apogee
$GC,3192,-0.25,0.0,3126,2314,3383,3293,314.0,-8.8,280,3291,0.40,0.00,91.30,1.069,10246,0.189,0.000,3241,2314,2857,2932,2783,0,0,0,0,0,0,14.16,28.83,13.64
$STATE,3293,end apogee,CONTROL_FINISHED_OK
$STATE,3293,begin climb
$GC,3298,0.59,116.8,3240,2314,2929,2778,318.0,0.0,283,3402,0.85,2.67,92.57,1.056,10500,0.137,0.086,3511,3742,2378,2511,2246,0,0,0,0,0,0,14.09,13.95,13.47
$GC,3444,0.59,116.8,3511,3742,2510,2244,312.1,6.9,295,3455,0.00,2.47,0.00,0.000,1030,0.000,0.067,3519,2345,2375,2506,2244,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3758,0.59,116.8,3519,2345,2510,2241,288.3,7.9,306,3768,0.00,2.53,0.00,0.000,516,0.000,0.088,3520,918,2376,2510,2242,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3868,0.59,116.8,3519,918,2510,2242,279.3,7.6,317,3878,0.00,2.47,0.00,0.000,1030,0.000,0.072,3519,2330,2376,2510,2242,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4181,0.59,116.8,3519,2330,2510,2241,256.8,7.2,328,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2330,2373,2506,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,0.60,116.8,3519,2329,2510,2239,235.5,6.7,350,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2330,2374,2510,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4729,0.62,116.8,3519,2330,2510,2237,219.3,6.4,375,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2330,2373,2509,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4979,0.65,116.8,3519,2330,2507,2240,204.1,6.0,400,4991,0.00,2.50,0.00,0.000,260,0.000,0.089,3519,3739,2373,2509,2238,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5051,0.66,116.8,3520,3738,2509,2237,199.3,6.8,407,5062,0.00,2.45,0.00,0.000,1030,0.000,0.066,3519,2320,2372,2509,2236,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5304,0.69,116.8,3519,2318,2509,2236,184.4,5.7,432,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2320,2374,2509,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5555,0.69,116.8,3520,2320,2509,2236,168.5,7.1,457,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2319,2373,2510,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5805,0.69,116.8,3519,2319,2509,2235,150.8,7.0,482,5816,0.00,2.53,0.00,0.000,260,0.000,0.088,3520,3738,2372,2509,2235,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5856,0.69,116.8,3519,3738,2509,2235,147.3,7.3,487,5867,0.00,2.42,0.00,0.000,1030,0.000,0.067,3520,2333,2371,2508,2235,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6108,0.72,116.8,3520,2332,2505,2235,131.4,5.9,512,6119,0.12,0.00,0.00,0.000,2054,0.143,0.000,3578,2328,2372,2509,2235,0,0,0,0,0,0,14.32,28.83,28.83
$GC,6360,0.73,116.8,3578,2327,2508,2235,113.5,6.7,537,6371,0.00,2.50,0.00,0.000,260,0.000,0.089,3579,3739,2371,2508,2235,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6410,0.73,116.8,3578,3738,2508,2235,109.6,7.5,542,6421,0.00,2.45,0.00,0.000,1030,0.000,0.067,3587,2319,2371,2508,2235,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6661,0.73,116.8,3588,2319,2508,2235,91.2,7.2,567,6672,0.00,2.45,0.00,0.000,516,0.000,0.082,3595,921,2371,2508,2235,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6902,0.76,116.8,3592,921,2508,2235,73.4,6.0,591,6913,0.00,2.45,0.00,0.000,1030,0.000,0.072,3592,2331,2371,2508,2235,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7154,0.80,171.3,3592,2330,2507,2235,61.0,5.0,616,7205,0.00,2.55,40.83,0.780,8452,0.000,0.088,3592,3743,2156,2302,2011,0,0,0,0,0,0,28.83,14.35,13.94
$GC,7275,0.80,171.3,3592,3743,2302,2012,50.3,11.4,628,7286,0.00,2.45,0.00,0.000,1030,0.000,0.069,3592,2334,2157,2303,2011,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7527,0.84,234.3,3592,2334,2302,2011,28.8,4.7,653,7579,0.00,0.00,46.35,0.728,8454,0.000,0.000,3592,2334,1903,2044,1763,0,0,0,0,0,0,28.83,28.83,13.90
$GC,7822,0.86,234.3,3592,2334,2042,1759,7.7,6.6,682,7833,0.00,2.47,0.00,0.000,516,0.000,0.080,3592,915,1900,2041,1759,0,0,0,0,0,0,28.83,14.23,28.83
$STATE,7899,end climb,SURFACE_DEPTH_REACHED
$STATE,7899,begin surface coast
$FINISH,1.4,1.024169
$STATE,8010,end surface coast,CONTROL_FINISHED_OK
$STATE,8010,begin surface
$SM_CCo,8038,60.97,0.100,0,0,1329,375.06
$SM_GC,2.89,9.12,2.65,60.97,0.059,0.069,0.100,388,2411,1329,-9.12,-0.57,375.06,0,0,0,0,0,0,14.32,14.31,14.26
$IRIDIUM_FIX,4735.69,-12515.83,100914,090900
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.25
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3830816
$PM_FREEKB,52896128
$24V_AH,13.5,81.890
$10V_AH,13.7,0.000
$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,22.975,69.775,271.050,60.975,0.000,0.000,0.000,251.650,0.000,0.000,36.043,1678.180,4427.946,507.307,1553.406,444.739,0.000,1499.950,0.000,1098.059,0.000,0.535,0.000
$DEVICE_MAMPS,377.145,172.890,1069.470,100.215,0.000,0.000,0.000,158.355,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8028.000,107.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.626,5.352,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,23381,701
$CAP_FILE_SIZE,127896,0
$CFSIZE,260034560,224235520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10366.67,0x2378ba,7,5
$CURRENT,0.049,274.1,1
$GPS,100914,144205,4750.854,-12513.486,40,1.2,46,18.7