version: 66.12
glider: 187
mission: 4
dive: 404
start: 9 29 114 8 20 21
data:
$ID,187
$MISSION,4
$DIVE,404
$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,-1593950.2
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,290914,081200,4751.193,-12517.715,50,1.7,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-74.0
$GPS2,290914,081955,4751.184,-12517.847,13,1.7,13,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,100.0,9515,-14.0,-7.333,-18.81,2445
$D_GRID,414
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,393,2418,1443,1218,0.0,0.0,0,81,0.00,0.00,-48.15,0.000,16386,0.000,0.000,393,2418,2556,2646,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,393,2418,2645,2468,3.1,-1.8,5,124,12.57,2.55,-16.88,0.000,18692,0.376,0.115,3126,3799,3336,3380,3293,0,0,0,0,0,0,13.83,14.19,14.50
$GC,354,-0.59,-116.8,3126,3802,3382,3298,45.2,-13.2,32,363,0.00,2.45,0.00,0.000,1030,0.000,0.063,3126,2397,3339,3381,3298,0,0,0,0,0,0,28.83,14.21,28.83
$GC,605,-0.59,-116.8,3126,2393,3382,3299,75.5,-11.6,57,613,0.00,2.50,0.00,0.000,260,0.000,0.090,3125,3798,3339,3381,3298,0,0,0,0,0,0,28.83,14.17,28.83
$GC,844,-0.59,-116.8,3126,3798,3382,3299,105.8,-12.9,81,854,0.00,2.42,0.00,0.000,1030,0.000,0.062,3124,2400,3340,3382,3299,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1094,-0.59,-116.8,3126,2398,3382,3299,135.9,-11.4,106,1104,0.00,2.50,0.00,0.000,260,0.000,0.090,3126,3799,3340,3382,3299,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1145,-0.59,-116.8,3126,3799,3381,3300,141.8,-12.2,111,1154,0.00,2.42,0.00,0.000,1030,0.000,0.062,3122,2389,3340,3382,3299,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1395,-0.59,-116.8,3126,2384,3382,3299,168.1,-10.0,136,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2385,3342,3384,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1644,-0.59,-116.8,3126,2389,3382,3299,191.1,-9.0,161,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2389,3340,3382,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1894,-0.59,-116.8,3126,2384,3383,3298,212.7,-8.0,186,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2385,3340,3382,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2144,-0.59,-116.8,3126,2384,3381,3299,232.9,-8.0,211,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2385,3344,3381,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2395,-0.59,-116.8,3126,2384,3382,3299,252.9,-8.2,234,2403,0.00,2.42,0.00,0.000,516,0.000,0.075,3126,993,3339,3382,3297,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2463,-0.59,-116.8,3125,993,3386,3298,258.9,-8.7,241,2472,0.00,2.50,0.00,0.000,1030,0.000,0.073,3125,2388,3340,3382,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2787,-0.59,-116.8,3126,2386,3382,3298,284.9,-8.1,253,2794,0.00,2.55,0.00,0.000,260,0.000,0.093,3126,3818,3340,3383,3298,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2875,-0.59,-116.8,3125,3818,3382,3298,292.7,-8.5,262,2883,0.00,2.45,0.00,0.000,1030,0.000,0.065,3126,2401,3340,3382,3298,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3207,-0.59,-116.8,3126,2400,3382,3297,321.5,-9.1,275,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3505,-0.59,-116.8,3126,2401,3382,3295,348.3,-8.6,285,3512,0.00,2.45,0.00,0.000,516,0.000,0.074,3125,989,3338,3382,3295,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3564,-0.59,-116.8,3126,991,3378,3295,353.4,-8.8,291,3573,0.00,2.47,0.00,0.000,1030,0.000,0.072,3127,2398,3338,3382,3295,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3898,-0.59,-116.8,3126,2397,3382,3294,379.6,-8.3,304,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3335,3377,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4194,-0.59,-116.8,3126,2394,3382,3291,406.3,-9.3,314,4202,0.00,2.53,0.00,0.000,260,0.000,0.093,3126,3810,3335,3377,3294,0,0,0,0,0,0,28.83,14.17,28.83
$STATE,4281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4281,begin apogee
$GC,4293,-0.25,0.0,3126,2318,3382,3294,414.9,-9.4,323,4392,0.40,0.00,93.93,1.200,10246,0.185,0.000,3241,2318,2858,2930,2787,0,0,0,0,0,0,14.04,28.83,13.47
$STATE,4395,end apogee,CONTROL_FINISHED_OK
$STATE,4395,begin climb
$GC,4398,0.59,116.8,3241,2317,2926,2784,419.8,0.0,326,4504,0.82,0.00,95.50,1.177,10758,0.129,0.000,3508,2317,2383,2508,2258,0,0,0,0,0,0,14.03,28.83,13.33
$GC,4794,0.61,116.8,3508,2317,2508,2251,403.0,6.2,346,4804,0.00,2.55,0.00,0.000,260,0.000,0.088,3508,3741,2379,2508,2250,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4947,0.61,116.8,3508,3742,2508,2250,390.9,7.9,361,4957,0.00,2.45,0.00,0.000,1030,0.000,0.067,3508,2338,2382,2508,2256,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5277,0.63,116.8,3508,2337,2508,2247,368.5,6.5,374,5287,0.00,2.53,0.00,0.000,260,0.000,0.089,3508,3753,2378,2508,2249,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5346,0.63,116.8,3508,3749,2508,2247,363.2,7.7,381,5356,0.00,2.47,0.00,0.000,1030,0.000,0.067,3508,2330,2377,2508,2247,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5671,0.65,116.8,3508,2330,2514,2246,341.9,6.4,393,5681,0.00,2.47,0.00,0.000,516,0.000,0.083,3508,916,2377,2508,2246,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5732,0.67,116.8,3508,917,2508,2246,337.9,6.1,399,5743,0.10,2.47,0.00,0.000,3078,0.168,0.071,3546,2333,2380,2514,2246,0,0,0,0,0,0,14.26,14.28,28.83
$GC,6064,0.67,116.8,3548,2336,2508,2246,312.8,8.0,412,6074,0.00,2.53,0.00,0.000,516,0.000,0.086,3548,914,2377,2508,2246,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6173,0.67,116.8,3546,914,2507,2246,303.4,8.2,423,6185,0.00,2.50,0.00,0.000,1030,0.000,0.072,3549,2340,2379,2507,2252,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6486,0.67,116.8,3549,2338,2508,2245,276.9,8.6,434,6496,0.00,2.47,0.00,0.000,260,0.000,0.090,3548,3734,2376,2507,2245,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6726,0.67,116.8,3549,3735,2506,2244,254.1,9.4,458,6736,0.00,2.45,0.00,0.000,1030,0.000,0.070,3549,2325,2379,2513,2245,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7037,0.67,116.8,3549,2324,2513,2244,229.1,8.1,487,7048,0.00,2.47,0.00,0.000,516,0.000,0.085,3549,915,2375,2506,2244,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7249,0.67,116.8,3549,915,2506,2244,213.2,7.1,508,7260,0.00,2.47,0.00,0.000,1030,0.000,0.072,3549,2329,2378,2506,2250,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7501,0.69,116.8,3549,2325,2505,2244,195.8,6.7,533,7511,0.00,2.47,0.00,0.000,516,0.000,0.082,3549,929,2375,2506,2244,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7581,0.69,116.8,3549,929,2506,2244,190.1,7.1,541,7592,0.00,2.45,0.00,0.000,1030,0.000,0.072,3545,2329,2375,2506,2244,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7832,0.70,116.8,3549,2328,2506,2244,172.0,6.7,566,7843,0.00,2.50,0.00,0.000,260,0.000,0.089,3549,3733,2374,2505,2244,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7893,0.70,116.8,3549,3733,2506,2244,167.4,7.8,572,7904,0.00,2.45,0.00,0.000,1030,0.000,0.068,3549,2322,2374,2505,2243,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8144,0.70,116.8,3549,2322,2506,2243,150.0,7.1,597,8154,0.00,2.45,0.00,0.000,516,0.000,0.083,3549,929,2374,2505,2244,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8226,0.71,116.8,3549,928,2503,2243,144.4,6.8,605,8236,0.00,2.45,0.00,0.000,1030,0.000,0.072,3549,2331,2374,2505,2243,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8477,0.74,116.8,3549,2335,2504,2244,129.0,6.0,630,8488,0.00,2.50,0.00,0.000,516,0.000,0.081,3549,927,2374,2505,2243,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8528,0.76,116.8,3549,927,2506,2243,125.8,6.0,635,8540,0.00,2.45,0.00,0.000,1030,0.000,0.071,3546,2331,2372,2501,2243,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8781,0.79,116.8,3549,2330,2505,2243,110.2,6.0,660,8791,0.00,2.50,0.00,0.000,260,0.000,0.088,3549,3745,2374,2505,2243,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8931,0.83,180.3,3549,3745,2502,2243,102.1,4.7,675,8992,0.15,2.47,48.90,0.823,11270,0.130,0.069,3604,2319,2119,2260,1978,0,0,0,0,0,0,14.24,14.20,13.81
$GC,9232,0.83,180.3,3604,2319,2260,1978,79.6,7.6,705,9243,0.00,2.47,0.00,0.000,516,0.000,0.084,3605,930,2119,2260,1978,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9346,0.83,180.3,3601,931,2260,1978,70.2,8.8,716,9357,0.00,2.45,0.00,0.000,1030,0.000,0.071,3604,2332,2119,2260,1978,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9596,0.83,180.3,3605,2330,2260,1978,48.5,8.5,741,9607,0.00,2.50,0.00,0.000,260,0.000,0.086,3604,3746,2119,2260,1978,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9836,0.83,180.3,3605,3745,2260,1978,28.9,7.5,765,9847,0.00,2.45,0.00,0.000,1030,0.000,0.067,3604,2336,2119,2260,1978,0,0,0,0,0,0,28.83,14.24,28.83
$GC,10087,0.90,278.2,3604,2336,2260,1979,18.4,3.2,790,10149,0.00,2.53,47.85,0.164,8452,0.000,0.088,3606,3746,1723,1867,1580,0,0,0,0,0,0,28.83,14.24,14.14
$STATE,10315,end climb,SURFACE_DEPTH_REACHED
$STATE,10315,begin surface coast
$FINISH,1.3,1.011467
$STATE,10368,end surface coast,CONTROL_FINISHED_OK
$STATE,10368,begin surface
$SM_CCo,10396,42.72,0.099,0,0,1328,375.06
$SM_GC,2.59,9.18,2.38,42.72,0.058,0.064,0.099,385,2402,1328,-9.12,0.99,375.06,0,0,0,0,0,0,14.31,14.30,14.24
$IRIDIUM_FIX,4732.49,-12513.98,290914,050536
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.15
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3808736
$PM_FREEKB,50744960
$24V_AH,13.3,99.491
$10V_AH,12.9,0.000
$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,23.225,104.175,286.175,42.725,0.000,0.000,0.000,251.600,0.000,0.000,14.357,1927.362,6269.740,523.441,1699.199,487.550,0.000,1602.866,0.000,1285.967,0.000,0.535,0.000
$DEVICE_MAMPS,376.380,114.750,1199.520,98.685,0.000,0.000,0.000,159.885,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10387.000,4441.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.042,4.115,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,30026,818
$CAP_FILE_SIZE,144221,0
$CFSIZE,260034560,216838144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11262.15,0x2378ba,7,5
$CURRENT,0.189,333.8,1
$GPS,290914,111551,4751.678,-12517.317,18,2.4,39,18.8