version: 66.12
glider: 187
mission: 4
dive: 421
start: 10 1 114 1 11 9
data:
$ID,187
$MISSION,4
$DIVE,421
$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,-1593971.6
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,011014,010224,4753.596,-12516.961,59,1.1,59,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-72.8
$GPS2,011014,011043,4753.653,-12516.851,13,1.6,13,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,137.5,8778,-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,-116.8,397,2378,1437,1225,0.0,0.0,0,79,0.00,0.00,-47.20,0.000,16386,0.000,0.000,397,2382,2546,2644,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,398,2377,2643,2449,3.1,-2.0,5,130,12.55,2.62,-17.27,0.000,18692,0.378,0.109,3124,3811,3337,3381,3294,0,0,0,0,0,0,13.90,14.16,14.54
$GC,360,-0.59,-116.8,3124,3812,3381,3298,44.4,-13.5,33,370,0.00,2.42,0.00,0.000,1030,0.000,0.062,3124,2406,3340,3382,3298,0,0,0,0,0,0,28.83,14.26,28.83
$GC,610,-0.59,-116.8,3125,2402,3384,3299,76.9,-12.2,58,621,0.00,2.53,0.00,0.000,260,0.000,0.088,3124,3816,3341,3383,3299,0,0,0,0,0,0,28.83,14.19,28.83
$GC,802,-0.59,-116.8,3124,3816,3383,3300,99.1,-12.0,77,812,0.00,2.45,0.00,0.000,1030,0.000,0.062,3125,2386,3341,3384,3299,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1053,-0.59,-116.8,3124,2381,3384,3299,126.7,-11.7,102,1064,0.00,2.55,0.00,0.000,260,0.000,0.087,3125,3808,3342,3384,3300,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1114,-0.59,-116.8,3124,3808,3384,3300,133.9,-11.5,108,1125,0.00,2.42,0.00,0.000,1030,0.000,0.062,3125,2399,3342,3384,3300,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1365,-0.59,-116.8,3125,2398,3379,3299,161.0,-10.5,133,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3341,3383,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1615,-0.59,-116.8,3125,2398,3383,3304,186.4,-10.5,158,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3341,3383,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1866,-0.59,-116.8,3125,2401,3382,3299,210.3,-9.6,183,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3341,3383,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,-0.59,-116.8,3124,2398,3384,3299,233.7,-8.9,208,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3341,3383,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2388,-0.59,-116.8,3125,2398,3383,3298,259.6,-9.8,229,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3341,3383,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.59,-116.8,3124,2398,3384,3297,287.1,-8.9,239,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2987,begin apogee
$GC,2996,-0.25,0.0,3125,2316,3383,3296,312.0,-8.5,249,3095,0.40,0.00,91.95,1.071,10246,0.191,0.000,3239,2312,2857,2930,2784,0,0,0,0,0,0,14.07,28.83,13.59
$STATE,3098,end apogee,CONTROL_FINISHED_OK
$STATE,3098,begin climb
$GC,3102,0.59,116.8,3239,2313,2927,2779,316.4,0.0,252,3208,0.85,2.65,93.07,1.046,10500,0.138,0.087,3510,3736,2377,2510,2244,0,0,0,0,0,0,14.07,13.95,13.44
$GC,3241,0.63,116.8,3510,3731,2509,2249,312.5,5.5,264,3251,0.00,2.45,0.00,0.000,1030,0.000,0.064,3519,2341,2374,2505,2244,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3563,0.63,116.8,3519,2341,2509,2243,291.1,6.9,276,3573,0.00,2.50,0.00,0.000,516,0.000,0.080,3519,914,2375,2508,2243,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3696,0.64,116.8,3519,914,2505,2243,282.4,6.5,289,3706,0.00,2.47,0.00,0.000,1030,0.000,0.070,3519,2334,2376,2510,2243,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4019,0.66,116.8,3519,2334,2509,2241,261.4,6.3,301,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2334,2374,2509,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,0.68,116.8,3519,2334,2509,2240,241.9,6.5,319,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2334,2374,2509,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4568,0.69,116.8,3520,2334,2509,2237,225.5,6.8,344,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2335,2374,2509,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4820,0.71,116.8,3519,2334,2509,2237,209.1,6.5,369,4831,0.00,2.50,0.00,0.000,260,0.000,0.089,3519,3740,2373,2509,2237,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4934,0.71,116.8,3519,3739,2515,2237,201.2,7.1,380,4945,0.10,2.45,0.00,0.000,3078,0.163,0.068,3564,2327,2372,2508,2237,0,0,0,0,0,0,14.28,14.31,28.83
$GC,5185,0.71,116.8,3564,2326,2508,2237,182.4,7.3,405,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2326,2372,2508,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5435,0.71,116.8,3564,2326,2508,2237,163.9,7.9,430,5445,0.00,2.47,0.00,0.000,516,0.000,0.083,3575,915,2372,2508,2236,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5475,0.71,116.8,3575,915,2509,2236,160.6,8.1,434,5486,0.00,2.47,0.00,0.000,1030,0.000,0.070,3574,2338,2372,2508,2237,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5726,0.71,116.8,3575,2336,2507,2236,139.4,9.2,459,5738,0.00,2.50,0.00,0.000,260,0.000,0.089,3571,3744,2371,2507,2236,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5819,0.71,116.8,3575,3742,2507,2237,130.5,9.7,468,5830,0.00,2.47,0.00,0.000,1030,0.000,0.073,3582,2330,2374,2507,2242,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6071,0.71,116.8,3582,2329,2507,2236,111.2,7.1,493,6081,0.00,2.50,0.00,0.000,516,0.000,0.083,3588,915,2371,2507,2236,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6142,0.71,116.8,3588,914,2507,2236,106.0,7.5,500,6153,0.15,2.47,0.00,0.000,5126,0.256,0.070,3554,2334,2371,2507,2236,0,0,0,0,0,0,14.00,14.28,28.83
$GC,6394,0.74,116.8,3554,2334,2503,2236,89.3,5.6,525,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2333,2371,2506,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6643,0.81,208.8,3554,2334,2506,2236,77.4,3.5,550,6724,0.00,2.53,69.03,0.780,8708,0.000,0.081,3562,913,2002,2146,1859,0,0,0,0,0,0,28.83,14.25,13.81
$GC,6957,0.81,208.8,3562,915,2146,1859,54.5,8.0,581,6968,0.00,2.47,0.00,0.000,1030,0.000,0.070,3562,2329,2002,2146,1859,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7209,0.82,208.8,3561,2328,2146,1858,37.1,6.7,606,7220,0.00,2.53,0.00,0.000,260,0.000,0.087,3562,3745,2002,2146,1859,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7369,0.82,208.8,3562,3745,2142,1858,23.5,8.3,622,7380,0.00,2.47,0.00,0.000,1030,0.000,0.068,3561,2319,2000,2146,1855,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7620,0.91,337.8,3562,2319,2146,1858,10.9,1.9,647,7692,0.15,2.58,58.55,0.132,10500,0.126,0.088,3630,3738,1481,1624,1339,0,0,0,0,0,0,14.34,14.23,14.19
$GC,7725,0.94,337.8,3630,3739,1625,1342,6.6,5.8,657,7736,0.00,2.45,0.00,0.000,1030,0.000,0.069,3630,2332,1483,1624,1342,0,0,0,0,0,0,28.83,14.25,28.83
$STATE,7762,end climb,SURFACE_DEPTH_REACHED
$STATE,7763,begin surface coast
$FINISH,1.3,1.023165
$STATE,7817,end surface coast,CONTROL_FINISHED_OK
$STATE,7817,begin surface
$SM_CCo,7843,16.67,0.099,0,0,1328,375.06
$SM_GC,3.26,9.23,0.12,16.67,0.060,0.177,0.099,398,2398,1328,-9.10,-0.90,375.06,0,0,0,0,0,0,14.31,14.31,14.25
$IRIDIUM_FIX,4732.49,-12511.36,300914,222252
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.23
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3803296
$PM_FREEKB,50594592
$24V_AH,13.4,101.852
$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,23.425,60.200,312.600,16.675,0.000,0.000,0.000,256.125,0.000,0.000,14.219,1597.566,4358.727,480.745,1476.242,442.312,0.000,1451.831,0.000,1042.689,0.000,0.536,0.000
$DEVICE_MAMPS,377.910,176.715,1071.000,99.450,0.000,0.000,0.000,157.590,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7833.000,111.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.536,5.258,0.000,0.000
$MEM,290884
$DATA_FILE_SIZE,23386,666
$CAP_FILE_SIZE,121639,0
$CFSIZE,260034560,215711744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8018.91,0x2378ba,7,5
$CURRENT,0.135,345.5,1
$GPS,011014,032348,4753.450,-12516.748,43,1.6,49,18.8