version: 66.12
glider: 187
mission: 4
dive: 437
start: 10 2 114 13 32 28
data:
$ID,187
$MISSION,4
$DIVE,437
$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,-1593991.9
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,021014,132345,4751.094,-12518.205,45,2.0,56,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-74.9
$GPS2,021014,133201,4751.091,-12518.142,16,1.9,16,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,202.5,159702,-14.0,-7.333,-18.81,2445
$D_GRID,458
$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,-116.8,392,2398,1446,1213,0.0,0.0,0,79,0.00,0.00,-47.10,0.000,16386,0.000,0.000,392,2398,2549,2635,2463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.59,-116.8,397,2398,2635,2462,3.1,-1.9,5,124,12.73,2.55,-16.33,0.000,18948,0.383,0.100,3124,992,3337,3383,3292,0,0,0,0,0,0,13.84,14.22,14.52
$GC,157,-0.59,-116.8,3124,995,3383,3295,17.5,-17.7,12,168,0.00,2.50,0.00,0.000,1030,0.000,0.073,3124,2409,3338,3382,3295,0,0,0,0,0,0,28.83,14.20,28.83
$GC,409,-0.59,-116.8,3124,2408,3385,3295,51.1,-11.3,37,419,0.00,2.47,0.00,0.000,260,0.000,0.089,3124,3808,3340,3385,3296,0,0,0,0,0,0,28.83,14.19,28.83
$GC,649,-0.59,-116.8,3124,3808,3385,3297,79.0,-10.6,61,660,0.00,2.42,0.00,0.000,1030,0.000,0.063,3124,2398,3341,3385,3298,0,0,0,0,0,0,28.83,14.29,28.83
$GC,900,-0.59,-116.8,3124,2393,3386,3298,105.1,-10.9,86,911,0.00,2.45,0.00,0.000,516,0.000,0.076,3124,990,3344,3390,3298,0,0,0,0,0,0,28.83,14.23,28.83
$GC,971,-0.59,-116.8,3124,990,3387,3298,112.5,-10.4,93,982,0.00,2.47,0.00,0.000,1030,0.000,0.071,3124,2404,3343,3388,3298,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1223,-0.59,-116.8,3124,2404,3387,3298,137.6,-9.7,118,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1474,-0.59,-116.8,3124,2404,3386,3298,160.4,-9.3,143,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3342,3387,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1723,-0.59,-116.8,3124,2404,3387,3302,183.7,-9.3,168,1734,0.00,2.50,0.00,0.000,260,0.000,0.090,3124,3817,3342,3387,3298,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1827,-0.59,-116.8,3124,3817,3386,3298,193.5,-9.7,178,1839,0.00,2.45,0.00,0.000,1030,0.000,0.063,3124,2393,3342,3386,3298,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2080,-0.59,-116.8,3124,2391,3386,3298,217.1,-9.1,203,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3342,3386,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2330,-0.59,-116.8,3124,2396,3386,3298,240.5,-9.2,228,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2391,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2589,-0.59,-116.8,3125,2391,3386,3297,263.5,-8.8,244,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2890,-0.59,-116.8,3124,2391,3386,3295,288.1,-8.3,254,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2391,3341,3386,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3189,-0.59,-116.8,3121,2391,3386,3294,313.4,-8.6,264,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3340,3386,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3490,-0.59,-116.8,3124,2391,3386,3293,338.4,-8.2,274,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3336,3386,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3789,-0.59,-116.8,3124,2391,3386,3296,363.8,-8.4,284,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3339,3386,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4090,-0.59,-116.8,3124,2391,3386,3292,389.2,-8.2,294,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3342,3386,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4389,-0.59,-116.8,3123,2391,3386,3291,413.3,-8.3,304,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2389,3339,3386,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4690,-0.59,-116.8,3124,2391,3386,3290,437.8,-8.1,314,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3338,3386,3291,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4956,begin apogee
$GC,4965,-0.25,0.0,3124,2328,3386,3289,459.9,-8.4,323,5068,0.40,0.00,95.28,1.256,10246,0.184,0.000,3240,2328,2858,2934,2783,0,0,0,0,0,0,14.04,28.83,13.43
$STATE,5070,end apogee,CONTROL_FINISHED_OK
$STATE,5070,begin climb
$GC,5074,0.59,116.8,3240,2328,2930,2778,463.7,0.0,326,5180,0.85,0.00,97.43,1.230,10246,0.137,0.000,3511,2328,2378,2510,2247,0,0,0,0,0,0,14.01,28.83,13.27
$GC,5471,0.59,116.8,3511,2328,2509,2246,442.1,6.9,340,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2325,2377,2509,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5770,0.59,116.8,3512,2328,2513,2245,421.3,7.1,350,5780,0.00,2.47,0.00,0.000,516,0.000,0.080,3518,923,2376,2509,2244,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5839,0.59,116.8,3519,923,2509,2244,416.2,7.3,357,5849,0.00,2.47,0.00,0.000,1030,0.000,0.074,3519,2330,2376,2509,2244,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6163,0.59,116.8,3519,2329,2509,2243,391.0,8.0,369,6173,0.00,2.50,0.00,0.000,260,0.000,0.090,3519,3739,2374,2509,2240,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6274,0.59,116.8,3519,3738,2509,2241,380.3,9.6,380,6284,0.00,2.45,0.00,0.000,1030,0.000,0.069,3519,2327,2374,2507,2242,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6588,0.59,116.8,3519,2330,2509,2240,355.3,7.9,391,6598,0.00,2.47,0.00,0.000,516,0.000,0.084,3519,918,2372,2508,2237,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6667,0.59,116.8,3518,918,2508,2241,348.7,7.7,399,6678,0.00,2.47,0.00,0.000,1030,0.000,0.073,3519,2330,2374,2508,2240,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6981,0.59,116.8,3519,2330,2509,2240,325.2,7.6,410,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2330,2374,2508,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7278,0.59,116.8,3519,2330,2507,2240,303.0,7.0,420,7288,0.00,2.50,0.00,0.000,260,0.000,0.090,3519,3740,2374,2508,2240,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7359,0.59,116.8,3519,3741,2508,2239,296.8,8.0,428,7369,0.00,2.45,0.00,0.000,1030,0.000,0.069,3519,2333,2375,2512,2239,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7672,0.60,116.8,3522,2333,2508,2238,275.4,6.8,439,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2333,2373,2509,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7972,0.62,116.8,3519,2333,2507,2238,256.4,6.4,449,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2333,2372,2507,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8269,0.65,116.8,3519,2334,2508,2237,238.2,5.9,471,8280,0.00,2.50,0.00,0.000,516,0.000,0.081,3518,918,2372,2507,2237,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8393,0.67,116.8,3522,918,2507,2237,230.7,6.1,483,8405,0.00,2.47,0.00,0.000,1030,0.000,0.073,3522,2330,2371,2507,2236,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8645,0.70,116.8,3522,2330,2507,2237,215.4,5.9,508,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2331,2372,2507,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8895,0.72,116.8,3521,2335,2506,2237,199.4,6.6,533,8905,0.10,0.00,0.00,0.000,2054,0.162,0.000,3571,2330,2372,2507,2237,0,0,0,0,0,0,14.37,28.83,28.83
$GC,9146,0.72,116.8,3571,2329,2507,2237,179.9,7.6,558,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2330,2374,2512,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9395,0.72,116.8,3568,2330,2507,2237,161.8,7.3,583,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2330,2370,2507,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9647,0.72,116.8,3571,2330,2506,2237,142.6,7.8,608,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2330,2372,2507,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9897,0.72,116.8,3571,2330,2507,2237,123.6,7.4,633,9908,0.00,2.53,0.00,0.000,516,0.000,0.081,3576,916,2370,2504,2237,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9938,0.72,116.8,3575,916,2510,2237,120.5,7.7,637,9949,0.00,2.50,0.00,0.000,1030,0.000,0.071,3576,2343,2372,2507,2237,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10189,0.73,116.8,3576,2347,2506,2237,103.5,6.7,662,10199,0.00,2.53,0.00,0.000,516,0.000,0.080,3581,918,2373,2510,2237,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10431,0.73,116.8,3578,918,2506,2237,87.9,7.4,686,10441,0.00,2.47,0.00,0.000,1030,0.000,0.071,3581,2328,2371,2506,2237,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10682,0.79,206.7,3581,2327,2506,2237,74.3,3.6,711,10762,0.00,2.47,68.07,0.782,8708,0.000,0.077,3586,918,2010,2153,1867,0,0,0,0,0,0,28.83,14.26,13.76
$GC,10991,0.79,206.7,3587,918,2153,1867,49.8,8.6,742,11002,0.00,2.50,0.00,0.000,1030,0.000,0.072,3587,2341,2010,2153,1867,0,0,0,0,0,0,28.83,14.18,28.83
$GC,11243,0.79,206.7,3588,2341,2153,1867,33.4,7.7,767,11253,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2341,2010,2153,1867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11495,0.88,335.7,3587,2340,2153,1870,19.0,1.9,792,11565,0.00,0.00,63.10,0.171,8710,0.000,0.000,3584,2340,1489,1634,1345,0,0,0,0,0,0,28.83,28.83,14.11
$STATE,11795,end climb,SURFACE_DEPTH_REACHED
$STATE,11795,begin surface coast
$FINISH,1.1,1.011605
$STATE,11842,end surface coast,CONTROL_FINISHED_OK
$STATE,11842,begin surface
$SM_CCo,11868,17.45,0.098,0,0,1328,375.06
$SM_GC,2.61,9.15,0.10,17.45,0.063,0.188,0.098,388,2398,1328,-9.10,-0.76,375.06,0,0,0,0,0,0,14.30,14.31,14.22
$IRIDIUM_FIX,4735.69,-12511.36,021014,101052
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.53
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3798176
$PM_FREEKB,50450272
$24V_AH,13.3,104.043
$10V_AH,13.5,0.000
$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,23.225,59.800,323.875,17.450,0.000,0.000,0.000,237.125,0.000,0.000,17.702,1997.409,7544.962,509.766,1805.345,518.147,0.000,1660.976,0.000,1307.841,0.000,0.535,0.000
$DEVICE_MAMPS,382.500,188.190,1256.130,97.920,0.000,0.000,0.000,163.710,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11862.000,184.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.824,5.339,0.000,0.000
$MEM,290852
$DATA_FILE_SIZE,26723,827
$CAP_FILE_SIZE,151459,0
$CFSIZE,260034560,214642688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11817.34,0x2378ba,7,5
$CURRENT,0.131, 27.2,1
$GPS,021014,165206,4751.020,-12518.900,39,1.6,39,18.7