version: 66.12
glider: 187
mission: 4
dive: 438
start: 10 2 114 17 0 10
data:
$ID,187
$MISSION,4
$DIVE,438
$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,-1593993.1
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,021014,165206,4751.020,-12518.900,39,1.6,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-74.4
$GPS2,021014,165943,4751.023,-12518.964,12,1.6,12,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,199.1,158792,-14.0,-7.333,-18.81,2445
$D_GRID,472
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,388,2397,1442,1220,0.0,0.0,0,80,0.00,0.00,-47.85,0.000,16386,0.000,0.000,389,2398,2568,2653,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,388,2398,2654,2482,3.0,-1.8,5,123,12.73,2.58,-16.48,0.000,18948,0.381,0.100,3124,985,3337,3382,3292,0,0,0,0,0,0,13.83,14.21,14.52
$GC,353,-0.59,-116.8,3124,984,3384,3295,46.1,-13.0,32,362,0.00,2.50,0.00,0.000,1030,0.000,0.071,3124,2402,3339,3384,3295,0,0,0,0,0,0,28.83,14.19,28.83
$GC,604,-0.59,-116.8,3125,2402,3385,3296,77.8,-12.9,57,613,0.00,2.47,0.00,0.000,516,0.000,0.074,3124,989,3341,3386,3296,0,0,0,0,0,0,28.83,14.21,28.83
$GC,746,-0.59,-116.8,3125,989,3386,3297,94.1,-11.0,71,755,0.00,2.47,0.00,0.000,1030,0.000,0.072,3124,2398,3341,3386,3297,0,0,0,0,0,0,28.83,14.15,28.83
$GC,994,-0.59,-116.8,3125,2397,3386,3297,119.1,-11.0,96,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2398,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1244,-0.59,-116.8,3124,2397,3387,3297,144.7,-9.6,121,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3340,3387,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1495,-0.59,-116.8,3125,2397,3386,3297,167.7,-9.4,146,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3344,3392,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1744,-0.59,-116.8,3124,2397,3386,3297,191.9,-9.2,171,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3341,3386,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1994,-0.59,-116.8,3124,2398,3382,3296,215.5,-9.8,196,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3341,3386,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2244,-0.59,-116.8,3125,2397,3385,3296,239.6,-10.1,221,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3338,3385,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2515,-0.59,-116.8,3125,2397,3385,3295,264.4,-9.0,238,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3341,3388,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2814,-0.59,-116.8,3124,2402,3385,3294,290.5,-8.7,248,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3338,3386,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3115,-0.59,-116.8,3124,2398,3386,3293,315.9,-8.5,258,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2397,3339,3385,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3415,-0.59,-116.8,3124,2397,3385,3293,340.6,-8.1,268,3423,0.00,2.53,0.00,0.000,260,0.000,0.092,3124,3817,3339,3385,3293,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3475,-0.59,-116.8,3124,3816,3386,3292,345.7,-8.5,274,3483,0.00,2.45,0.00,0.000,1030,0.000,0.067,3124,2397,3339,3386,3293,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3808,-0.59,-116.8,3125,2394,3385,3291,373.0,-8.4,287,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2394,3338,3385,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4104,-0.59,-116.8,3124,2394,3385,3290,397.9,-8.1,297,4113,0.00,2.47,0.00,0.000,516,0.000,0.077,3124,991,3337,3385,3290,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4135,-0.59,-116.8,3125,991,3385,3290,400.3,-8.1,300,4142,0.00,2.47,0.00,0.000,1030,0.000,0.073,3124,2403,3337,3385,3290,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4467,-0.59,-116.8,3125,2402,3387,3289,426.0,-7.6,313,4475,0.00,2.50,0.00,0.000,260,0.000,0.093,3124,3806,3335,3382,3288,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4555,-0.59,-116.8,3124,3806,3385,3289,433.0,-7.7,322,4563,0.00,2.45,0.00,0.000,1030,0.000,0.068,3124,2396,3336,3385,3288,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4888,-0.59,-116.8,3124,2393,3380,3287,456.2,-7.2,335,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2393,3336,3384,3288,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5121,begin apogee
$GC,5130,-0.25,0.0,3125,2319,3384,3283,472.3,-6.6,343,5231,0.40,0.00,95.45,1.266,10246,0.182,0.000,3240,2319,2859,2934,2785,0,0,0,0,0,0,14.03,28.83,13.40
$STATE,5234,end apogee,CONTROL_FINISHED_OK
$STATE,5234,begin climb
$GC,5239,0.59,116.8,3240,2319,2930,2780,474.9,0.0,346,5345,0.82,0.00,97.97,1.242,10246,0.132,0.000,3506,2319,2379,2511,2248,0,0,0,0,0,0,14.00,28.83,13.26
$GC,5635,0.59,116.8,3506,2319,2509,2246,450.6,7.6,360,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2319,2379,2513,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5936,0.59,116.8,3506,2319,2509,2240,428.6,7.5,370,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2324,2374,2504,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6235,0.59,116.8,3506,2319,2509,2243,406.1,7.4,380,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2319,2376,2509,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6535,0.59,116.8,3506,2319,2509,2241,383.3,7.6,390,6545,0.00,2.53,0.00,0.000,260,0.000,0.090,3506,3739,2375,2509,2241,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6596,0.59,116.8,3506,3738,2508,2241,378.3,8.4,396,6606,0.00,2.42,0.00,0.000,1030,0.000,0.070,3506,2342,2373,2506,2241,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6926,0.61,116.8,3506,2342,2508,2241,354.9,6.6,409,6936,0.00,2.50,0.00,0.000,516,0.000,0.086,3506,922,2374,2508,2240,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7071,0.63,116.8,3507,922,2508,2240,346.4,6.0,423,7081,0.00,2.47,0.00,0.000,1030,0.000,0.074,3506,2332,2376,2512,2240,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7380,0.67,116.8,3506,2331,2508,2240,329.5,5.4,434,7391,0.10,2.50,0.00,0.000,2308,0.161,0.088,3553,3735,2374,2508,2240,0,0,0,0,0,0,14.40,14.23,28.83
$GC,7514,0.67,116.8,3553,3734,2507,2239,319.4,8.3,447,7524,0.00,2.47,0.00,0.000,1030,0.000,0.073,3562,2324,2373,2507,2239,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7836,0.67,116.8,3562,2324,2507,2239,295.2,7.7,459,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2324,2373,2507,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8134,0.67,116.8,3562,2324,2514,2238,272.5,7.5,469,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2324,2372,2507,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8434,0.67,116.8,3562,2324,2507,2237,248.6,8.1,479,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2324,2372,2507,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8684,0.67,116.8,3563,2324,2507,2237,228.7,8.0,504,8694,0.00,2.58,0.00,0.000,260,0.000,0.092,3562,3747,2372,2507,2237,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8765,0.67,116.8,3562,3747,2506,2237,221.6,9.1,512,8776,0.00,2.47,0.00,0.000,1030,0.000,0.072,3562,2333,2371,2506,2237,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9016,0.67,116.8,3562,2333,2507,2236,202.1,7.3,537,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2333,2372,2507,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9267,0.67,116.8,3562,2333,2506,2236,182.6,7.8,562,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2333,2371,2506,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9517,0.67,116.8,3562,2333,2500,2236,162.9,7.7,587,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2338,2371,2506,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9767,0.67,116.8,3562,2333,2502,2236,143.3,7.5,612,9777,0.00,2.50,0.00,0.000,516,0.000,0.081,3562,916,2372,2507,2237,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9891,0.67,116.8,3560,916,2506,2237,133.8,7.6,624,9902,0.00,2.47,0.00,0.000,1030,0.000,0.071,3560,2330,2371,2506,2237,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10143,0.67,116.8,3562,2330,2506,2236,114.7,7.4,649,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2335,2371,2506,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10395,0.67,116.8,3562,2330,2506,2237,95.4,7.5,674,10404,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2330,2372,2508,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10645,0.72,192.0,3562,2330,2506,2237,81.2,4.2,699,10716,0.00,2.55,57.33,0.790,8452,0.000,0.089,3562,3735,2074,2221,1927,0,0,0,0,0,0,28.83,14.26,13.78
$GC,10775,0.72,192.0,3562,3734,2224,1928,72.3,8.7,712,10786,0.00,2.47,0.00,0.000,1030,0.000,0.067,3562,2317,2073,2218,1928,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11026,0.74,192.0,3558,2317,2218,1934,54.5,6.6,737,11038,0.00,2.45,0.00,0.000,516,0.000,0.081,3562,921,2072,2218,1926,0,0,0,0,0,0,28.83,14.13,28.83
$GC,11268,0.75,192.0,3562,921,2219,1928,37.0,6.8,761,11280,0.00,2.50,0.00,0.000,1030,0.000,0.073,3562,2340,2070,2217,1924,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11522,0.80,261.0,3562,2339,2221,1928,23.6,4.4,786,11581,0.00,2.58,49.62,0.712,8708,0.000,0.082,3562,920,1788,1934,1643,0,0,0,0,0,0,28.83,14.28,13.82
$GC,11712,0.85,336.9,3562,920,1932,1643,15.9,4.1,805,11763,0.12,2.47,35.70,0.155,11270,0.138,0.072,3617,2330,1483,1628,1339,0,0,0,0,0,0,14.22,14.21,14.06
$STATE,11880,end climb,SURFACE_DEPTH_REACHED
$STATE,11880,begin surface coast
$FINISH,1.2,1.012419
$STATE,11922,end surface coast,CONTROL_FINISHED_OK
$STATE,11922,begin surface
$SM_CCo,11949,16.95,0.099,0,0,1328,375.06
$SM_GC,3.24,9.18,0.12,16.95,0.056,0.149,0.099,386,2414,1328,-9.11,-0.68,375.06,0,0,0,0,0,0,14.31,14.28,14.20
$IRIDIUM_FIX,4732.49,-12513.98,021014,131352
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.33
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3797856
$PM_FREEKB,50420576
$24V_AH,13.3,104.214
$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,23.350,65.075,336.075,16.950,0.000,0.000,0.000,227.275,0.000,0.000,13.299,1981.022,7688.470,529.286,1711.444,504.683,0.000,1605.131,0.000,1279.697,0.000,0.536,0.000
$DEVICE_MAMPS,380.970,160.650,1266.075,99.450,0.000,0.000,0.000,166.770,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11941.000,5301.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.794,4.076,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,26703,826
$CAP_FILE_SIZE,145926,0
$CFSIZE,260034560,214573056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12460.52,0x2378ba,7,5
$CURRENT,0.093, 38.8,1
$GPS,021014,202135,4750.475,-12519.493,67,1.0,67,18.7