version: 66.12
glider: 187
mission: 4
dive: 513
start: 10 24 114 14 49 36
data:
$ID,187
$MISSION,4
$DIVE,513
$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,1
$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,-1594127.2
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,241014,143545,4751.154,-12513.624,21,2.6,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-68.2
$GPS2,241014,144906,4751.172,-12513.743,17,1.9,278,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,195.3,164297,-14.0,-7.333,-18.81,2445
$D_GRID,343
$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,-116.8,395,2410,1454,1210,0.0,0.0,0,80,0.00,0.00,-47.65,0.000,16386,0.000,0.000,395,2412,2557,2644,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,395,2410,2644,2471,3.3,-2.3,5,130,12.60,2.55,-16.33,0.000,18948,0.370,0.096,3127,995,3337,3382,3293,0,0,0,0,0,0,13.81,14.21,14.59
$GC,180,-0.59,-116.8,3128,995,3383,3294,20.4,-16.9,15,191,0.00,2.42,0.00,0.000,1030,0.000,0.070,3128,2392,3338,3383,3294,0,0,0,0,0,0,28.83,14.21,28.83
$GC,432,-0.59,-116.8,3128,2392,3383,3295,58.2,-10.9,40,443,0.00,2.50,0.00,0.000,260,0.000,0.086,3130,3819,3339,3383,3295,0,0,0,0,0,0,28.83,14.21,28.83
$GC,546,-0.59,-116.8,3128,3820,3383,3296,72.2,-12.0,51,557,0.00,2.40,0.00,0.000,1030,0.000,0.059,3128,2405,3339,3383,3296,0,0,0,0,0,0,28.83,14.26,28.83
$GC,797,-0.59,-116.8,3128,2402,3384,3297,97.6,-9.4,76,806,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3341,3385,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1046,-0.59,-116.8,3127,2402,3386,3297,119.4,-9.4,101,1057,0.00,2.47,0.00,0.000,260,0.000,0.084,3128,3813,3339,3386,3293,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1178,-0.59,-116.8,3128,3810,3385,3297,132.4,-9.7,114,1189,0.00,2.40,0.00,0.000,1030,0.000,0.060,3128,2397,3340,3384,3297,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1430,-0.59,-116.8,3128,2399,3385,3297,153.4,-8.2,139,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2396,3341,3385,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1679,-0.59,-116.8,3128,2394,3385,3297,174.3,-8.5,164,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3340,3385,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1930,-0.59,-116.8,3128,2396,3386,3296,196.2,-9.2,189,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3339,3384,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2180,-0.59,-116.8,3128,2396,3384,3294,219.3,-9.6,214,2191,0.00,2.42,0.00,0.000,516,0.000,0.073,3128,995,3340,3384,3297,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2231,-0.59,-116.8,3132,995,3385,3294,224.8,-10.9,219,2242,0.00,2.45,0.00,0.000,1030,0.000,0.070,3128,2398,3339,3385,3294,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2482,-0.59,-116.8,3128,2397,3384,3294,249.0,-9.3,244,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3339,3385,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2743,-0.59,-116.8,3128,2398,3384,3292,272.3,-9.0,254,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3338,3384,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3042,-0.59,-116.8,3128,2397,3384,3291,298.0,-8.4,264,3052,0.00,2.45,0.00,0.000,516,0.000,0.074,3127,990,3337,3384,3291,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3083,-0.59,-116.8,3128,990,3380,3290,301.4,-8.7,268,3093,0.00,2.47,0.00,0.000,1030,0.000,0.071,3128,2404,3340,3384,3296,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3406,-0.59,-116.8,3131,2405,3384,3289,326.5,-7.4,280,3418,0.00,2.47,0.00,0.000,260,0.000,0.090,3128,3815,3336,3384,3288,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3518,-0.59,-116.8,3124,3815,3384,3288,335.3,-7.6,291,3529,0.00,2.42,0.00,0.000,1030,0.000,0.064,3128,2404,3336,3384,3288,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,3644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3644,begin apogee
$GC,3653,-0.25,0.0,3128,2312,3390,3288,344.5,-7.2,296,3755,0.38,0.00,94.47,1.097,10246,0.173,0.000,3241,2312,2858,2932,2784,0,0,0,0,0,0,14.09,28.83,13.36
$STATE,3757,end apogee,CONTROL_FINISHED_OK
$STATE,3757,begin climb
$GC,3762,0.59,116.8,3238,2312,2929,2780,347.5,0.0,299,3865,0.85,0.00,95.12,1.079,10502,0.125,0.000,3513,2312,2382,2515,2250,0,0,0,0,0,0,14.07,28.83,13.26
$GC,4158,0.62,116.8,3513,2312,2506,2249,326.8,6.1,315,4168,0.00,2.42,0.00,0.000,516,0.000,0.077,3517,934,2380,2508,2252,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4239,0.64,116.8,3516,934,2507,2252,321.8,6.1,323,4250,0.00,2.45,0.00,0.000,1030,0.000,0.069,3519,2346,2379,2507,2252,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4552,0.67,116.8,3519,2341,2507,2251,304.1,5.9,334,4562,0.00,2.45,0.00,0.000,260,0.000,0.087,3519,3733,2379,2507,2251,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4732,0.69,116.8,3521,3733,2502,2250,291.9,6.5,352,4742,0.00,2.40,0.00,0.000,1030,0.000,0.064,3519,2341,2378,2507,2250,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5062,0.72,116.8,3520,2341,2507,2249,273.3,5.7,365,5073,0.12,2.47,0.00,0.000,2564,0.138,0.074,3589,916,2378,2507,2249,0,0,0,0,0,0,14.40,14.28,28.83
$GC,5175,0.72,116.8,3588,916,2507,2249,265.1,7.6,376,5187,0.12,2.45,0.00,0.000,5126,0.271,0.069,3563,2324,2376,2507,2245,0,0,0,0,0,0,14.04,14.31,28.83
$GC,5484,0.72,116.8,3560,2326,2507,2248,240.1,8.2,395,5494,0.00,2.47,0.00,0.000,260,0.000,0.086,3562,3733,2377,2507,2248,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5609,0.72,116.8,3562,3733,2502,2247,229.7,8.5,407,5620,0.00,2.42,0.00,0.000,1030,0.000,0.067,3565,2325,2377,2507,2247,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5861,0.73,116.8,3562,2323,2507,2247,211.7,6.6,432,5872,0.00,2.45,0.00,0.000,516,0.000,0.082,3562,925,2377,2507,2248,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6002,0.77,116.8,3562,925,2507,2248,203.1,5.8,446,6014,0.00,2.45,0.00,0.000,1030,0.000,0.071,3563,2331,2380,2513,2247,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6254,0.80,167.7,3562,2331,2502,2247,189.1,5.2,471,6303,0.00,0.00,39.88,0.922,8454,0.000,0.000,3562,2331,2172,2312,2032,0,0,0,0,0,0,28.83,28.83,13.64
$GC,6544,0.80,167.7,3566,2331,2312,2033,168.8,7.7,500,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2331,2172,2312,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6794,0.80,167.7,3562,2330,2312,2032,147.6,9.1,525,6805,0.00,2.50,0.00,0.000,260,0.000,0.086,3562,3742,2175,2319,2032,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6976,0.80,167.7,3562,3742,2320,2032,129.1,9.9,543,6987,0.00,2.45,0.00,0.000,1030,0.000,0.066,3562,2331,2172,2312,2032,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7228,0.80,167.7,3562,2330,2312,2032,109.0,7.3,568,7238,0.00,2.45,0.00,0.000,516,0.000,0.080,3563,924,2175,2312,2038,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7318,0.80,167.7,3563,924,2317,2032,101.9,7.7,577,7329,0.00,2.47,0.00,0.000,1030,0.000,0.070,3560,2346,2172,2312,2033,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7569,0.80,167.7,3563,2345,2312,2033,83.4,7.5,602,7580,0.00,2.45,0.00,0.000,260,0.000,0.086,3565,3741,2172,2312,2032,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7811,0.80,167.7,3562,3741,2312,2032,62.5,8.5,626,7823,0.00,2.45,0.00,0.000,1030,0.000,0.065,3563,2322,2172,2312,2032,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8064,0.88,286.2,3563,2322,2313,2032,48.7,2.4,651,8163,0.12,0.00,88.97,0.734,11014,0.139,0.000,3623,2317,1686,1833,1540,0,0,0,0,0,0,14.35,28.83,13.66
$GC,8407,0.92,286.2,3624,2317,1832,1539,26.2,5.6,685,8417,0.00,2.45,0.00,0.000,516,0.000,0.080,3630,930,1685,1832,1539,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8648,0.92,286.2,3630,931,1832,1539,8.3,8.5,709,8659,0.00,2.45,0.00,0.000,1030,0.000,0.068,3626,2335,1685,1832,1539,0,0,0,0,0,0,28.83,14.25,28.83
$STATE,8706,end climb,SURFACE_DEPTH_REACHED
$STATE,8706,begin surface coast
$FINISH,1.2,1.023621
$STATE,8757,end surface coast,CONTROL_FINISHED_OK
$STATE,8757,begin surface
$SM_CCo,8784,37.58,0.094,0,0,1328,375.06
$SM_GC,2.73,9.27,0.10,37.58,0.065,0.159,0.094,387,2402,1328,-9.10,-0.88,375.06,0,0,0,0,0,0,14.35,14.40,14.26
$IRIDIUM_FIX,4729.30,-12523.69,241014,121217
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.78
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3773856
$PM_FREEKB,47838432
$24V_AH,13.3,124.568
$10V_AH,13.4,0.000
$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,23.475,73.800,318.450,37.575,0.000,0.000,0.000,272.025,0.000,0.000,279.032,1712.189,5009.497,524.768,1848.712,525.230,0.000,1568.115,0.000,1140.061,0.000,0.539,0.000
$DEVICE_MAMPS,370.260,159.885,1097.010,94.095,0.000,0.000,0.000,159.120,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8776.000,114.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.278,4.973,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,23413,720
$CAP_FILE_SIZE,132871,0
$CFSIZE,260034560,206319616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8857.44,0x2378ba,7,5
$CURRENT,0.094,327.3,1
$GPS,241014,172229,4750.798,-12514.873,300,1.0,300,18.7