version: 66.12
glider: 187
mission: 4
dive: 577
start: 11 13 114 8 3 36
data:
$ID,187
$MISSION,4
$DIVE,577
$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,-1595128.8
$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,29
$R_STBD_OVSHOOT,21
$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
$GPS1,131114,075236,4749.241,-12513.468,37,1.9,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-70.0
$GPS2,131114,080306,4749.266,-12513.492,37,1.8,37,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,341.7,6355,-14.0,-7.333,-18.81,2445
$D_GRID,368
$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,-116.8,398,2400,1452,1210,0.0,0.0,0,80,0.00,0.00,-47.60,0.000,16386,0.000,0.000,398,2399,2539,2629,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-116.8,398,2399,2629,2450,3.2,-2.1,5,132,12.60,2.58,-18.05,0.000,18692,0.366,0.109,3127,3803,3338,3383,3293,0,0,0,0,0,0,13.71,14.10,14.52
$GC,362,-0.59,-116.8,3123,3802,3382,3296,41.9,-11.3,33,374,0.00,2.42,0.00,0.000,1030,0.000,0.061,3127,2404,3338,3382,3294,0,0,0,0,0,0,28.83,14.17,28.83
$GC,615,-0.59,-116.8,3127,2400,3382,3297,68.1,-9.6,58,625,0.00,2.55,0.00,0.000,260,0.000,0.085,3127,3821,3339,3382,3297,0,0,0,0,0,0,28.83,14.02,28.83
$GC,856,-0.59,-116.8,3127,3821,3382,3298,93.2,-10.3,82,867,0.00,2.47,0.00,0.000,1030,0.000,0.058,3126,2386,3340,3382,3298,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1107,-0.59,-116.8,3127,2381,3383,3304,115.3,-9.0,107,1118,0.00,2.58,0.00,0.000,260,0.000,0.086,3127,3815,3340,3382,3298,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1249,-0.59,-116.8,3133,3814,3383,3298,128.2,-9.1,121,1261,0.00,2.45,0.00,0.000,1030,0.000,0.060,3127,2404,3340,3382,3298,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1501,-0.59,-116.8,3127,2402,3382,3298,149.5,-8.0,146,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-0.59,-116.8,3127,2401,3383,3298,168.3,-7.3,171,1762,0.00,2.55,0.00,0.000,260,0.000,0.086,3127,3815,3340,3383,3298,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1803,-0.59,-116.8,3127,3815,3382,3297,172.1,-7.4,176,1814,0.00,2.47,0.00,0.000,1030,0.000,0.060,3127,2387,3340,3378,3303,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2055,-0.59,-116.8,3127,2382,3382,3294,190.9,-7.4,201,2067,0.00,2.60,0.00,0.000,260,0.000,0.086,3127,3821,3340,3383,3298,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2117,-0.59,-116.8,3127,3821,3382,3297,195.7,-7.8,207,2127,0.00,2.45,0.00,0.000,1030,0.000,0.060,3127,2407,3340,3382,3298,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2368,-0.59,-116.8,3127,2403,3381,3297,214.2,-7.9,232,2378,0.00,2.47,0.00,0.000,516,0.000,0.072,3129,987,3340,3383,3297,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2409,-0.59,-116.8,3128,988,3383,3296,217.5,-8.1,236,2420,0.00,2.50,0.00,0.000,1030,0.000,0.070,3127,2405,3340,3383,3297,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2660,-0.59,-116.8,3127,2404,3383,3297,236.8,-8.0,261,2671,0.00,2.53,0.00,0.000,260,0.000,0.089,3127,3809,3338,3380,3296,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2732,-0.59,-116.8,3127,3808,3382,3296,242.8,-7.9,268,2743,0.00,2.47,0.00,0.000,1030,0.000,0.063,3127,2390,3339,3382,3296,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2994,-0.59,-116.8,3127,2385,3384,3296,259.8,-6.2,284,3004,0.00,2.45,0.00,0.000,516,0.000,0.074,3127,994,3337,3382,3292,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3056,-0.59,-116.8,3127,993,3384,3296,263.8,-6.9,290,3066,0.00,2.50,0.00,0.000,1030,0.000,0.071,3127,2405,3339,3383,3295,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3386,-0.59,-116.8,3127,2405,3378,3294,287.5,-7.6,303,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3687,-0.59,-116.8,3127,2405,3383,3294,310.3,-7.5,313,3698,0.00,2.50,0.00,0.000,516,0.000,0.075,3127,1002,3338,3383,3294,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3727,-0.59,-116.8,3127,1001,3383,3290,313.7,-7.9,317,3737,0.00,2.50,0.00,0.000,1030,0.000,0.073,3128,2409,3338,3383,3294,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4052,-0.59,-116.8,3127,2409,3383,3294,338.3,-7.7,329,4063,0.00,2.55,0.00,0.000,260,0.000,0.090,3127,3821,3338,3383,3293,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4132,-0.59,-116.8,3127,3820,3382,3293,345.2,-8.0,337,4144,0.00,2.47,0.00,0.000,1030,0.000,0.063,3127,2402,3337,3382,3293,0,0,0,0,0,0,28.83,14.12,28.83
$STATE,4443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4443,begin apogee
$GC,4453,-0.25,0.0,3127,2313,3382,3293,369.5,-7.8,348,4557,0.38,0.00,96.88,1.130,10246,0.166,0.000,3237,2313,2857,2930,2784,0,0,0,0,0,0,13.93,28.83,13.27
$STATE,4559,end apogee,CONTROL_FINISHED_OK
$STATE,4559,begin climb
$GC,4563,0.59,116.8,3237,2313,2928,2779,373.8,0.0,351,4677,0.85,2.47,96.90,1.109,10756,0.120,0.074,3519,937,2379,2508,2250,0,0,0,0,0,0,14.02,13.95,13.17
$GC,4728,0.63,167.3,3519,937,2509,2250,370.9,5.2,370,4779,0.00,2.47,41.95,1.103,9222,0.000,0.069,3519,2334,2175,2320,2031,0,0,0,0,0,0,28.83,14.06,13.24
$GC,5099,0.63,167.3,3520,2333,2318,2031,343.9,7.2,387,5109,0.00,2.50,0.00,0.000,260,0.000,0.089,3519,3736,2174,2318,2031,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5220,0.63,167.3,3519,3737,2322,2031,333.3,8.9,399,5230,0.00,2.45,0.00,0.000,1030,0.000,0.067,3519,2343,2174,2318,2031,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5550,0.63,167.3,3520,2343,2318,2031,307.7,7.8,412,5560,0.00,2.53,0.00,0.000,516,0.000,0.083,3519,927,2174,2318,2031,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5650,0.63,167.3,3520,922,2318,2031,299.9,7.5,422,5660,0.00,2.47,0.00,0.000,1030,0.000,0.073,3520,2329,2172,2318,2026,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5975,0.63,167.3,3520,2329,2318,2031,276.3,7.4,434,5985,0.00,2.50,0.00,0.000,516,0.000,0.080,3522,921,2174,2318,2031,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6055,0.63,167.3,3522,921,2318,2031,269.9,7.7,442,6066,0.00,2.47,0.00,0.000,1030,0.000,0.073,3522,2329,2175,2319,2031,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6365,0.63,167.3,3522,2328,2318,2031,247.7,6.9,455,6376,0.00,2.50,0.00,0.000,516,0.000,0.078,3518,920,2174,2318,2031,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6426,0.63,167.3,3522,920,2318,2031,242.8,7.8,461,6438,0.00,2.47,0.00,0.000,1030,0.000,0.072,3522,2329,2174,2318,2031,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6679,0.64,167.3,3522,2329,2318,2031,225.0,6.6,486,6689,0.00,2.50,0.00,0.000,516,0.000,0.079,3522,920,2173,2318,2029,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6721,0.64,167.3,3522,923,2324,2037,222.0,6.9,490,6732,0.00,2.47,0.00,0.000,1030,0.000,0.072,3522,2329,2175,2318,2032,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6973,0.64,167.3,3522,2329,2318,2031,204.5,7.4,515,6984,0.00,2.53,0.00,0.000,260,0.000,0.086,3522,3735,2174,2318,2031,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7014,0.64,167.3,3522,3735,2318,2031,201.2,7.9,519,7024,0.00,2.45,0.00,0.000,1030,0.000,0.066,3522,2331,2174,2318,2031,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7265,0.64,167.3,3522,2331,2318,2030,182.7,7.1,544,7277,0.00,2.50,0.00,0.000,516,0.000,0.079,3522,917,2174,2318,2031,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7317,0.64,167.3,3522,917,2315,2031,178.7,7.8,549,7329,0.00,2.50,0.00,0.000,1030,0.000,0.070,3522,2333,2174,2318,2031,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7569,0.64,167.3,3522,2332,2318,2031,159.7,7.5,574,7580,0.00,2.50,0.00,0.000,260,0.000,0.088,3522,3738,2174,2318,2031,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7611,0.64,167.3,3522,3742,2318,2031,156.4,8.2,578,7622,0.00,2.47,0.00,0.000,1030,0.000,0.067,3523,2332,2174,2318,2030,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7862,0.68,167.3,3522,2332,2318,2030,139.9,5.6,603,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2333,2174,2318,2031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,0.71,167.3,3522,2332,2312,2030,125.9,5.5,628,8123,0.00,2.53,0.00,0.000,516,0.000,0.078,3522,914,2174,2318,2030,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8164,0.75,167.3,3523,914,2318,2031,122.9,5.7,633,8177,0.12,2.50,0.00,0.000,3078,0.135,0.069,3580,2331,2174,2318,2031,0,0,0,0,0,0,14.06,14.13,28.83
$GC,8419,0.75,167.3,3580,2331,2318,2030,104.5,7.5,658,8429,0.00,2.50,0.00,0.000,260,0.000,0.086,3580,3732,2174,2318,2031,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8489,0.75,167.3,3580,3732,2318,2030,98.3,9.4,665,8501,0.00,2.45,0.00,0.000,1030,0.000,0.064,3587,2320,2174,2318,2030,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8742,0.75,167.3,3587,2320,2318,2031,77.8,8.3,690,8752,0.00,2.55,0.00,0.000,260,0.000,0.085,3587,3738,2174,2318,2030,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8783,0.75,167.3,3587,3738,2319,2030,74.4,7.9,694,8794,0.00,2.47,0.00,0.000,1030,0.000,0.067,3587,2329,2172,2314,2030,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9034,0.75,167.3,3588,2328,2313,2030,53.6,7.6,719,9045,0.00,2.53,0.00,0.000,516,0.000,0.080,3588,911,2174,2318,2030,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9086,0.75,167.3,3588,911,2319,2030,49.6,7.8,724,9097,0.00,2.53,0.00,0.000,1030,0.000,0.070,3588,2335,2174,2318,2030,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9338,0.83,291.8,3588,2333,2318,2030,37.8,2.1,749,9447,0.00,2.60,94.32,0.724,8964,0.000,0.081,3588,918,1665,1814,1517,0,0,0,0,0,0,28.83,14.15,13.55
$GC,9530,0.83,291.8,3588,918,1815,1516,27.6,7.7,768,9541,0.00,2.50,0.00,0.000,1030,0.000,0.074,3588,2327,1663,1809,1517,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9781,0.87,345.7,3588,2326,1814,1513,10.4,5.1,793,9815,0.00,2.60,24.27,0.124,8452,0.000,0.086,3587,3739,1448,1598,1298,0,0,0,0,0,0,28.83,14.12,14.03
$STATE,9866,end climb,SURFACE_DEPTH_REACHED
$STATE,9866,begin surface coast
$FINISH,1.6,1.024367
$STATE,9903,end surface coast,CONTROL_FINISHED_OK
$STATE,9903,begin surface
$SM_CCo,9932,13.00,0.094,0,0,1328,375.06
$SM_GC,2.53,9.27,2.40,13.00,0.067,0.069,0.094,397,2399,1328,-9.10,0.74,375.06,0,0,0,0,0,0,14.23,14.19,14.14
$IRIDIUM_FIX,4735.69,-12508.73,131114,040418
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.23
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3753376
$PM_FREEKB,45369120
$24V_AH,13.2,142.935
$10V_AH,12.6,0.000
$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,23.225,125.125,354.325,13.000,0.000,0.000,0.000,308.725,0.000,0.000,41.611,1891.665,5656.485,575.938,1826.302,613.682,0.000,1794.799,0.000,1269.998,0.000,0.535,0.000
$DEVICE_MAMPS,366.435,154.530,1129.905,94.095,0.000,0.000,0.000,162.180,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9931.000,144.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.214,5.157,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,26690,805
$CAP_FILE_SIZE,155526,0
$CFSIZE,260034560,198873088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13638.60,0x2378ba,7,5
$CURRENT,0.197,117.8,1
$GPS,131114,105104,4749.681,-12511.850,35,0.9,51,18.7