version: 66.12
glider: 187
mission: 4
dive: 578
start: 11 13 114 11 0 22
data:
$ID,187
$MISSION,4
$DIVE,578
$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,-1595130
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,131114,105104,4749.681,-12511.850,35,0.9,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-70.3
$GPS2,131114,105955,4749.716,-12511.849,17,1.3,17,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,262.3,164735,-14.0,-7.333,-18.81,2445
$D_GRID,338
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.59,-116.8,396,2391,1447,1210,0.0,0.0,0,81,0.00,0.00,-48.08,0.000,16386,0.000,0.000,396,2394,2549,2632,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,396,2390,2631,2466,3.1,-1.6,5,131,12.73,2.55,-18.50,0.000,18948,0.372,0.097,3126,989,3335,3378,3292,0,0,0,0,0,0,13.73,14.16,14.51
$GC,362,-0.59,-116.8,3126,989,3383,3294,39.9,-8.1,33,371,0.00,2.50,0.00,0.000,1030,0.000,0.071,3126,2399,3338,3382,3294,0,0,0,0,0,0,28.83,14.12,28.83
$GC,612,-0.59,-116.8,3126,2398,3383,3294,63.3,-10.0,58,622,0.00,2.50,0.00,0.000,516,0.000,0.072,3126,982,3335,3378,3293,0,0,0,0,0,0,28.83,14.11,28.83
$GC,773,-0.59,-116.8,3126,982,3383,3291,78.0,-9.3,74,783,0.00,2.50,0.00,0.000,1030,0.000,0.070,3126,2402,3338,3383,3294,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1024,-0.59,-116.8,3126,2401,3384,3294,100.8,-8.7,99,1032,0.00,2.50,0.00,0.000,260,0.000,0.087,3126,3806,3338,3383,3294,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1114,-0.59,-116.8,3126,3806,3384,3290,108.8,-8.6,108,1123,0.00,2.45,0.00,0.000,1030,0.000,0.061,3125,2387,3339,3383,3295,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1364,-0.59,-116.8,3126,2382,3383,3295,129.8,-8.4,133,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2382,3340,3384,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1613,-0.59,-116.8,3125,2381,3384,3295,151.8,-9.1,158,1622,0.00,2.58,0.00,0.000,260,0.000,0.086,3126,3807,3342,3390,3295,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1684,-0.59,-116.8,3126,3807,3383,3295,158.1,-8.9,165,1693,0.00,2.45,0.00,0.000,1030,0.000,0.062,3126,2397,3339,3383,3295,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1934,-0.59,-116.8,3126,2392,3383,3294,178.9,-8.4,190,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,-0.59,-116.8,3131,2392,3383,3294,198.2,-7.7,215,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2392,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2433,-0.59,-116.8,3126,2392,3383,3294,218.9,-8.5,240,2442,0.00,2.58,0.00,0.000,260,0.000,0.088,3126,3818,3338,3383,3294,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2484,-0.59,-116.8,3125,3820,3383,3295,223.3,-9.2,245,2493,0.00,2.47,0.00,0.000,1030,0.000,0.063,3125,2390,3339,3383,3295,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2733,-0.59,-116.8,3126,2385,3383,3298,244.6,-8.1,270,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2384,3339,3384,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2986,-0.59,-116.8,3126,2385,3383,3293,265.8,-8.7,283,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3338,3381,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3283,-0.59,-116.8,3126,2382,3383,3295,292.2,-8.6,293,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2383,3338,3383,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3584,-0.59,-116.8,3126,2385,3383,3293,316.2,-7.8,303,3592,0.00,2.58,0.00,0.000,260,0.000,0.088,3125,3816,3336,3383,3290,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3652,-0.59,-116.8,3131,3816,3383,3296,321.8,-7.9,310,3662,0.00,2.47,0.00,0.000,1030,0.000,0.063,3126,2391,3337,3383,3292,0,0,0,0,0,0,28.83,14.13,28.83
$STATE,3880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3880,begin apogee
$GC,3890,-0.25,0.0,3126,2317,3383,3292,339.8,-8.0,319,3992,0.40,0.00,96.32,1.090,10246,0.166,0.000,3243,2317,2857,2931,2784,0,0,0,0,0,0,13.94,28.83,13.30
$STATE,3995,end apogee,CONTROL_FINISHED_OK
$STATE,3995,begin climb
$GC,3999,0.59,116.8,3243,2317,2929,2779,343.5,0.0,322,4113,0.82,2.58,96.88,1.072,10756,0.119,0.079,3520,934,2377,2507,2248,0,0,0,0,0,0,14.04,13.96,13.21
$GC,4167,0.63,116.8,3519,930,2506,2249,338.8,5.6,337,4177,0.00,2.47,0.00,0.000,1030,0.000,0.070,3519,2332,2377,2506,2248,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4488,0.65,116.8,3516,2330,2507,2248,320.0,6.0,349,4498,0.00,2.50,0.00,0.000,260,0.000,0.086,3519,3741,2379,2510,2248,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4568,0.65,116.8,3519,3740,2506,2247,314.7,6.9,357,4579,0.00,2.45,0.00,0.000,1030,0.000,0.069,3519,2341,2377,2507,2247,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4882,0.69,175.3,3520,2341,2507,2247,298.2,4.9,368,4938,0.00,0.00,46.78,1.037,8198,0.000,0.000,3519,2341,2142,2287,1998,0,0,0,0,0,0,28.83,28.83,13.49
$GC,5243,0.72,175.3,3519,2341,2287,1998,276.8,6.2,380,5254,0.10,2.53,0.00,0.000,2564,0.156,0.076,3575,914,2142,2287,1998,0,0,0,0,0,0,14.32,14.15,28.83
$GC,5335,0.72,175.3,3575,914,2287,1998,269.0,8.4,389,5345,0.00,2.47,0.00,0.000,1030,0.000,0.070,3576,2329,2144,2288,2000,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5646,0.72,175.3,3575,2328,2287,1998,241.3,9.9,406,5657,0.00,2.53,0.00,0.000,260,0.000,0.086,3575,3741,2146,2294,1998,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5688,0.72,175.3,3575,3740,2287,1998,237.1,10.5,410,5699,0.00,2.47,0.00,0.000,1030,0.000,0.067,3576,2321,2142,2287,1998,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5940,0.72,175.3,3576,2318,2287,1998,213.0,9.0,435,5951,0.00,2.45,0.00,0.000,516,0.000,0.079,3582,922,2142,2287,1998,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6001,0.72,175.3,3586,922,2287,1996,207.2,9.3,441,6013,0.12,2.47,0.00,0.000,5126,0.252,0.070,3559,2330,2142,2287,1998,0,0,0,0,0,0,13.97,14.23,28.83
$GC,6254,0.72,175.3,3559,2330,2287,2004,186.0,8.6,466,6264,0.00,2.50,0.00,0.000,516,0.000,0.080,3562,922,2140,2282,1998,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6305,0.72,175.3,3562,920,2287,1998,181.5,8.4,471,6316,0.00,2.47,0.00,0.000,1030,0.000,0.070,3562,2330,2143,2288,1998,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6557,0.72,175.3,3562,2333,2287,1998,160.1,8.6,496,6568,0.00,2.50,0.00,0.000,516,0.000,0.078,3562,922,2142,2287,1998,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6662,0.72,175.3,3562,923,2287,1995,151.3,8.8,506,6673,0.00,2.47,0.00,0.000,1030,0.000,0.070,3562,2335,2142,2287,1998,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6914,0.72,175.3,3562,2335,2287,1998,130.1,8.9,531,6926,0.00,2.50,0.00,0.000,260,0.000,0.086,3562,3736,2142,2287,1998,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6946,0.72,175.3,3559,3736,2287,1998,127.1,9.2,534,6956,0.00,2.47,0.00,0.000,1030,0.000,0.068,3562,2319,2142,2287,1998,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7197,0.72,175.3,3562,2319,2287,1998,105.1,8.5,559,7209,0.00,2.47,0.00,0.000,516,0.000,0.080,3562,919,2142,2287,1998,0,0,0,0,0,0,28.83,14.03,28.83
$GC,7249,0.72,175.3,3562,920,2287,1998,100.9,8.1,564,7260,0.00,2.50,0.00,0.000,1030,0.000,0.071,3562,2339,2142,2287,1998,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7500,0.72,175.3,3562,2338,2288,1997,80.3,7.8,589,7511,0.00,2.47,0.00,0.000,260,0.000,0.086,3562,3736,2142,2286,1998,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7552,0.72,175.3,3562,3736,2287,1998,76.1,8.3,594,7563,0.00,2.45,0.00,0.000,1030,0.000,0.067,3562,2333,2142,2287,1998,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7804,0.73,175.3,3562,2333,2287,1998,58.7,6.4,619,7815,0.00,2.50,0.00,0.000,516,0.000,0.077,3562,920,2142,2287,1998,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7955,0.73,175.3,3562,920,2283,1998,48.5,7.3,634,7966,0.00,2.50,0.00,0.000,1030,0.000,0.070,3562,2340,2142,2287,1998,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8207,0.77,175.3,3562,2340,2287,1998,34.8,5.5,659,8218,0.00,2.53,0.00,0.000,516,0.000,0.079,3562,918,2142,2287,1998,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8449,0.89,348.1,3562,917,2287,1998,32.3,0.1,683,8593,0.15,2.50,129.70,0.703,11270,0.121,0.068,3629,2342,1436,1581,1291,0,0,0,0,0,0,14.17,14.15,13.55
$STATE,8829,end climb,SURFACE_DEPTH_REACHED
$STATE,8829,begin surface coast
$FINISH,1.4,1.024436
$STATE,8861,end surface coast,CONTROL_FINISHED_OK
$STATE,8861,begin surface
$SM_CCo,8889,11.07,0.096,0,0,1329,375.06
$SM_GC,2.84,9.35,0.10,11.07,0.064,0.193,0.096,393,2405,1329,-9.10,-0.79,375.06,0,0,0,0,0,0,14.23,14.26,14.15
$IRIDIUM_FIX,4732.49,-12521.07,131114,070730
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.90
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3753056
$PM_FREEKB,45344352
$24V_AH,13.2,143.105
$10V_AH,13.3,0.000
$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,23.675,90.100,369.675,11.075,0.000,0.000,0.000,270.525,0.000,0.000,18.465,1725.268,5050.143,569.023,1555.031,521.807,0.000,1587.038,0.000,1109.332,0.000,0.536,0.000
$DEVICE_MAMPS,371.790,192.780,1090.125,96.390,0.000,0.000,0.000,160.650,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8884.000,4031.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.439,4.121,0.000,0.000
$MEM,290860
$DATA_FILE_SIZE,23365,724
$CAP_FILE_SIZE,132745,0
$CFSIZE,260034560,198819840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10605.29,0x2378ba,7,5
$CURRENT,0.192,109.5,1
$GPS,131114,133027,4749.580,-12511.854,30,2.2,51,18.7