version: 66.12
glider: 187
mission: 4
dive: 670
start: 12 7 114 11 13 23
data:
$ID,187
$MISSION,4
$DIVE,670
$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,8
$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,-1595283.9
$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,42
$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,49
$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
$GPS1,071214,110506,4755.149,-12515.546,15,1.5,32,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-71.6
$GPS2,071214,111255,4755.234,-12515.639,35,1.9,35,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,143.7,9052,-14.0,-7.333,-18.81,2445
$D_GRID,200
$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,-116.8,381,2397,1443,1223,0.0,0.0,0,91,0.00,0.00,-58.38,0.000,16386,0.000,0.000,382,2399,2853,2906,2800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.59,-116.8,381,2399,2907,2801,3.7,-3.2,6,132,12.38,2.53,-9.57,0.000,18948,0.356,0.098,3124,1005,3337,3381,3294,0,0,0,0,0,0,13.69,14.18,14.53
$GC,153,-0.59,-116.8,3125,1005,3381,3298,16.5,-18.9,12,162,0.00,2.47,0.00,0.000,1030,0.000,0.071,3125,2406,3337,3381,3294,0,0,0,0,0,0,28.83,14.12,28.83
$GC,403,-0.59,-116.8,3125,2404,3377,3298,49.2,-12.7,37,411,0.00,2.53,0.00,0.000,260,0.000,0.086,3125,3819,3338,3381,3295,0,0,0,0,0,0,28.83,14.06,28.83
$GC,483,-0.59,-116.8,3121,3819,3381,3294,59.0,-11.8,45,492,0.00,2.45,0.00,0.000,1030,0.000,0.058,3125,2413,3338,3381,3295,0,0,0,0,0,0,28.83,14.15,28.83
$GC,733,-0.59,-116.8,3125,2403,3381,3291,83.2,-9.7,70,740,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3338,3382,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,983,-0.59,-116.8,3125,2403,3378,3295,109.8,-10.0,95,992,0.00,2.53,0.00,0.000,260,0.000,0.083,3125,3813,3335,3377,3294,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1043,-0.59,-116.8,3125,3816,3389,3295,115.7,-9.6,101,1052,0.00,2.45,0.00,0.000,1030,0.000,0.058,3122,2402,3339,3382,3296,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1293,-0.59,-116.8,3125,2399,3382,3295,137.1,-7.7,126,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3338,3382,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1543,-0.59,-116.8,3124,2399,3381,3295,159.0,-8.7,151,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1794,-0.59,-116.8,3125,2399,3382,3295,178.8,-7.3,176,1803,0.00,2.53,0.00,0.000,260,0.000,0.084,3127,3809,3339,3383,3295,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1863,-0.59,-116.8,3125,3809,3382,3295,184.6,-8.1,183,1875,0.00,2.45,0.00,0.000,1030,0.000,0.059,3124,2396,3338,3382,3295,0,0,0,0,0,0,28.83,14.14,28.83
$STATE,2072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2072,begin apogee
$GC,2082,-0.25,0.0,3125,2331,3382,3295,200.4,-8.9,204,2184,0.38,0.00,92.18,0.905,10246,0.173,0.000,3236,2331,2856,2930,2783,0,0,0,0,0,0,13.83,28.83,13.39
$STATE,2191,end apogee,CONTROL_FINISHED_OK
$STATE,2191,begin climb
$GC,2196,0.59,116.8,3237,2331,2930,2780,206.6,0.0,215,2301,0.82,0.00,92.90,0.891,10246,0.125,0.000,3505,2331,2380,2508,2252,0,0,0,0,0,0,14.04,28.83,13.33
$GC,2542,0.65,207.2,3509,2330,2507,2253,202.4,3.5,250,2622,0.00,2.58,70.35,0.897,8708,0.000,0.075,3511,913,2010,2155,1866,0,0,0,0,0,0,28.83,14.14,13.43
$GC,2672,0.65,207.2,3509,916,2154,1862,194.9,7.0,263,2683,0.00,2.50,0.00,0.000,1030,0.000,0.067,3509,2343,2011,2156,1867,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2924,0.65,207.2,3509,2342,2154,1867,175.8,7.1,288,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2343,2011,2155,1867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,0.65,207.2,3509,2343,2154,1867,158.7,6.9,313,3186,0.00,2.50,0.00,0.000,260,0.000,0.084,3508,3741,2010,2154,1866,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3218,0.65,207.2,3508,3744,2154,1866,155.5,7.7,317,3229,0.00,2.45,0.00,0.000,1030,0.000,0.060,3508,2332,2010,2154,1867,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3471,0.69,207.2,3509,2331,2154,1867,139.4,5.5,342,3482,0.10,2.50,0.00,0.000,2564,0.158,0.073,3562,916,2010,2154,1867,0,0,0,0,0,0,14.33,14.13,28.83
$GC,3576,0.69,207.2,3562,916,2154,1867,131.2,8.2,352,3588,0.00,2.50,0.00,0.000,1030,0.000,0.067,3562,2334,2010,2154,1866,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3829,0.69,207.2,3562,2334,2154,1867,113.4,7.1,377,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2335,2013,2157,1870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4079,0.70,207.2,3560,2334,2150,1867,96.9,6.8,402,4090,0.00,2.50,0.00,0.000,516,0.000,0.076,3562,922,2011,2154,1869,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4120,0.70,207.2,3567,922,2154,1867,94.0,6.9,406,4131,0.00,2.47,0.00,0.000,1030,0.000,0.070,3562,2330,2009,2151,1867,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4372,0.74,207.2,3562,2329,2155,1867,79.5,5.5,431,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2329,2011,2156,1867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4622,0.74,207.2,3562,2329,2154,1867,62.1,7.4,456,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2328,2011,2154,1868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4875,0.77,261.0,3562,2329,2154,1867,44.9,5.1,481,4926,0.00,2.55,41.45,0.738,8708,0.000,0.076,3562,915,1789,1934,1644,0,0,0,0,0,0,28.83,14.30,13.62
$GC,5059,0.80,261.0,3562,916,1933,1644,34.5,6.1,499,5070,0.00,2.47,0.00,0.000,1030,0.000,0.068,3562,2335,1789,1934,1644,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5312,0.82,261.0,3562,2329,1934,1644,18.8,6.1,524,5323,0.00,2.50,0.00,0.000,260,0.000,0.083,3565,3738,1790,1935,1645,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5427,0.82,261.0,3562,3738,1933,1645,9.9,7.5,535,5438,0.00,2.47,0.00,0.000,1030,0.000,0.061,3563,2322,1789,1934,1644,0,0,0,0,0,0,28.83,14.18,28.83
$STATE,5515,end climb,SURFACE_DEPTH_REACHED
$STATE,5515,begin surface coast
$FINISH,1.4,1.024491
$STATE,5576,end surface coast,CONTROL_FINISHED_OK
$STATE,5576,begin surface
$SM_CCo,5603,48.72,0.090,0,0,1328,375.06
$SM_GC,2.18,9.00,0.15,48.72,0.055,0.129,0.090,390,2402,1328,-9.10,-0.76,375.06,0,0,0,0,0,0,14.24,14.31,14.17
$IRIDIUM_FIX,4735.69,-12508.73,071214,090907
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.55
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3723616
$PM_FREEKB,42360192
$24V_AH,13.3,166.308
$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,22.675,50.175,296.875,48.725,0.000,0.000,0.000,201.525,0.000,0.000,36.206,1300.618,2700.362,475.289,1198.772,443.485,0.000,1245.190,0.000,849.698,0.000,0.537,0.000
$DEVICE_MAMPS,355.725,159.120,904.995,90.270,0.000,0.000,0.000,159.885,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5595.000,2206.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.673,4.164,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,20049,550
$CAP_FILE_SIZE,98272,0
$CFSIZE,260034560,189132800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5540.05,0x2378ba,7,5
$CURRENT,0.171,327.3,1
$GPS,071214,124906,4755.113,-12515.887,37,1.4,37,18.8