version: 66.12
glider: 187
mission: 4
dive: 675
start: 12 7 114 20 49 37
data:
$ID,187
$MISSION,4
$DIVE,675
$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,-1595290.1
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,071214,203925,4756.035,-12517.146,10,2.0,10,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-71.4
$GPS2,071214,204906,4756.176,-12517.194,11,1.8,16,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,167.5,166388,-14.0,-7.333,-18.81,2445
$D_GRID,316
$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,27,-0.59,-116.8,389,2416,1451,1208,0.0,0.0,0,92,0.00,0.00,-58.53,0.000,16386,0.000,0.000,389,2416,2847,2904,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.59,-116.8,388,2416,2903,2792,3.5,-2.7,6,132,12.38,2.53,-9.05,0.000,18948,0.357,0.092,3124,992,3336,3379,3293,0,0,0,0,0,0,13.67,14.12,14.52
$GC,203,-0.59,-116.8,3124,989,3379,3294,25.7,-14.6,17,214,0.00,2.47,0.00,0.000,1030,0.000,0.071,3124,2388,3338,3382,3294,0,0,0,0,0,0,28.83,14.09,28.83
$GC,457,-0.59,-116.8,3124,2389,3381,3294,61.2,-13.7,42,467,0.00,2.55,0.00,0.000,260,0.000,0.087,3124,3811,3337,3381,3294,0,0,0,0,0,0,28.83,14.02,28.83
$GC,598,-0.59,-116.8,3127,3811,3381,3294,77.7,-11.1,56,609,0.00,2.45,0.00,0.000,1030,0.000,0.059,3124,2402,3338,3381,3295,0,0,0,0,0,0,28.83,14.14,28.83
$GC,849,-0.59,-116.8,3124,2397,3381,3294,102.7,-9.9,81,860,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3337,3381,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1101,-0.59,-116.8,3124,2400,3381,3294,125.3,-8.2,106,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-0.59,-116.8,3124,2400,3382,3294,147.1,-8.2,131,1363,0.00,2.55,0.00,0.000,260,0.000,0.084,3124,3810,3338,3382,3294,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1433,-0.59,-116.8,3124,3809,3382,3294,154.7,-9.1,139,1444,0.00,2.45,0.00,0.000,1030,0.000,0.059,3129,2398,3338,3382,3294,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1685,-0.59,-116.8,3124,2395,3382,3294,176.9,-9.4,164,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3341,3389,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1935,-0.59,-116.8,3124,2395,3382,3294,199.1,-8.7,189,1946,0.00,2.47,0.00,0.000,516,0.000,0.071,3124,994,3335,3377,3294,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2017,-0.59,-116.8,3124,994,3382,3294,206.7,-9.7,197,2028,0.00,2.50,0.00,0.000,1030,0.000,0.069,3124,2408,3338,3383,3294,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2269,-0.59,-116.8,3124,2406,3383,3290,229.8,-9.1,222,2280,0.00,2.50,0.00,0.000,260,0.000,0.086,3124,3807,3338,3382,3294,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2331,-0.59,-116.8,3124,3807,3384,3294,235.4,-9.1,228,2342,0.00,2.45,0.00,0.000,1030,0.000,0.060,3124,2401,3340,3386,3295,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2604,-0.59,-116.8,3125,2399,3382,3294,257.5,-7.9,249,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3337,3381,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,-0.59,-116.8,3124,2399,3382,3294,279.0,-6.8,259,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3204,-0.59,-116.8,3124,2398,3382,3294,300.5,-7.2,269,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3337,3382,3293,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3469,begin apogee
$GC,3480,-0.25,0.0,3124,2314,3382,3293,317.3,-6.4,278,3581,0.40,0.00,94.55,1.060,10246,0.170,0.000,3237,2313,2859,2933,2785,0,0,0,0,0,0,13.84,28.83,13.28
$STATE,3584,end apogee,CONTROL_FINISHED_OK
$STATE,3584,begin climb
$GC,3588,0.59,116.8,3242,2314,2930,2781,320.8,0.0,281,3699,0.82,2.55,95.40,1.040,10756,0.119,0.075,3519,927,2380,2508,2252,0,0,0,0,0,0,14.04,14.02,13.21
$GC,3750,0.62,116.8,3519,930,2507,2253,315.6,6.1,299,3760,0.00,2.47,0.00,0.000,1030,0.000,0.069,3516,2329,2380,2507,2253,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4075,0.62,116.8,3519,2330,2507,2252,294.0,6.9,311,4085,0.00,2.53,0.00,0.000,260,0.000,0.084,3519,3748,2379,2507,2251,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4246,0.62,116.8,3520,3748,2503,2250,282.3,7.7,328,4257,0.00,2.45,0.00,0.000,1030,0.000,0.061,3520,2343,2378,2507,2250,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4561,0.64,116.8,3520,2342,2507,2249,262.5,6.2,339,4571,0.00,2.50,0.00,0.000,516,0.000,0.076,3518,921,2378,2507,2250,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4632,0.67,116.8,3520,921,2507,2249,258.0,5.9,346,4642,0.00,2.50,0.00,0.000,1030,0.000,0.070,3519,2339,2378,2507,2249,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4944,0.70,116.8,3520,2338,2507,2248,240.1,5.6,367,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2338,2377,2507,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5196,0.74,178.9,3520,2337,2507,2247,228.1,4.7,392,5257,0.12,2.50,48.95,0.965,10756,0.137,0.076,3589,920,2125,2269,1981,0,0,0,0,0,0,14.28,14.26,13.47
$GC,5308,0.74,178.9,3589,916,2270,1985,219.2,9.5,403,5319,0.00,2.47,0.00,0.000,1030,0.000,0.070,3589,2329,2126,2269,1984,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5561,0.74,178.9,3593,2328,2269,1985,193.0,10.1,428,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2328,2127,2269,1985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5813,0.74,178.9,3589,2328,2269,1985,168.9,9.8,453,5824,0.00,2.50,0.00,0.000,516,0.000,0.076,3592,921,2130,2270,1991,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5918,0.74,178.9,3593,922,2270,1984,159.6,9.0,463,5929,0.00,2.47,0.00,0.000,1030,0.000,0.070,3592,2328,2127,2270,1985,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6170,0.74,178.9,3592,2327,2265,1984,138.8,7.8,488,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2331,2127,2270,1984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6420,0.74,178.9,3591,2327,2269,1985,119.4,7.6,513,6430,0.00,2.55,0.00,0.000,260,0.000,0.084,3592,3743,2127,2270,1984,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6471,0.74,178.9,3592,3742,2271,1985,115.1,8.6,518,6483,0.00,2.50,0.00,0.000,1030,0.000,0.062,3592,2319,2126,2269,1984,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6724,0.74,178.9,3592,2319,2269,1984,94.1,7.3,543,6735,0.00,2.47,0.00,0.000,516,0.000,0.076,3592,917,2132,2276,1988,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6841,0.74,178.9,3592,917,2269,1984,86.2,7.5,554,6853,0.00,2.50,0.00,0.000,1030,0.000,0.069,3592,2333,2129,2270,1989,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7095,0.74,178.9,3592,2330,2269,1985,67.3,8.0,579,7106,0.00,2.53,0.00,0.000,260,0.000,0.084,3592,3733,2126,2269,1984,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7166,0.74,178.9,3592,3733,2269,1984,60.8,8.4,586,7178,0.00,2.47,0.00,0.000,1030,0.000,0.061,3592,2324,2126,2269,1984,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7419,0.84,322.4,3592,2324,2269,1984,53.6,1.3,611,7544,0.00,2.55,107.10,0.731,8452,0.000,0.082,3592,3734,1538,1682,1395,0,0,0,0,0,0,28.83,14.14,13.48
$GC,7615,0.84,322.4,3592,3734,1682,1401,41.7,9.8,630,7627,0.00,2.47,0.00,0.000,1030,0.000,0.063,3592,2321,1538,1682,1395,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7869,0.84,322.4,3592,2320,1681,1395,19.8,9.1,655,7880,0.00,2.47,0.00,0.000,516,0.000,0.077,3592,924,1536,1682,1391,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7920,0.84,322.4,3592,924,1682,1395,14.9,9.6,660,7931,0.00,2.47,0.00,0.000,1030,0.000,0.068,3592,2329,1539,1683,1395,0,0,0,0,0,0,28.83,14.12,28.83
$STATE,8057,end climb,SURFACE_DEPTH_REACHED
$STATE,8057,begin surface coast
$FINISH,1.2,1.020948
$STATE,8109,end surface coast,CONTROL_FINISHED_OK
$STATE,8110,begin surface
$SM_CCo,8138,22.42,0.092,0,0,1328,375.06
$SM_GC,2.28,9.15,0.12,22.42,0.058,0.145,0.092,388,2410,1328,-9.11,-0.71,375.06,0,0,0,0,0,0,14.19,14.30,14.12
$IRIDIUM_FIX,4735.69,-12508.73,071214,181835
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.14
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3722016
$PM_FREEKB,42325248
$24V_AH,13.2,167.024
$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,22.875,75.125,346.000,22.425,0.000,0.000,0.000,284.825,0.000,0.000,17.686,1606.672,4490.238,524.601,1525.843,590.666,0.000,1567.035,0.000,1065.404,0.000,0.538,0.000
$DEVICE_MAMPS,357.255,145.350,1059.525,91.800,0.000,0.000,0.000,158.355,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8137.000,123.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.428,5.204,0.000,0.000
$MEM,290904
$DATA_FILE_SIZE,23423,679
$CAP_FILE_SIZE,126613,0
$CFSIZE,260034560,188792832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7975.74,0x2378ba,7,5
$CURRENT,0.177,334.5,1
$GPS,071214,230723,4756.036,-12517.896,35,1.7,52,18.8