version: 66.12
glider: 187
mission: 4
dive: 116
start: 7 14 114 10 53 5
data:
$ID,187
$MISSION,4
$DIVE,116
$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,-1593351.4
$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,2425
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,18
$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
$GPS1,140714,104606,4751.426,-12517.230,64,1.2,65,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-73.6
$GPS2,140714,105236,4751.437,-12517.264,14,1.1,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,95.9,8738,-14.0,-7.333,-18.81,2445
$D_GRID,383
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,399,2424,1447,1213,0.0,0.0,0,89,0.00,0.00,-58.80,0.000,16386,0.000,0.000,396,2424,2898,2951,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,400,2424,2952,2846,3.9,-4.3,6,129,12.65,2.58,-7.82,0.000,18692,0.409,0.126,3123,3837,3337,3385,3289,0,0,0,0,0,0,14.21,14.39,14.62
$GC,360,-0.59,-116.8,3124,3836,3387,3292,56.5,-16.0,33,369,0.00,2.42,0.00,0.000,1030,0.000,0.071,3124,2418,3340,3387,3293,0,0,0,0,0,0,28.83,14.46,28.83
$GC,610,-0.59,-116.8,3124,2411,3389,3294,87.0,-9.7,58,619,0.00,2.50,0.00,0.000,260,0.000,0.101,3123,3836,3342,3389,3296,0,0,0,0,0,0,28.83,14.48,28.83
$GC,849,-0.59,-116.8,3124,3836,3389,3294,113.2,-13.0,82,859,0.00,2.45,0.00,0.000,1030,0.000,0.075,3124,2426,3339,3386,3293,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1100,-0.59,-116.8,3124,2425,3389,3293,142.5,-11.5,107,1109,0.00,2.47,0.00,0.000,260,0.000,0.102,3122,3836,3342,3390,3294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1340,-0.59,-116.8,3124,3836,3389,3293,167.9,-10.5,131,1349,0.00,2.45,0.00,0.000,1030,0.000,0.075,3124,2421,3341,3389,3293,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1590,-0.59,-116.8,3123,2420,3389,3293,193.2,-9.9,156,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2420,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.59,-116.8,3124,2420,3389,3293,218.6,-10.5,181,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2419,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2090,-0.59,-116.8,3124,2421,3389,3293,245.8,-11.1,206,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2420,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-0.59,-116.8,3124,2420,3389,3294,275.9,-12.2,217,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2420,3341,3389,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2640,-0.59,-116.8,3124,2420,3388,3292,309.5,-11.1,227,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2421,3340,3389,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2940,-0.59,-116.8,3124,2421,3390,3291,341.8,-11.0,237,2948,0.00,2.47,0.00,0.000,260,0.000,0.106,3124,3837,3340,3389,3291,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2989,-0.59,-116.8,3123,3837,3388,3291,347.2,-11.0,242,2999,0.00,2.42,0.00,0.000,1030,0.000,0.074,3124,2427,3340,3389,3291,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3300,-0.59,-116.8,3122,2427,3389,3290,375.8,-8.9,253,3308,0.00,2.42,0.00,0.000,516,0.000,0.088,3124,1005,3339,3388,3290,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,3376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3376,begin apogee
$GC,3387,-0.25,0.0,3124,2341,3388,3289,383.7,-10.0,261,3482,0.40,0.00,90.65,1.167,10246,0.208,0.000,3240,2341,2857,2934,2780,0,0,0,0,0,0,14.51,28.83,13.68
$STATE,3486,end apogee,CONTROL_FINISHED_OK
$STATE,3486,begin climb
$GC,3489,0.59,116.8,3239,2341,2932,2776,388.2,0.0,264,3600,0.88,2.65,94.05,1.136,10500,0.158,0.101,3510,3744,2376,2519,2234,0,0,0,0,0,0,14.11,13.93,13.49
$GC,3640,0.59,116.8,3510,3744,2518,2235,382.7,6.9,275,3651,0.00,2.53,0.00,0.000,1030,0.000,0.080,3519,2332,2376,2517,2235,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3953,0.59,116.8,3519,2335,2518,2231,358.3,8.1,286,3963,0.00,2.50,0.00,0.000,516,0.000,0.097,3522,905,2374,2518,2230,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4043,0.59,116.8,3522,907,2517,2231,350.7,7.8,295,4053,0.00,2.47,0.00,0.000,1030,0.000,0.085,3522,2333,2374,2518,2230,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4373,0.60,116.8,3522,2332,2516,2225,327.2,6.7,308,4383,0.00,2.47,0.00,0.000,260,0.000,0.103,3522,3739,2372,2515,2229,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4472,0.60,116.8,3522,3738,2513,2225,319.2,8.7,318,4483,0.00,2.45,0.00,0.000,1030,0.000,0.083,3521,2323,2368,2509,2228,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4794,0.62,116.8,3521,2323,2513,2228,298.0,6.6,330,4804,0.00,2.50,0.00,0.000,260,0.000,0.103,3521,3738,2370,2513,2227,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4843,0.62,116.8,3522,3737,2512,2227,294.1,7.7,335,4854,0.00,2.42,0.00,0.000,1030,0.000,0.085,3524,2334,2369,2512,2227,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5157,0.62,116.8,3522,2335,2512,2227,271.5,7.1,346,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2335,2369,2511,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5454,0.62,116.8,3522,2334,2512,2226,249.8,7.6,356,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2334,2368,2511,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5704,0.62,116.8,3522,2335,2512,2225,230.3,7.9,381,5715,0.00,2.47,0.00,0.000,260,0.000,0.103,3522,3740,2367,2511,2224,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5745,0.62,116.8,3522,3740,2511,2226,226.8,8.3,385,5757,0.00,2.42,0.00,0.000,1030,0.000,0.078,3522,2319,2368,2511,2226,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5997,0.62,116.8,3522,2319,2511,2225,207.1,7.4,410,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2318,2370,2511,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6246,0.62,116.8,3522,2318,2511,2225,186.6,8.9,435,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2318,2368,2511,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6497,0.62,116.8,3523,2318,2509,2224,166.0,7.7,460,6507,0.00,2.53,0.00,0.000,260,0.000,0.100,3522,3748,2368,2510,2227,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6547,0.62,116.8,3522,3745,2511,2225,161.8,8.3,465,6559,0.00,2.42,0.00,0.000,1030,0.000,0.076,3522,2324,2367,2510,2225,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6799,0.62,116.8,3522,2323,2510,2224,143.2,7.3,490,6810,0.00,2.42,0.00,0.000,516,0.000,0.098,3522,925,2367,2510,2225,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6880,0.62,116.8,3522,925,2509,2225,137.1,7.3,498,6891,0.00,2.42,0.00,0.000,1030,0.000,0.086,3522,2339,2367,2510,2225,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7131,0.65,116.8,3520,2339,2509,2225,120.0,5.9,523,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2339,2366,2509,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7381,0.68,116.8,3522,2339,2509,2224,105.3,5.6,548,7392,0.00,2.45,0.00,0.000,260,0.000,0.103,3522,3744,2367,2509,2225,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7485,0.71,116.8,3522,3740,2509,2224,98.7,6.1,558,7496,0.00,2.42,0.00,0.000,1030,0.000,0.081,3521,2333,2366,2509,2224,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7736,0.74,166.4,3522,2333,2508,2224,84.4,5.2,583,7787,0.12,2.47,37.55,0.819,10756,0.164,0.095,3584,918,2178,2340,2017,0,0,0,0,0,0,14.59,14.42,14.08
$GC,7907,0.74,166.4,3584,918,2341,2018,71.9,7.9,600,7918,0.00,2.45,0.00,0.000,1030,0.000,0.084,3585,2335,2175,2334,2017,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8158,0.74,166.4,3584,2335,2334,2017,55.5,7.3,625,8169,0.00,2.45,0.00,0.000,260,0.000,0.101,3584,3738,2175,2333,2017,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8339,0.74,166.4,3584,3738,2331,2016,40.9,8.1,643,8350,0.00,2.42,0.00,0.000,1030,0.000,0.085,3588,2335,2173,2331,2016,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8590,0.77,166.4,3587,2334,2331,2017,21.5,6.1,668,8601,0.00,2.45,0.00,0.000,516,0.000,0.096,3592,916,2173,2330,2016,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8694,0.81,228.0,3591,915,2330,2016,16.4,4.7,678,8733,0.00,2.42,29.15,0.164,9222,0.000,0.083,3591,2332,1929,2085,1773,0,0,0,0,0,0,28.83,14.54,14.46
$STATE,8949,end climb,SURFACE_DEPTH_REACHED
$STATE,8949,begin surface coast
$FINISH,0.8,1.024000
$STATE,9110,end surface coast,CONTROL_FINISHED_OK
$STATE,9110,begin surface
$SM_CCo,9136,63.53,0.107,0,0,1329,375.06
$SM_GC,2.30,9.20,0.17,63.53,0.083,0.151,0.107,392,2439,1329,-9.10,-0.51,375.06,0,0,0,0,0,0,14.55,14.56,14.51
$IRIDIUM_FIX,4732.49,-12530.77,140714,070734
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.44
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3900896
$PM_FREEKB,59372352
$24V_AH,13.5,26.996
$10V_AH,13.7,0.000
$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,23.250,78.975,251.400,63.525,0.000,0.000,0.000,196.350,0.000,0.000,14.894,1730.268,5473.308,508.984,1490.672,385.183,0.000,1439.045,0.000,1115.990,0.000,0.535,0.000
$DEVICE_MAMPS,409.275,151.470,1166.625,107.100,0.000,0.000,0.000,165.240,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9124.000,3533.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.224,4.104,0.000,0.000
$MEM,290848
$DATA_FILE_SIZE,23428,720
$CAP_FILE_SIZE,128016,0
$CFSIZE,260034560,247058432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11046.10,0x2378ba,7,5
$CURRENT,0.086,307.5,1
$GPS,140714,132753,4751.233,-12516.776,37,2.0,38,18.7