version: 66.12
glider: 187
mission: 4
dive: 823
start: 1 21 115 10 3 53
data:
$ID,187
$MISSION,4
$DIVE,823
$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,350
$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,-1595493.1
$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,29
$R_STBD_OVSHOOT,35
$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
$GPS1,210115,094835,4753.594,-12515.095,28,1.7,28,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-74.5
$GPS2,210115,100321,4753.747,-12515.112,10,2.2,30,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,145.4,6894,-14.0,-7.333,-18.81,2445
$D_GRID,197
$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,28,-0.59,-116.8,397,2415,1552,1308,0.0,0.0,0,82,0.00,0.00,-47.15,0.000,16386,0.000,0.000,393,2415,2634,2716,2553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.59,-116.8,397,2415,2717,2554,3.1,-1.5,5,133,12.23,2.60,-16.38,0.000,18948,0.354,0.096,3128,998,3337,3381,3293,0,0,0,0,0,0,13.76,13.93,14.39
$GC,184,-0.59,-116.8,3125,998,3382,3294,16.3,-12.5,15,194,0.00,2.50,0.00,0.000,1030,0.000,0.073,3127,2389,3338,3382,3294,0,0,0,0,0,0,28.83,13.94,28.83
$GC,436,-0.59,-116.8,3128,2388,3382,3294,46.2,-12.4,40,446,0.00,2.62,0.00,0.000,260,0.000,0.087,3128,3819,3338,3382,3294,0,0,0,0,0,0,28.83,13.86,28.83
$GC,562,-0.59,-116.8,3127,3819,3382,3294,61.0,-11.6,52,573,0.00,2.53,0.00,0.000,1030,0.000,0.057,3127,2389,3337,3381,3294,0,0,0,0,0,0,28.83,13.94,28.83
$GC,814,-0.59,-116.8,3128,2384,3382,3294,88.1,-8.5,77,824,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2384,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1066,-0.59,-116.8,3128,2384,3382,3299,107.8,-8.1,102,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2384,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1317,-0.59,-116.8,3124,2384,3383,3294,131.0,-10.0,127,1327,0.00,2.65,0.00,0.000,260,0.000,0.084,3130,3808,3338,3382,3295,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1368,-0.59,-116.8,3128,3809,3382,3294,136.1,-10.3,132,1379,0.00,2.50,0.00,0.000,1030,0.000,0.057,3128,2402,3341,3389,3294,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1621,-0.59,-116.8,3127,2402,3382,3294,161.1,-10.3,157,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3338,3383,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1873,-0.59,-116.8,3128,2402,3383,3294,185.7,-9.2,182,1883,0.00,2.62,0.00,0.000,260,0.000,0.083,3128,3809,3337,3382,3293,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1915,-0.59,-116.8,3127,3809,3382,3294,189.9,-9.7,186,1926,0.00,2.53,0.00,0.000,1030,0.000,0.057,3128,2389,3338,3382,3294,0,0,0,0,0,0,28.83,13.87,28.83
$STATE,1993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1993,begin apogee
$GC,2004,-0.25,0.0,3128,2334,3382,3294,197.6,-9.4,194,2106,0.35,0.00,91.30,0.910,10246,0.180,0.000,3233,2334,2857,2929,2785,0,0,0,0,0,0,13.59,28.83,13.53
$STATE,2114,end apogee,CONTROL_FINISHED_OK
$STATE,2114,begin climb
$GC,2119,0.59,116.8,3233,2334,2928,2783,204.3,0.0,205,2231,0.88,2.60,92.05,0.900,10500,0.129,0.080,3514,3734,2377,2504,2251,0,0,0,0,0,0,13.85,14.04,13.43
$GC,2264,0.66,221.4,3512,3733,2504,2251,203.7,2.9,220,2355,0.00,2.47,81.25,0.893,9222,0.000,0.057,3519,2333,1953,2089,1818,0,0,0,0,0,0,28.83,13.99,13.43
$GC,2601,0.70,221.4,3519,2334,2086,1816,185.5,5.7,253,2612,0.00,2.50,0.00,0.000,516,0.000,0.073,3519,926,1950,2085,1816,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2664,0.72,221.4,3519,926,2085,1816,181.7,6.0,259,2675,0.12,2.50,0.00,0.000,3078,0.132,0.065,3579,2342,1951,2086,1816,0,0,0,0,0,0,14.04,14.03,28.83
$GC,2916,0.72,221.4,3580,2341,2086,1817,160.8,8.5,284,2927,0.00,2.50,0.00,0.000,260,0.000,0.081,3580,3728,1948,2080,1816,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2959,0.72,221.4,3576,3731,2086,1817,157.0,9.1,288,2970,0.00,2.47,0.00,0.000,1030,0.000,0.059,3587,2320,1949,2086,1812,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3211,0.72,221.4,3587,2321,2086,1817,133.8,9.5,313,3222,0.00,2.50,0.00,0.000,516,0.000,0.076,3588,930,1952,2084,1820,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3255,0.72,221.4,3587,931,2086,1818,130.0,9.1,317,3266,0.12,2.47,0.00,0.000,5126,0.226,0.066,3559,2324,1952,2086,1818,0,0,0,0,0,0,13.83,14.04,28.83
$GC,3509,0.72,221.4,3559,2324,2087,1819,111.4,8.0,342,3521,0.00,2.53,0.00,0.000,516,0.000,0.073,3562,921,1952,2086,1818,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3582,0.72,221.4,3562,921,2086,1818,105.3,8.4,349,3593,0.00,2.53,0.00,0.000,1030,0.000,0.067,3562,2335,1949,2086,1813,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3834,0.72,221.4,3562,2335,2086,1818,87.0,7.1,374,3845,0.00,2.55,0.00,0.000,260,0.000,0.083,3567,3737,1951,2085,1818,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3953,0.72,221.4,3562,3737,2086,1818,79.1,7.1,385,3964,0.00,2.47,0.00,0.000,1030,0.000,0.059,3562,2334,1952,2086,1818,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4207,0.76,221.4,3562,2334,2086,1818,62.9,5.5,410,4219,0.00,2.53,0.00,0.000,516,0.000,0.074,3562,922,1952,2086,1818,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4334,0.78,221.4,3562,922,2086,1818,56.1,6.4,422,4345,0.00,2.50,0.00,0.000,1030,0.000,0.066,3562,2329,1951,2085,1818,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4589,0.82,221.4,3562,2328,2086,1818,42.1,5.4,447,4600,0.00,2.55,0.00,0.000,260,0.000,0.081,3562,3736,1951,2085,1818,0,0,0,0,0,0,28.83,13.92,28.83
$GC,4741,0.84,221.4,3562,3736,2086,1818,33.0,6.2,462,4754,0.10,2.50,0.00,0.000,3078,0.151,0.059,3609,2315,1952,2086,1818,0,0,0,0,0,0,13.95,13.98,28.83
$GC,4997,0.86,221.4,3609,2314,2086,1815,16.9,6.6,487,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,3609,2314,1952,2086,1819,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5203,end climb,SURFACE_DEPTH_REACHED
$STATE,5203,begin surface coast
$FINISH,1.6,1.012843
$STATE,5275,end surface coast,CONTROL_FINISHED_OK
$STATE,5275,begin surface
$SM_CCo,5307,56.10,0.090,0,0,1430,350.04
$SM_GC,2.44,9.27,0.15,56.10,0.054,0.132,0.090,392,2397,1430,-9.11,-0.90,350.04,0,0,0,0,0,0,14.06,14.08,14.08
$IRIDIUM_FIX,4732.49,-12541.59,210115,090906
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.06
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3674624
$PM_FREEKB,36663200
$24V_AH,13.4,208.151
$10V_AH,13.5,0.000
$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,23.075,60.950,264.600,56.100,0.000,0.000,0.000,478.600,0.000,0.000,31.264,1228.738,2549.416,457.431,1424.950,583.507,0.000,1509.022,0.000,806.654,0.000,0.537,0.000
$DEVICE_MAMPS,354.195,214.200,909.585,90.270,0.000,0.000,0.000,164.475,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5306.000,86.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.791,4.999,0.000,0.000
$MEM,290768
$DATA_FILE_SIZE,16739,515
$CAP_FILE_SIZE,101774,0
$CFSIZE,260034560,171343872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7206.56,0x2378ba,7,5
$CURRENT,0.166,356.5,1
$GPS,210115,113442,4753.712,-12514.932,13,2.0,30,18.8