version: 66.08
glider: 186
mission: 3
dive: 10
start: 7 1 111 0 53 28
data:
$ID,186
$MISSION,3
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,75
$T_MISSION,80
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51653
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,28
$TGT_DEFAULT_LON,126
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32566.707
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3947
$C_PITCH,1675
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,221
$ROLL_MAX,3777
$ROLL_DEG,35
$C_ROLL_DIVE,2390
$C_ROLL_CLIMB,2390
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3179
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-36.048885
$PRESSURE_SLOPE,0.0001164618
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.72000003
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,101
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043074116
$SEABIRD_T_H,0.00062210945
$SEABIRD_T_I,2.2491413e-05
$SEABIRD_T_J,2.3191396e-06
$SEABIRD_C_G,-10.148055
$SEABIRD_C_H,1.1401927
$SEABIRD_C_I,-0.0018988725
$SEABIRD_C_J,0.00022551473
$GPS1,010711,004535,4743.748,-12224.031,13,1.3,16,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-61.9
$GPS2,010711,005228,4743.800,-12224.043,15,4.0,34,18.2
$SPEED_LIMITS,0.154,0.249
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.007,0.249
$KALMAN_X,1167.9,-498.8,-325.9,-213.5,711.9
$KALMAN_Y,-2751.8,-2193.8,-565.0,5526.4,-664.7
$MHEAD_RNG_PITCHd_Wd,17.2,1004,-15.7,-8.889
$D_GRID,172
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.70,-146.0,0.0,0.0,0,100,0.00,0.00,-81.18,0.000,6,0.000,0.000,137,2382,3776,0,0,0,0,0,0
$GC,103,-0.70,-146.0,3.1,-3.7,10,113,5.43,2.05,0.00,0.000,4,0.262,0.058,1447,1146,3776,0,0,0,0,0,0
$GC,384,-0.70,-146.0,48.6,-12.9,56,393,0.00,2.08,0.00,0.000,6,0.000,0.067,1440,2388,3777,0,0,0,0,0,0
$GC,537,-0.70,-146.0,66.4,-11.4,81,543,0.00,2.00,0.00,0.000,4,0.000,0.060,1440,1141,3777,0,0,0,0,0,0
$GC,567,-0.70,-146.0,70.1,-11.4,86,576,0.00,2.10,0.00,0.000,6,0.000,0.071,1431,2394,3777,0,0,0,0,0,0
$GC,719,-0.70,-146.0,88.1,-12.7,111,726,0.00,2.03,0.00,0.000,4,0.000,0.080,1421,3634,3777,0,0,0,0,0,0
$GC,790,-0.70,-146.0,97.9,-12.8,122,799,0.00,2.03,0.00,0.000,6,0.000,0.059,1421,2384,3777,0,0,0,0,0,0
$GC,952,-0.70,-146.0,118.0,-13.8,147,959,0.00,2.08,0.00,0.000,4,0.000,0.080,1411,3637,3776,0,0,0,0,0,0
$GC,1073,-0.70,-146.0,135.8,-14.1,167,1081,0.12,2.00,0.00,0.000,6,0.186,0.060,1442,2385,3776,0,0,0,0,0,0
$GC,1223,-0.70,-146.0,152.4,-10.3,192,1232,0.00,2.08,0.00,0.000,4,0.000,0.082,1435,3622,3776,0,0,0,0,0,0
$GC,1270,-0.70,-146.0,157.3,-11.2,199,1276,0.00,1.95,0.00,0.000,6,0.000,0.061,1435,2388,3776,0,0,0,0,0,0
$STATE,1401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1402,begin apogee
$GC,1405,-0.17,0.0,172.7,11.5,221,1532,0.57,0.00,116.57,1.271,6,0.155,0.000,1615,2389,3180,0,0,0,0,0,0
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1535,0.70,146.0,175.3,0.0,239,1664,0.82,0.00,120.72,1.237,6,0.099,0.000,1891,2389,2583,0,0,0,0,0,0
$GC,1808,0.70,146.0,125.4,22.3,281,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2388,2580,0,0,0,0,0,0
$GC,1955,0.70,146.0,91.1,23.1,306,1963,0.00,2.08,0.00,0.000,4,0.000,0.069,1891,3626,2579,0,0,0,0,0,0
$GC,1969,0.70,146.0,87.6,23.2,308,1979,0.00,2.03,0.00,0.000,6,0.000,0.056,1901,2395,2580,0,0,0,0,0,0
$GC,2122,0.70,146.0,53.4,21.7,333,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,2393,2579,0,0,0,0,0,0
$GC,2273,0.70,146.0,22.8,18.0,358,2282,0.00,2.05,0.00,0.000,4,0.000,0.070,1901,3628,2579,0,0,0,0,0,0
$GC,2315,0.70,146.0,15.6,17.6,364,2325,0.00,2.03,0.00,0.000,6,0.000,0.057,1910,2384,2579,0,0,0,0,0,0
$GC,2376,0.70,146.0,6.1,15.9,373,2384,0.00,2.08,0.00,0.000,4,0.000,0.073,1910,3629,2578,0,0,0,0,0,0
$GC,2398,0.70,146.0,2.6,15.1,376,2408,0.00,2.03,0.00,0.000,6,0.000,0.060,1919,2393,2577,0,0,0,0,0,0
$STATE,2415,end climb,SURFACE_DEPTH_REACHED
$STATE,2415,begin surface coast
$FINISH,0.1,1.020790
$STATE,2429,end surface coast,CONTROL_FINISHED_OK
$STATE,2429,begin surface
$SM_CCo,2440,64.65,0.645,0,0,1870,320.12
$SM_GC,1.11,0.00,0.00,64.65,0.000,0.000,0.645,139,2393,1870,-4.80,0.08,320.12
$IRIDIUM_FIX,4735.69,-12225.81,300611,232319
$TT8_MAMPS,0.026215
$HUMID,47.59
$INTERNAL_PRESSURE,9.20665
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.7,3.8
$24V_AH,23.7,1.316
$10V_AH,10.3,1.534
$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,11.700,32.650,237.300,64.650,0.000,24.355,32.780,235.837,2.000,0.000,37.900,898.952,234.468,356.154,1357.430,90.639,33.291,773.832,0.000,752.852,0.000,15.975,0.000
$DEVICE_MAMPS,261.630,81.855,1271.430,644.895,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330,WL_BB2F,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,263.987,164.875,529.982,486.482,803.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,323500
$DATA_FILE_SIZE,34014,380
$CAP_FILE_SIZE,49503,0
$CFSIZE,260165632,251031552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,181.6,1
$GPS,010711,013631,4743.978,-12223.803,41,1.0,41,18.2