version: 66.06
glider: 187
mission: 2
dive: 150
start: 8 7 110 17 8 15
data:
$ID,187
$MISSION,2
$DIVE,150
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,115
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-26465.754
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,-61.597298
$PRESSURE_SLOPE,0.0001138132
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,170245,4751.109,-12513.043,12,3.4,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-75.5
$GPS2,170810,4751.112,-12512.991,14,2.6,33,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,77.4,23578,-13.9,-6.111
$D_GRID,250
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,82,0.00,0.00,-68.07,0.000,2,0.000,0.000,135,2076,3170,0,0,0,0,0,0
$GC,84,-0.45,-112.4,3.6,-3.0,13,107,10.45,2.05,-9.38,0.000,4,0.249,0.082,2672,3316,3611,0,0,0,0,0,0
$GC,342,-0.44,-112.4,46.1,-12.9,61,348,0.00,1.98,0.00,0.000,6,0.000,0.052,2672,2068,3615,0,0,0,0,0,0
$GC,668,-0.42,-112.4,87.7,-12.4,122,674,0.00,2.03,0.00,0.000,4,0.000,0.068,2664,3310,3616,0,0,0,0,0,0
$GC,700,-0.40,-112.4,91.7,-12.7,128,707,0.10,1.92,0.00,0.000,6,0.120,0.052,2699,2080,3616,0,0,0,0,0,0
$GC,1024,-0.40,-112.4,125.5,-10.2,166,1027,0.00,1.95,0.00,0.000,4,0.000,0.059,2699,847,3616,0,0,0,0,0,0
$GC,1055,-0.40,-112.4,128.8,-10.4,169,1059,0.00,1.95,0.00,0.000,6,0.000,0.058,2696,2080,3617,0,0,0,0,0,0
$GC,1375,-0.40,-112.4,160.5,-9.3,200,1380,0.00,1.98,0.00,0.000,4,0.000,0.067,2694,3310,3617,0,0,0,0,0,0
$GC,1455,-0.40,-112.4,167.5,-8.4,207,1464,0.00,1.95,0.00,0.000,6,0.000,0.051,2693,2066,3617,0,0,0,0,0,0
$GC,1772,-0.40,-112.4,192.8,-7.4,238,1775,0.00,2.00,0.00,0.000,4,0.000,0.071,2692,3303,3617,0,0,0,0,0,0
$GC,1804,-0.40,-112.4,195.3,-7.7,241,1807,0.00,1.90,0.00,0.000,6,0.000,0.053,2692,2081,3616,0,0,0,0,0,0
$GC,2123,-0.40,-112.4,220.8,-8.2,272,2128,0.00,2.03,0.00,0.000,4,0.000,0.070,2691,3316,3617,0,0,0,0,0,0
$GC,2178,-0.40,-112.4,225.1,-7.7,277,2181,0.00,1.92,0.00,0.000,6,0.000,0.054,2690,2075,3617,0,0,0,0,0,0
$STATE,2487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2487,begin apogee
$GC,2490,-0.14,0.0,250.5,7.9,307,2581,0.30,0.00,88.55,0.739,6,0.125,0.000,2787,1981,3149,0,0,0,0,0,0
$STATE,2581,end apogee,CONTROL_FINISHED_OK
$STATE,2581,begin climb
$GC,2582,0.45,112.4,253.0,0.0,316,2678,0.55,2.03,89.38,0.713,4,0.094,0.062,2975,781,2690,0,0,0,0,0,0
$GC,2710,0.46,119.9,248.5,5.8,328,2720,0.00,2.03,7.18,0.594,6,0.000,0.056,2975,2002,2661,0,0,0,0,0,0
$GC,3030,0.48,150.3,230.1,5.0,359,3062,0.00,2.05,25.20,0.696,4,0.000,0.065,2974,3230,2535,0,0,0,0,0,0
$GC,3179,0.47,165.8,221.9,5.5,373,3200,0.00,1.92,14.02,0.669,6,0.000,0.054,2980,2031,2472,0,0,0,0,0,0
$GC,3509,0.47,165.8,202.5,6.3,405,3513,0.00,1.98,0.00,0.000,4,0.000,0.066,2979,3229,2470,0,0,0,0,0,0
$GC,3541,0.46,165.8,200.2,7.6,408,3545,0.00,1.92,0.00,0.000,6,0.000,0.054,2985,2022,2469,0,0,0,0,0,0
$GC,3862,0.46,165.8,178.7,6.7,439,3866,0.00,2.00,0.00,0.000,4,0.000,0.068,2985,3236,2469,0,0,0,0,0,0
$GC,3915,0.45,165.8,174.7,7.4,444,3919,0.00,1.90,0.00,0.000,6,0.000,0.055,2986,2040,2469,0,0,0,0,0,0
$GC,4236,0.46,187.6,156.1,5.3,475,4260,0.00,1.98,18.27,0.673,4,0.000,0.067,2986,3232,2385,0,0,0,0,0,0
$GC,4287,0.46,187.6,152.8,7.5,480,4291,0.00,1.90,0.00,0.000,6,0.000,0.055,2986,2040,2383,0,0,0,0,0,0
$GC,4608,0.47,194.2,133.1,5.9,511,4620,0.00,2.03,6.65,0.590,4,0.000,0.064,2986,763,2358,0,0,0,0,0,0
$GC,4629,0.48,215.7,132.0,5.3,513,4653,0.00,2.05,18.80,0.649,6,0.000,0.060,2986,2046,2270,0,0,0,0,0,0
$GC,4969,0.48,226.6,112.7,5.7,546,4982,0.00,1.98,9.80,0.619,4,0.000,0.068,2986,3240,2225,0,0,0,0,0,0
$GC,5039,0.48,226.6,108.1,7.3,552,5046,0.00,1.90,0.00,0.000,6,0.000,0.055,2986,2061,2223,0,0,0,0,0,0
$GC,5362,0.48,226.6,84.3,7.0,602,5369,0.00,2.08,0.00,0.000,4,0.000,0.066,2986,769,2222,0,0,0,0,0,0
$GC,5448,0.50,226.6,78.7,6.3,618,5454,0.00,2.03,0.00,0.000,6,0.000,0.059,2986,2043,2222,0,0,0,0,0,0
$GC,5774,0.54,268.0,61.5,4.6,679,5813,0.00,1.92,33.33,0.629,4,0.000,0.067,2986,3238,2056,0,0,0,0,0,0
$GC,5845,0.58,303.3,58.2,4.8,692,5878,0.08,1.90,29.38,0.612,6,0.062,0.056,3034,2054,1913,0,0,0,0,0,0
$GC,6198,0.60,303.3,35.0,6.4,758,6204,0.00,2.08,0.00,0.000,4,0.000,0.063,3036,770,1906,0,0,0,0,0,0
$GC,6241,0.61,303.3,32.3,6.1,766,6247,0.00,2.00,0.00,0.000,6,0.000,0.057,3036,2030,1906,0,0,0,0,0,0
$GC,6567,0.64,320.2,12.7,5.5,827,6585,0.00,1.92,13.62,0.583,4,0.000,0.065,3036,3237,1844,0,0,0,0,0,0
$GC,6606,0.67,338.3,10.5,5.4,834,6628,0.00,1.90,15.88,0.573,6,0.000,0.055,3036,2040,1769,0,0,0,0,0,0
$STATE,6754,end climb,SURFACE_DEPTH_REACHED
$STATE,6754,begin surface coast
$FINISH,0.9,1.014015
$STATE,6824,end surface coast,CONTROL_FINISHED_OK
$STATE,6824,begin surface
$SM_CCo,6836,10.65,0.177,1,0,1722,350.04
$SM_GC,2.33,0.00,0.00,10.65,0.000,0.000,0.177,144,2074,1722,-8.41,-0.03,350.04
$IRIDIUM_FIX,4732.49,-12507.66,011199,141453
$TT8_MAMPS,0.052156
$HUMID,38.58
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,24.3,19.550
$10V_AH,10.2,15.837
$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,19.150,67.300,370.050,10.650,0.000,27.614,30.725,161.803,0.000,0.000,34.117,0.000,4223.619,420.729,2181.823,334.408,0.000,1191.515,0.000,1871.933,0.000,0.533,0.000
$DEVICE_MAMPS,249.275,159.536,739.388,177.177,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,599.486,673.602,1246.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298632
$DATA_FILE_SIZE,47572,875
$CAP_FILE_SIZE,95024,0
$CFSIZE,260165632,246755328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.160,355.5,1
$GPS,070810,190320,4751.520,-12511.969,35,1.9,35,18.7