version: 66.06
glider: 187
mission: 2
dive: 247
start: 8 11 110 14 30 42
data:
$ID,187
$MISSION,2
$DIVE,247
$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,-28570.971
$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,24
$R_STBD_OVSHOOT,35
$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
$GPS1,142546,4750.470,-12508.404,31,2.1,50,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-77.4
$GPS2,143036,4750.456,-12508.376,35,1.0,39,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,237.1,169143,-13.9,-6.111
$D_GRID,179
$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,-112.4,0.0,0.0,0,73,0.00,0.00,-59.55,0.000,2,0.000,0.000,134,2083,3098,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.2,-2.8,11,98,10.55,0.00,-11.25,0.000,6,0.254,0.000,2683,2083,3611,0,0,0,0,0,0
$GC,420,-0.43,-112.4,56.5,-12.1,75,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2083,3615,0,0,0,0,0,0
$GC,745,-0.42,-112.4,90.8,-12.1,136,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2083,3616,0,0,0,0,0,0
$GC,1063,-0.42,-112.4,123.8,-11.0,175,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2083,3617,0,0,0,0,0,0
$GC,1374,-0.42,-112.4,152.1,-7.5,205,1377,0.00,1.90,0.00,0.000,4,0.000,0.065,2679,3306,3617,0,0,0,0,0,0
$GC,1462,-0.42,-112.4,159.9,-8.6,213,1471,0.00,1.95,0.00,0.000,6,0.000,0.051,2679,2062,3617,0,0,0,0,0,0
$STATE,1642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1642,begin apogee
$GC,1646,-0.14,0.0,179.0,13.2,231,1736,0.35,0.00,87.70,0.686,6,0.127,0.000,2790,2000,3150,0,0,0,0,0,0
$STATE,1736,end apogee,CONTROL_FINISHED_OK
$STATE,1736,begin climb
$GC,1737,0.45,112.4,183.9,0.0,240,1830,0.55,0.00,88.78,0.662,6,0.093,0.000,2978,2001,2690,0,0,0,0,0,0
$GC,2139,0.51,212.4,172.3,2.4,279,2223,0.00,2.03,78.95,0.660,4,0.000,0.064,2977,3222,2283,0,0,0,0,0,0
$GC,2334,0.51,212.4,162.8,8.4,297,2342,0.00,1.92,0.00,0.000,6,0.000,0.053,2978,2038,2277,0,0,0,0,0,0
$GC,2651,0.51,212.4,135.2,6.7,328,2654,0.00,2.08,0.00,0.000,4,0.000,0.064,2980,760,2276,0,0,0,0,0,0
$GC,2683,0.53,212.4,133.1,6.2,331,2686,0.00,1.98,0.00,0.000,6,0.000,0.058,2979,2012,2276,0,0,0,0,0,0
$GC,3002,0.54,212.4,114.5,6.6,362,3006,0.00,1.98,0.00,0.000,4,0.000,0.067,2980,3232,2275,0,0,0,0,0,0
$GC,3103,0.54,212.4,107.2,7.1,371,3110,0.00,1.90,0.00,0.000,6,0.000,0.054,2980,2029,2274,0,0,0,0,0,0
$GC,3426,0.55,212.4,87.6,6.6,421,3434,0.10,2.00,0.00,0.000,4,0.114,0.064,3030,767,2274,0,0,0,0,0,0
$GC,3454,0.55,212.4,85.2,7.8,426,3460,0.00,2.00,0.00,0.000,6,0.000,0.058,3030,2034,2274,0,0,0,0,0,0
$GC,3781,0.55,212.4,55.9,7.4,487,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2034,2274,0,0,0,0,0,0
$GC,4106,0.55,212.4,38.2,6.3,548,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2034,2274,0,0,0,0,0,0
$GC,4432,0.58,260.0,20.8,4.4,609,4471,0.00,0.00,36.45,0.601,6,0.000,0.000,3030,2034,2089,0,0,0,0,0,0
$STATE,4768,end climb,SURFACE_DEPTH_REACHED
$STATE,4768,begin surface coast
$FINISH,0.7,1.010657
$STATE,4849,end surface coast,CONTROL_FINISHED_OK
$STATE,4849,begin surface
$SM_CCo,4862,45.62,0.498,1,0,1722,350.04
$SM_GC,2.12,0.00,0.00,45.62,0.000,0.000,0.498,141,2086,1722,-8.41,0.31,350.04
$IRIDIUM_FIX,4735.69,-12505.04,051199,121222
$TT8_MAMPS,0.052923
$HUMID,39.80
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,24.4,26.339
$10V_AH,10.3,21.866
$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,19.175,19.875,291.875,45.625,0.000,31.178,30.269,125.247,0.000,0.000,39.878,0.000,2783.191,358.823,1770.802,282.546,0.000,939.982,0.000,1523.591,0.000,0.533,0.000
$DEVICE_MAMPS,253.877,128.089,686.465,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,470.410,510.719,1124.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298620
$DATA_FILE_SIZE,38009,687
$CAP_FILE_SIZE,64385,0
$CFSIZE,260165632,243269632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066,148.4,1
$GPS,110810,155407,4750.166,-12509.073,75,1.2,75,18.7