version: 66.06
glider: 187
mission: 2
dive: 395
start: 9 3 110 5 5 55
data:
$ID,187
$MISSION,2
$DIVE,395
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,-31791.445
$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,2855
$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,26
$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
$GPS1,050122,4753.216,-12506.130,33,3.4,52,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-77.4
$GPS2,050549,4753.171,-12506.166,15,1.1,15,18.7
$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,200.0,174268,-13.9,-6.111
$D_GRID,131
$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,-112.4,0.0,0.0,0,67,0.00,0.00,-53.03,0.000,2,0.000,0.000,131,2071,2945,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.1,-2.4,10,102,10.38,2.05,-15.18,0.000,4,0.239,0.081,2696,3308,3611,0,0,0,0,0,0
$GC,284,-0.44,-112.4,31.7,-11.1,50,290,0.00,1.95,0.00,0.000,6,0.000,0.048,2695,2069,3612,0,0,0,0,0,0
$GC,610,-0.43,-112.4,67.8,-12.3,111,616,0.00,2.03,0.00,0.000,4,0.000,0.065,2688,3306,3613,0,0,0,0,0,0
$GC,771,-0.43,-112.4,84.5,-8.4,141,778,0.00,1.92,0.00,0.000,6,0.000,0.049,2688,2081,3613,0,0,0,0,0,0
$GC,1099,-0.43,-112.4,114.5,-9.9,189,1103,0.00,2.00,0.00,0.000,4,0.000,0.066,2680,3310,3614,0,0,0,0,0,0
$GC,1174,-0.43,-112.4,121.7,-9.6,196,1177,0.12,1.85,0.00,0.000,6,0.149,0.050,2715,2097,3614,0,0,0,0,0,0
$STATE,1296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1296,begin apogee
$GC,1300,-0.14,0.0,131.1,7.2,208,1389,0.28,0.00,86.78,0.654,6,0.117,0.000,2806,1982,3150,0,0,0,0,0,0
$STATE,1390,end apogee,CONTROL_FINISHED_OK
$STATE,1390,begin climb
$GC,1392,0.45,112.4,134.1,0.0,217,1488,0.55,1.98,87.93,0.632,4,0.086,0.056,3001,775,2690,0,0,0,0,0,0
$GC,1567,0.46,160.8,130.2,4.3,233,1616,0.00,1.98,38.90,0.622,6,0.000,0.053,3001,1996,2493,0,0,0,0,0,0
$GC,1924,0.47,191.8,111.0,5.0,268,1955,0.00,2.03,25.20,0.616,4,0.000,0.062,3001,3226,2367,0,0,0,0,0,0
$GC,2024,0.46,191.8,104.5,7.1,277,2030,0.00,1.95,0.00,0.000,6,0.000,0.052,3000,2016,2365,0,0,0,0,0,0
$GC,2348,0.47,215.0,78.1,5.3,332,2370,0.00,0.00,19.10,0.606,6,0.000,0.000,3000,2015,2273,0,0,0,0,0,0
$GC,2691,0.47,215.0,58.7,6.3,396,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2015,2270,0,0,0,0,0,0
$GC,3016,0.47,215.0,44.0,7.5,457,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2016,2269,0,0,0,0,0,0
$GC,3344,0.52,293.3,27.9,3.2,518,3410,0.00,2.05,61.47,0.598,4,0.000,0.064,3000,3232,1953,0,0,0,0,0,0
$GC,3448,0.55,306.3,22.6,5.6,537,3465,0.00,1.98,11.45,0.548,6,0.000,0.054,3000,2012,1900,0,0,0,0,0,0
$GC,3787,0.66,375.2,7.5,3.6,600,3847,0.20,2.00,54.20,0.576,4,0.085,0.064,3078,3233,1619,0,0,0,0,0,0
$STATE,3868,end climb,SURFACE_DEPTH_REACHED
$STATE,3868,begin surface coast
$FINISH,0.9,1.013586
$STATE,3926,end surface coast,CONTROL_FINISHED_OK
$STATE,3926,begin surface
$SM_CCo,4001,0.00,0.000,0,0,1610,377.76
$SM_GC,2.07,7.93,0.00,0.00,0.047,0.000,0.000,142,2061,1610,-8.40,-0.40,377.76
$IRIDIUM_FIX,4738.89,-12413.47,281199,040434
$TT8_MAMPS,0.052923
$HUMID,40.11
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,24.5,41.464
$10V_AH,10.2,38.032
$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,19.450,27.800,385.025,0.000,0.000,27.348,30.391,118.182,0.000,0.000,15.310,0.000,1960.442,361.776,1631.848,302.889,0.000,932.192,0.000,1438.886,0.000,0.534,0.000
$DEVICE_MAMPS,238.537,84.370,654.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,426.500,474.489,1164.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298620
$DATA_FILE_SIZE,34962,626
$CAP_FILE_SIZE,61461,0
$CFSIZE,260165632,232718336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023, 26.9,1
$GPS,030910,061325,4752.809,-12506.634,15,1.9,32,18.7