version: 66.06
glider: 187
mission: 2
dive: 401
start: 9 3 110 13 5 32
data:
$ID,187
$MISSION,2
$DIVE,401
$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,-31910.977
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,130035,4751.725,-12509.235,25,3.2,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.6
$GPS2,130526,4751.713,-12509.199,15,1.7,15,18.7
$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,198.4,169582,-13.9,-6.111
$D_GRID,165
$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,13,-0.45,-112.4,0.0,0.0,0,71,0.00,0.00,-56.53,0.000,2,0.000,0.000,132,2077,3022,0,0,0,0,0,0
$GC,73,-0.45,-112.4,3.1,-2.4,10,101,10.43,1.98,-12.80,0.000,4,0.239,0.077,2692,3309,3610,0,0,0,0,0,0
$GC,240,-0.44,-112.4,31.1,-11.5,41,247,0.00,1.95,0.00,0.000,6,0.000,0.049,2691,2075,3613,0,0,0,0,0,0
$GC,567,-0.44,-112.4,69.5,-9.3,102,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2071,3613,0,0,0,0,0,0
$GC,898,-0.44,-112.4,101.4,-8.8,163,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2071,3614,0,0,0,0,0,0
$GC,1209,-0.44,-112.4,127.3,-7.9,193,1212,0.00,2.00,0.00,0.000,4,0.000,0.065,2684,3315,3614,0,0,0,0,0,0
$GC,1305,-0.44,-112.4,134.8,-7.4,202,1308,0.00,1.92,0.00,0.000,6,0.000,0.050,2683,2068,3614,0,0,0,0,0,0
$GC,1624,-0.44,-112.4,164.0,-9.3,233,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2066,3613,0,0,0,0,0,0
$STATE,1644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1644,begin apogee
$GC,1649,-0.14,0.0,165.8,9.3,235,1738,0.38,0.00,87.18,0.680,6,0.120,0.000,2805,1989,3150,0,0,0,0,0,0
$STATE,1739,end apogee,CONTROL_FINISHED_OK
$STATE,1739,begin climb
$GC,1741,0.45,112.4,168.9,0.0,244,1835,0.57,1.98,88.12,0.655,4,0.084,0.056,3008,775,2691,0,0,0,0,0,0
$GC,1871,0.45,138.0,165.9,5.2,256,1899,0.00,2.00,21.42,0.629,6,0.000,0.053,3008,1997,2586,0,0,0,0,0,0
$GC,2208,0.43,138.0,145.0,6.9,289,2211,0.00,2.03,0.00,0.000,4,0.000,0.064,3008,3230,2583,0,0,0,0,0,0
$GC,2304,0.40,138.0,137.1,8.8,298,2307,0.00,1.95,0.00,0.000,6,0.000,0.051,3014,2011,2582,0,0,0,0,0,0
$GC,2624,0.38,139.3,116.8,6.1,329,2625,0.12,0.00,0.00,0.000,6,0.164,0.000,2981,2010,2582,0,0,0,0,0,0
$GC,2937,0.39,156.4,97.5,5.5,363,2959,0.00,2.00,15.02,0.627,4,0.000,0.064,2981,3231,2511,0,0,0,0,0,0
$GC,3033,0.42,201.2,92.6,4.5,381,3078,0.00,1.92,36.53,0.630,6,0.000,0.053,2984,2021,2328,0,0,0,0,0,0
$GC,3398,0.43,201.2,75.6,7.8,449,3404,0.00,2.03,0.00,0.000,4,0.000,0.063,2985,768,2322,0,0,0,0,0,0
$GC,3452,0.45,201.2,72.0,6.6,459,3458,0.00,1.98,0.00,0.000,6,0.000,0.057,2985,2006,2323,0,0,0,0,0,0
$GC,3779,0.46,201.2,53.7,6.3,520,3784,0.00,1.98,0.00,0.000,4,0.000,0.065,2985,3230,2321,0,0,0,0,0,0
$GC,3849,0.47,212.8,49.7,5.7,533,3866,0.00,1.92,9.52,0.581,6,0.000,0.054,2985,2017,2281,0,0,0,0,0,0
$GC,4188,0.53,292.1,36.9,3.2,596,4259,0.12,2.08,62.72,0.604,4,0.097,0.061,3049,767,1958,0,0,0,0,0,0
$GC,4280,0.53,292.1,30.0,9.1,613,4287,0.00,2.05,0.00,0.000,6,0.000,0.056,3049,2037,1955,0,0,0,0,0,0
$GC,4608,0.58,335.6,7.2,4.5,674,4647,0.00,1.92,34.42,0.581,4,0.000,0.061,3049,3234,1782,0,0,0,0,0,0
$GC,4679,0.62,371.5,4.3,4.8,687,4712,0.00,1.98,28.88,0.563,6,0.000,0.054,3049,2015,1634,0,0,0,0,0,0
$STATE,4715,end climb,SURFACE_DEPTH_REACHED
$STATE,4715,begin surface coast
$FINISH,0.9,1.023952
$STATE,4785,end surface coast,CONTROL_FINISHED_OK
$STATE,4785,begin surface
$SM_CCo,4859,0.00,0.000,0,0,1625,373.84
$SM_GC,1.95,7.78,0.00,0.00,0.039,0.000,0.000,136,2083,1625,-8.40,0.23,373.84
$IRIDIUM_FIX,4735.69,-12500.57,281199,111142
$TT8_MAMPS,0.052923
$HUMID,40.03
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.4,41.921
$10V_AH,10.2,38.494
$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,19.400,35.850,383.825,0.000,0.000,33.625,31.115,132.982,0.000,0.000,15.852,0.000,2651.256,362.155,1792.735,331.275,0.000,992.019,0.000,1565.835,0.000,0.534,0.000
$DEVICE_MAMPS,239.304,107.380,680.329,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,481.191,536.230,1218.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298620
$DATA_FILE_SIZE,38025,707
$CAP_FILE_SIZE,71476,0
$CFSIZE,260165632,232460288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043, 59.4,1
$GPS,030910,142751,4751.344,-12509.531,43,2.1,62,18.7