version: 66.06
glider: 187
mission: 2
dive: 488
start: 9 24 110 19 0 31
data:
$ID,187
$MISSION,2
$DIVE,488
$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,-33614.934
$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,35
$R_STBD_OVSHOOT,25
$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
$GPS1,184508,4754.263,-12506.200,114,1.5,114,18.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-74.9
$GPS2,190025,4754.435,-12506.161,11,1.4,16,18.8
$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,78.7,13140,-13.9,-6.111
$D_GRID,118
$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,-112.4,0.0,0.0,0,69,0.00,0.00,-55.25,0.000,2,0.000,0.000,131,2054,3028,0,0,0,0,0,0
$GC,72,-0.45,-112.4,3.6,-2.8,10,100,10.38,2.00,-12.62,0.000,4,0.233,0.071,2694,3315,3609,0,0,0,0,0,0
$GC,244,-0.45,-112.4,26.9,-8.3,42,250,0.00,1.95,0.00,0.000,6,0.000,0.048,2694,2079,3611,0,0,0,0,0,0
$GC,571,-0.45,-112.4,60.0,-9.8,103,577,0.00,1.95,0.00,0.000,4,0.000,0.055,2694,840,3612,0,0,0,0,0,0
$GC,667,-0.45,-112.4,69.7,-10.1,121,673,0.00,1.92,0.00,0.000,6,0.000,0.054,2690,2061,3612,0,0,0,0,0,0
$GC,993,-0.45,-112.4,97.3,-7.9,182,999,0.00,2.03,0.00,0.000,4,0.000,0.064,2683,3307,3613,0,0,0,0,0,0
$GC,1084,-0.45,-112.4,104.7,-7.8,194,1089,0.00,1.95,0.00,0.000,6,0.000,0.048,2682,2061,3613,0,0,0,0,0,0
$STATE,1242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1242,begin apogee
$GC,1247,-0.14,0.0,118.4,8.7,210,1335,0.38,0.00,86.50,0.635,6,0.117,0.000,2804,1997,3150,0,0,0,0,0,0
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$GC,1338,0.45,112.4,121.7,0.0,219,1434,0.55,1.95,87.93,0.615,4,0.082,0.057,3001,766,2689,0,0,0,0,0,0
$GC,1481,0.48,176.2,120.9,3.8,232,1538,0.00,2.00,50.62,0.606,6,0.000,0.051,3001,2000,2432,0,0,0,0,0,0
$GC,1848,0.49,196.4,101.0,5.4,268,1868,0.00,2.05,17.05,0.591,4,0.000,0.061,3001,3240,2348,0,0,0,0,0,0
$GC,1985,0.49,196.4,91.6,7.6,292,1992,0.00,1.92,0.00,0.000,6,0.000,0.051,3002,2031,2345,0,0,0,0,0,0
$GC,2313,0.50,206.0,72.2,5.8,353,2329,0.00,2.05,8.40,0.555,4,0.000,0.061,3011,757,2310,0,0,0,0,0,0
$GC,2372,0.51,220.1,68.9,5.6,364,2390,0.00,1.98,13.02,0.578,6,0.000,0.053,3011,2007,2252,0,0,0,0,0,0
$GC,2711,0.52,235.4,48.1,5.5,427,2728,0.00,0.00,13.02,0.578,6,0.000,0.000,3011,2007,2189,0,0,0,0,0,0
$GC,3050,0.54,254.6,28.9,5.4,490,3071,0.00,0.00,16.05,0.581,6,0.000,0.000,3011,2007,2111,0,0,0,0,0,0
$GC,3393,0.60,276.5,17.8,5.3,554,3416,0.10,1.95,18.17,0.576,4,0.109,0.061,3062,3240,2022,0,0,0,0,0,0
$GC,3545,0.62,293.1,9.2,5.5,582,3567,0.00,1.98,14.60,0.560,6,0.000,0.051,3067,1999,1954,0,0,0,0,0,0
$STATE,3677,end climb,SURFACE_DEPTH_REACHED
$STATE,3677,begin surface coast
$FINISH,1.1,1.024197
$STATE,3742,end surface coast,CONTROL_FINISHED_OK
$STATE,3742,begin surface
$SM_CCo,3757,32.03,0.453,1,0,1722,350.04
$SM_GC,2.28,0.00,0.00,32.03,0.000,0.000,0.453,140,2089,1722,-8.48,0.40,350.04
$IRIDIUM_FIX,4735.69,-12505.04,191299,191934
$TT8_MAMPS,0.052156
$HUMID,41.25
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.4,52.906
$10V_AH,10.1,51.371
$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,19.125,27.875,325.375,32.025,0.000,113.225,150.675,341.266,0.000,0.000,17.165,0.000,1939.673,363.130,1620.749,777.192,0.000,900.966,0.000,1422.632,0.000,0.535,0.000
$DEVICE_MAMPS,233.168,124.254,635.076,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,444.438,408.014,1190.968,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298572
$DATA_FILE_SIZE,31803,619
$CAP_FILE_SIZE,72222,0
$CFSIZE,260165632,223715328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.156, 20.8,1
$GPS,240910,200501,4754.746,-12505.529,39,1.5,57,18.8