version: 66.06
glider: 187
mission: 2
dive: 493
start: 9 25 110 0 38 14
data:
$ID,187
$MISSION,2
$DIVE,493
$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,-33771.574
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,002554,4755.458,-12503.310,62,1.0,62,18.8
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-73.4
$GPS2,003808,4755.458,-12503.135,27,1.8,27,18.8
$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,26.4,8946,-13.9,-6.111
$D_GRID,106
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,67,0.00,0.00,-52.70,0.000,2,0.000,0.000,131,2084,2976,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.5,-3.1,10,98,10.25,1.98,-14.10,0.000,4,0.229,0.072,2693,3295,3611,0,0,0,0,0,0
$GC,338,-0.45,-112.4,41.7,-8.6,60,345,0.00,1.92,0.00,0.000,6,0.000,0.047,2693,2069,3614,0,0,0,0,0,0
$GC,665,-0.45,-112.4,71.2,-9.4,121,671,0.00,2.00,0.00,0.000,4,0.000,0.063,2684,3295,3615,0,0,0,0,0,0
$GC,762,-0.45,-112.4,79.7,-8.4,139,768,0.00,1.90,0.00,0.000,6,0.000,0.048,2684,2082,3614,0,0,0,0,0,0
$STATE,1047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1047,begin apogee
$GC,1052,-0.14,0.0,106.2,9.3,187,1141,0.38,0.00,86.53,0.624,6,0.114,0.000,2807,1983,3150,0,0,0,0,0,0
$STATE,1141,end apogee,CONTROL_FINISHED_OK
$STATE,1141,begin climb
$GC,1144,0.45,112.4,109.5,0.0,196,1236,0.57,1.98,87.47,0.605,4,0.080,0.055,3014,775,2689,0,0,0,0,0,0
$GC,1243,0.50,215.3,108.9,2.3,205,1330,0.00,1.98,81.03,0.597,6,0.000,0.052,3014,1997,2270,0,0,0,0,0,0
$GC,1647,0.50,215.3,82.4,6.7,267,1653,0.00,1.95,0.00,0.000,4,0.000,0.060,3014,785,2265,0,0,0,0,0,0
$GC,1834,0.50,215.3,69.9,6.4,302,1840,0.00,1.95,0.00,0.000,6,0.000,0.053,3014,2021,2264,0,0,0,0,0,0
$GC,2161,0.50,215.3,51.2,7.2,363,2166,0.00,1.92,0.00,0.000,4,0.000,0.062,3014,3225,2262,0,0,0,0,0,0
$GC,2252,0.50,215.3,45.3,6.2,380,2258,0.00,1.88,0.00,0.000,6,0.000,0.051,3014,2039,2261,0,0,0,0,0,0
$GC,2580,0.51,215.3,28.4,6.2,441,2585,0.00,1.92,0.00,0.000,4,0.000,0.064,3015,3234,2261,0,0,0,0,0,0
$GC,2628,0.52,215.3,24.8,7.6,450,2634,0.00,1.92,0.00,0.000,6,0.000,0.051,3015,2017,2260,0,0,0,0,0,0
$GC,2955,0.63,349.9,18.2,1.2,511,3068,0.12,2.03,103.38,0.578,4,0.093,0.061,3078,3225,1720,0,0,0,0,0,0
$GC,3111,0.63,349.9,8.1,11.1,539,3117,0.00,1.92,0.00,0.000,6,0.000,0.051,3079,2041,1716,0,0,0,0,0,0
$STATE,3227,end climb,SURFACE_DEPTH_REACHED
$STATE,3227,begin surface coast
$FINISH,1.3,1.024082
$STATE,3308,end surface coast,CONTROL_FINISHED_OK
$STATE,3308,begin surface
$SM_CCo,3383,0.00,0.000,0,0,1709,353.48
$SM_GC,2.02,7.85,0.00,0.00,0.046,0.000,0.000,147,2072,1709,-8.40,-0.08,353.48
$IRIDIUM_FIX,4742.09,-12503.47,201299,000016
$TT8_MAMPS,0.052156
$HUMID,41.33
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,24.4,53.295
$10V_AH,10.1,51.718
$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,19.175,27.425,358.400,0.000,0.000,84.259,105.613,287.441,0.000,0.000,27.646,0.000,1592.914,348.710,1530.069,635.949,0.000,852.651,0.000,1338.615,0.000,0.536,0.000
$DEVICE_MAMPS,229.333,157.235,624.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,400.491,378.944,1157.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,31920,576
$CAP_FILE_SIZE,62209,0
$CFSIZE,260165632,223531008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,174.5,1
$GPS,250910,013525,4755.465,-12502.886,14,1.4,31,18.8