version: 66.06
glider: 187
mission: 2
dive: 642
start: 10 12 110 2 16 38
data:
$ID,187
$MISSION,2
$DIVE,642
$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,-37511.02
$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,26
$R_STBD_OVSHOOT,38
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,350
$ALTIM_PING_DELTA,25
$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
$GPS1,021007,4800.594,-12521.003,40,0.9,40,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-73.0
$GPS2,021632,4800.576,-12520.975,14,1.4,14,18.8
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,CANYON
$TGT_LATLONG,4801.600,-12521.000
$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,339.0,1897,-13.9,-6.111
$D_GRID,246
$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,-112.4,0.0,0.0,0,116,0.00,0.00,-100.25,0.000,2,0.000,0.000,131,2091,2908,0,0,0,0,0,0
$GC,118,-0.45,-112.4,3.2,-2.3,19,152,10.38,2.00,-16.95,0.000,4,0.230,0.067,2699,845,3609,0,0,0,0,0,0
$GC,349,-0.45,-112.4,34.1,-10.7,62,354,0.00,1.95,0.00,0.000,6,0.000,0.054,2695,2068,3611,0,0,0,0,0,0
$GC,676,-0.45,-112.4,67.5,-9.8,123,682,0.00,2.00,0.00,0.000,4,0.000,0.062,2686,3309,3613,0,0,0,0,0,0
$GC,745,-0.45,-112.4,74.3,-9.4,136,751,0.00,1.90,0.00,0.000,6,0.000,0.047,2686,2096,3612,0,0,0,0,0,0
$GC,1076,-0.45,-112.4,103.0,-8.7,195,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2096,3612,0,0,0,0,0,0
$GC,1388,-0.45,-112.4,130.5,-8.8,225,1390,0.00,1.92,0.00,0.000,4,0.000,0.064,2683,3314,3612,0,0,0,0,0,0
$GC,1440,-0.45,-112.4,135.3,-8.6,230,1444,0.00,1.88,0.00,0.000,6,0.000,0.048,2683,2118,3612,0,0,0,0,0,0
$GC,1761,-0.45,-112.4,163.2,-8.3,261,1765,0.00,1.95,0.00,0.000,4,0.000,0.064,2675,3307,3611,0,0,0,0,0,0
$GC,1793,-0.45,-112.4,165.9,-8.3,264,1797,0.08,1.88,0.00,0.000,6,0.117,0.050,2703,2120,3611,0,0,0,0,0,0
$GC,2114,-0.47,-112.4,191.2,-7.7,295,2117,0.00,1.98,0.00,0.000,4,0.000,0.058,2703,846,3611,0,0,0,0,0,0
$GC,2151,-0.48,-112.4,194.2,-7.6,298,2156,0.00,2.00,0.00,0.000,6,0.000,0.056,2703,2124,3611,0,0,0,0,0,0
$GC,2466,-0.49,-112.4,217.9,-7.4,329,2469,0.00,1.92,0.00,0.000,4,0.000,0.065,2703,3315,3610,0,0,0,0,0,0
$GC,2531,-0.52,-112.4,222.4,-6.4,335,2534,0.00,1.83,0.00,0.000,6,0.000,0.050,2703,2124,3610,0,0,0,0,0,0
$STATE,2838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2838,begin apogee
$GC,2843,-0.14,0.0,246.4,7.1,365,2934,0.32,0.00,88.80,0.742,6,0.108,0.000,2813,1998,3150,0,0,0,0,0,0
$STATE,2934,end apogee,CONTROL_FINISHED_OK
$STATE,2934,begin climb
$GC,2937,0.45,112.4,249.3,0.0,374,3035,0.50,2.08,89.82,0.716,4,0.072,0.059,3005,770,2690,0,0,0,0,0,0
$GC,3078,0.48,158.6,248.4,4.4,387,3124,0.00,2.03,38.28,0.698,6,0.000,0.054,3006,2005,2503,0,0,0,0,0,0
$GC,3433,0.48,158.6,227.4,6.3,422,3437,0.00,2.03,0.00,0.000,4,0.000,0.063,3005,3230,2497,0,0,0,0,0,0
$GC,3557,0.47,158.6,218.2,8.0,433,3562,0.00,1.92,0.00,0.000,6,0.000,0.051,3012,2012,2496,0,0,0,0,0,0
$GC,3873,0.46,163.2,196.1,5.9,464,3882,0.00,2.00,4.43,0.509,4,0.000,0.063,3012,3229,2484,0,0,0,0,0,0
$GC,3893,0.45,167.4,194.9,6.0,466,3903,0.00,1.92,5.30,0.548,6,0.000,0.053,3013,2012,2466,0,0,0,0,0,0
$GC,4214,0.44,167.4,175.1,6.2,497,4217,0.00,2.00,0.00,0.000,4,0.000,0.064,3013,3240,2465,0,0,0,0,0,0
$GC,4240,0.42,167.4,173.2,6.8,499,4245,0.00,1.95,0.00,0.000,6,0.000,0.053,3019,2019,2465,0,0,0,0,0,0
$GC,4555,0.41,167.4,152.2,6.4,530,4559,0.12,2.00,0.00,0.000,4,0.158,0.064,2983,3235,2465,0,0,0,0,0,0
$GC,4619,0.42,186.8,148.4,5.4,536,4641,0.00,1.90,17.08,0.663,6,0.000,0.053,2985,2026,2387,0,0,0,0,0,0
$GC,4951,0.43,195.1,129.9,5.8,568,4964,0.00,2.00,8.12,0.604,4,0.000,0.064,2985,3240,2354,0,0,0,0,0,0
$GC,4976,0.43,196.6,128.5,6.1,570,4982,0.00,1.95,0.00,0.000,6,0.000,0.054,2986,2024,2354,0,0,0,0,0,0
$GC,5293,0.44,217.0,112.0,5.4,601,5317,0.00,2.05,18.98,0.647,4,0.000,0.063,2986,768,2265,0,0,0,0,0,0
$GC,5339,0.47,244.6,109.6,5.1,605,5369,0.00,2.03,23.88,0.639,6,0.000,0.056,2987,2033,2151,0,0,0,0,0,0
$GC,5687,0.50,261.3,91.6,5.5,653,5709,0.00,2.00,14.00,0.619,4,0.000,0.064,2986,3235,2083,0,0,0,0,0,0
$GC,5747,0.53,264.2,88.2,6.0,664,5759,0.08,1.92,3.65,0.417,6,0.060,0.053,3033,2045,2073,0,0,0,0,0,0
$GC,6081,0.53,264.2,64.7,6.7,726,6088,0.00,2.05,0.00,0.000,4,0.000,0.062,3040,770,2070,0,0,0,0,0,0
$GC,6094,0.53,264.2,63.7,6.9,728,6100,0.00,2.08,0.00,0.000,6,0.000,0.056,3040,2067,2070,0,0,0,0,0,0
$GC,6421,0.53,264.2,41.9,6.2,789,6428,0.00,1.90,0.00,0.000,4,0.000,0.065,3040,3228,2069,0,0,0,0,0,0
$GC,6471,0.54,289.4,39.3,5.2,798,6498,0.00,1.83,21.88,0.611,6,0.000,0.053,3041,2084,1969,0,0,0,0,0,0
$GC,6822,0.57,303.4,24.0,5.6,863,6839,0.00,2.10,11.93,0.580,4,0.000,0.060,3041,757,1915,0,0,0,0,0,0
$GC,6860,0.60,322.0,21.8,5.4,870,6883,0.00,2.15,17.05,0.582,6,0.000,0.055,3041,2104,1836,0,0,0,0,0,0
$GC,7207,0.68,364.5,4.8,4.6,934,7240,0.00,0.00,32.17,0.583,2,0.000,0.000,3041,2104,1675,0,0,0,0,0,0
$STATE,7241,end climb,SURFACE_DEPTH_REACHED
$STATE,7241,begin surface coast
$FINISH,1.3,1.024221
$STATE,7303,end surface coast,CONTROL_FINISHED_OK
$STATE,7305,begin surface
$SM_CCo,7380,0.00,0.000,0,0,1667,363.78
$SM_GC,2.30,7.68,0.00,0.00,0.038,0.000,0.000,128,2107,1667,-8.41,0.88,363.78
$IRIDIUM_FIX,4742.09,-12526.65,060100,000048
$TT8_MAMPS,0.052923
$HUMID,41.45
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.0,68.082
$10V_AH,9.9,66.942
$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,19.150,67.250,395.350,0.000,0.000,28.867,39.636,191.482,0.000,0.000,14.969,0.000,4459.049,433.488,2355.115,495.830,0.000,1276.837,0.000,2041.849,0.000,0.994,0.000
$DEVICE_MAMPS,230.100,81.302,741.689,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,649.562,732.099,1399.664,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298436
$DATA_FILE_SIZE,53829,952
$CAP_FILE_SIZE,101451,0
$CFSIZE,260165632,214302720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,167.1,1
$GPS,121010,042028,4801.096,-12520.991,11,6.1,30,18.8