version: 66.06
glider: 187
mission: 2
dive: 643
start: 10 12 110 4 34 44
data:
$ID,187
$MISSION,2
$DIVE,643
$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,-37604.273
$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,28
$R_STBD_OVSHOOT,24
$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
$GPS1,042028,4801.096,-12520.991,11,6.1,30,18.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-74.5
$GPS2,043436,4801.064,-12520.833,92,1.6,92,18.8
$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,329.0,1014,-20.7,-6.111
$D_GRID,377
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.61,-53.7,0.0,0.0,0,69,0.00,0.00,-53.05,0.000,2,0.000,0.000,128,2106,2922,0,0,0,0,0,0
$GC,72,-0.64,-105.6,3.0,-2.2,10,105,10.02,2.05,-16.30,0.000,4,0.224,0.071,2641,846,3582,0,0,0,0,0,0
$GC,320,-0.64,-105.6,42.3,-13.1,56,326,0.00,1.95,0.00,0.000,6,0.000,0.053,2634,2074,3584,0,0,0,0,0,0
$GC,648,-0.64,-105.6,85.3,-13.8,117,653,0.00,1.98,0.00,0.000,4,0.000,0.062,2625,3305,3585,0,0,0,0,0,0
$GC,780,-0.64,-105.6,104.2,-13.5,139,786,0.00,1.90,0.00,0.000,6,0.000,0.048,2625,2099,3585,0,0,0,0,0,0
$GC,1097,-0.64,-105.6,149.4,-14.2,170,1100,0.00,1.98,0.00,0.000,4,0.000,0.064,2615,3318,3585,0,0,0,0,0,0
$GC,1150,-0.65,-105.6,156.8,-13.9,175,1153,0.10,1.88,0.00,0.000,6,0.163,0.049,2641,2110,3586,0,0,0,0,0,0
$GC,1470,-0.66,-105.6,194.6,-10.9,206,1473,0.00,1.98,0.00,0.000,4,0.000,0.066,2634,3309,3585,0,0,0,0,0,0
$GC,1507,-0.68,-105.6,198.8,-11.1,209,1512,0.00,1.88,0.00,0.000,6,0.000,0.049,2634,2122,3585,0,0,0,0,0,0
$GC,1822,-0.69,-105.6,233.5,-10.5,240,1826,0.00,1.92,0.00,0.000,4,0.000,0.065,2626,3310,3584,0,0,0,0,0,0
$GC,1859,-0.71,-105.6,237.7,-11.3,243,1866,0.00,1.85,0.00,0.000,6,0.000,0.050,2626,2133,3584,0,0,0,0,0,0
$GC,2176,-0.71,-105.6,276.7,-12.7,274,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2131,3584,0,0,0,0,0,0
$GC,2488,-0.71,-105.6,319.9,-13.9,304,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2131,3583,0,0,0,0,0,0
$GC,2797,-0.72,-105.6,359.4,-12.5,334,2800,0.00,1.90,0.00,0.000,4,0.000,0.067,2617,3309,3582,0,0,0,0,0,0
$GC,2865,-0.74,-105.6,368.0,-12.2,340,2871,0.00,1.85,0.00,0.000,6,0.000,0.050,2617,2137,3582,0,0,0,0,0,0
$STATE,2952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2952,begin apogee
$GC,2957,-0.14,0.0,377.8,11.1,349,3045,0.60,0.00,85.15,0.823,6,0.121,0.000,2810,1994,3150,0,0,0,0,0,0
$STATE,3045,end apogee,CONTROL_FINISHED_OK
$STATE,3045,begin climb
$GC,3048,0.64,105.6,380.1,0.0,358,3142,0.73,2.08,86.05,0.796,4,0.073,0.058,3072,770,2719,0,0,0,0,0,0
$GC,3152,0.63,120.7,377.6,5.0,368,3170,0.00,2.03,13.80,0.726,6,0.000,0.052,3072,1997,2656,0,0,0,0,0,0
$GC,3479,0.61,120.7,349.8,7.7,400,3482,0.00,2.00,0.00,0.000,4,0.000,0.062,3072,3233,2653,0,0,0,0,0,0
$GC,3655,0.58,120.7,336.1,7.3,416,3661,0.10,1.95,0.00,0.000,6,0.153,0.050,3050,2010,2651,0,0,0,0,0,0
$GC,3970,0.58,120.7,319.8,6.4,447,3974,0.00,2.00,0.00,0.000,4,0.000,0.061,3050,3233,2651,0,0,0,0,0,0
$GC,4184,0.57,120.7,304.0,8.3,467,4187,0.00,1.92,0.00,0.000,6,0.000,0.051,3056,2019,2650,0,0,0,0,0,0
$GC,4505,0.56,131.0,282.3,5.3,498,4519,0.00,2.00,8.85,0.692,4,0.000,0.061,3056,3247,2615,0,0,0,0,0,0
$GC,4530,0.56,150.8,281.0,4.6,500,4552,0.00,1.92,17.62,0.732,6,0.000,0.051,3065,2030,2535,0,0,0,0,0,0
$GC,4863,0.56,150.8,257.3,7.7,532,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2030,2531,0,0,0,0,0,0
$GC,5175,0.56,150.8,227.3,10.3,562,5178,0.00,1.95,0.00,0.000,4,0.000,0.061,3065,3242,2531,0,0,0,0,0,0
$GC,5275,0.54,150.8,216.4,9.7,571,5281,0.12,1.92,0.00,0.000,6,0.144,0.051,3034,2033,2531,0,0,0,0,0,0
$GC,5592,0.54,152.7,194.1,6.0,602,5595,0.00,1.95,0.00,0.000,4,0.000,0.062,3033,3240,2530,0,0,0,0,0,0
$GC,5645,0.54,152.7,190.4,7.1,607,5648,0.00,1.88,0.00,0.000,6,0.000,0.052,3040,2041,2530,0,0,0,0,0,0
$GC,5965,0.54,152.7,169.4,7.5,638,5969,0.00,1.95,0.00,0.000,4,0.000,0.063,3040,3235,2530,0,0,0,0,0,0
$GC,6034,0.54,152.7,163.3,9.5,644,6040,0.00,1.85,0.00,0.000,6,0.000,0.051,3048,2065,2530,0,0,0,0,0,0
$GC,6350,0.54,152.7,130.9,9.7,675,6353,0.00,1.90,0.00,0.000,4,0.000,0.063,3047,3229,2530,0,0,0,0,0,0
$GC,6387,0.54,152.7,127.4,9.3,678,6393,0.00,1.83,0.00,0.000,6,0.000,0.051,3055,2076,2529,0,0,0,0,0,0
$GC,6704,0.54,152.7,102.0,6.9,709,6707,0.00,1.88,0.00,0.000,4,0.000,0.063,3055,3233,2529,0,0,0,0,0,0
$GC,6768,0.53,152.7,97.6,6.9,718,6774,0.10,1.83,0.00,0.000,6,0.143,0.051,3030,2084,2529,0,0,0,0,0,0
$GC,7097,0.58,202.6,84.2,2.3,779,7146,0.00,1.90,41.83,0.647,4,0.000,0.063,3029,3227,2323,0,0,0,0,0,0
$GC,7208,0.60,210.7,80.1,5.5,799,7220,0.00,1.83,7.78,0.565,6,0.000,0.051,3034,2096,2291,0,0,0,0,0,0
$GC,7543,0.63,210.7,51.4,9.1,861,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2096,2288,0,0,0,0,0,0
$GC,7869,0.71,265.8,30.9,1.9,922,7919,0.15,1.85,44.53,0.610,4,0.087,0.062,3102,3237,2064,0,0,0,0,0,0
$GC,8005,0.74,280.7,25.0,5.0,947,8022,0.00,1.80,13.10,0.572,6,0.000,0.051,3109,2121,2005,0,0,0,0,0,0
$GC,8344,0.75,280.7,8.1,6.8,1010,8350,0.00,1.83,0.00,0.000,4,0.000,0.063,3111,3226,1999,0,0,0,0,0,0
$GC,8361,0.77,280.7,6.8,7.0,1013,8367,0.00,1.80,0.00,0.000,6,0.000,0.052,3117,2100,1999,0,0,0,0,0,0
$STATE,8418,end climb,SURFACE_DEPTH_REACHED
$STATE,8418,begin surface coast
$FINISH,1.0,1.012421
$STATE,8468,end surface coast,CONTROL_FINISHED_OK
$STATE,8468,begin surface
$SM_CCo,8483,40.85,0.494,1,0,1722,350.04
$SM_GC,2.86,0.00,0.00,40.85,0.000,0.000,0.494,134,2099,1722,-8.51,0.68,350.04
$IRIDIUM_FIX,4745.30,-12511.66,060100,040406
$TT8_MAMPS,0.052923
$HUMID,41.53
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.9,68.181
$10V_AH,9.8,67.046
$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,19.800,69.125,318.700,40.850,0.000,85.812,160.276,265.969,0.500,0.000,92.623,0.000,5550.927,402.287,2625.381,781.510,0.000,1284.562,0.000,2198.567,0.000,5.037,0.000
$DEVICE_MAMPS,223.964,75.933,822.991,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,707.136,796.782,1370.395,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298316
$DATA_FILE_SIZE,56902,1033
$CAP_FILE_SIZE,114402,0
$CFSIZE,260165632,214233088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.056,237.2,1
$GPS,121010,065836,4801.752,-12521.544,76,1.2,82,18.8