version: 66.07
glider: 187
mission: 4
dive: 168
start: 5 4 111 22 5 57
data:
$ID,187
$MISSION,4
$DIVE,168
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$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,340
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1584031.6
$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,2948
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,43
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2600
$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,-60.973145
$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,5
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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
$GPS1,040511,210922,4735.929,-12507.157,12,4.5,31,18.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.8
$GPS2,040511,220531,4735.499,-12506.267,46,1.2,46,18.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.176,-0.114
$KALMAN_X,14438.9,303.9,-305.7,-13432.8,797.0
$KALMAN_Y,-14155.7,856.3,103.6,-14859.7,-275.4
$MHEAD_RNG_PITCHd_Wd,340.6,43227,-18.6,-10.000
$D_GRID,224
$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,13,begin dive
$GC,15,-0.71,-146.6,0.0,0.0,0,115,0.00,0.00,-97.05,0.000,2,0.000,0.000,120,2255,2885,0,0,0,0,0,0
$GC,119,-0.71,-146.6,3.7,-7.2,15,141,10.38,0.00,-5.72,0.000,6,0.236,0.000,2714,2254,3201,0,0,0,0,0,0
$GC,207,-0.68,-146.6,26.6,-15.0,30,215,0.00,2.42,0.00,0.000,4,0.000,0.048,2714,731,3203,0,0,0,0,0,0
$GC,302,-0.66,-146.6,41.0,-14.9,47,310,0.00,2.35,0.00,0.000,6,0.000,0.046,2706,2216,3204,0,0,0,0,0,0
$GC,376,-0.63,-146.6,52.3,-16.2,60,383,0.15,0.00,0.00,0.000,6,0.160,0.000,2746,2216,3204,0,0,0,0,0,0
$GC,449,-0.63,-146.6,61.9,-12.0,73,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2216,3204,0,0,0,0,0,0
$GC,523,-0.63,-146.6,70.3,-11.3,86,530,0.00,2.33,0.00,0.000,4,0.000,0.048,2746,738,3205,0,0,0,0,0,0
$GC,585,-0.63,-146.6,77.7,-11.6,97,594,0.00,2.33,0.00,0.000,6,0.000,0.046,2739,2220,3205,0,0,0,0,0,0
$GC,659,-0.63,-146.6,85.3,-10.5,110,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2220,3205,0,0,0,0,0,0
$GC,733,-0.63,-146.6,93.0,-10.7,123,740,0.00,2.33,0.00,0.000,4,0.000,0.048,2737,738,3205,0,0,0,0,0,0
$GC,801,-0.63,-146.6,101.6,-12.6,134,805,0.00,2.22,0.00,0.000,6,0.000,0.046,2730,2195,3205,0,0,0,0,0,0
$GC,935,-0.63,-146.6,117.6,-12.4,146,940,0.00,2.50,0.00,0.000,4,0.000,0.059,2718,3774,3205,0,0,0,0,0,0
$GC,988,-0.63,-146.6,124.1,-12.5,150,992,0.00,2.40,0.00,0.000,6,0.000,0.041,2717,2199,3205,0,0,0,0,0,0
$GC,1122,-0.63,-146.6,140.8,-12.7,162,1126,0.00,2.25,0.00,0.000,4,0.000,0.049,2716,731,3204,0,0,0,0,0,0
$GC,1155,-0.63,-146.6,145.2,-13.3,164,1163,0.12,2.25,0.00,0.000,6,0.157,0.046,2744,2206,3204,0,0,0,0,0,0
$GC,1291,-0.63,-146.6,158.5,-9.4,177,1295,0.00,2.45,0.00,0.000,4,0.000,0.059,2734,3773,3204,0,0,0,0,0,0
$GC,1331,-0.63,-146.6,162.8,-10.0,180,1336,0.00,2.38,0.00,0.000,6,0.000,0.041,2733,2213,3203,0,0,0,0,0,0
$GC,1465,-0.63,-146.6,176.3,-10.3,192,1469,0.00,2.25,0.00,0.000,4,0.000,0.050,2732,742,3204,0,0,0,0,0,0
$GC,1510,-0.63,-146.6,181.1,-10.5,195,1517,0.00,2.28,0.00,0.000,6,0.000,0.047,2725,2205,3204,0,0,0,0,0,0
$GC,1645,-0.63,-146.6,194.8,-10.7,208,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2205,3203,0,0,0,0,0,0
$GC,1771,-0.63,-146.6,208.0,-10.2,220,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2205,3203,0,0,0,0,0,0
$GC,1900,-0.63,-146.6,221.0,-10.1,232,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2205,3203,0,0,0,0,0,0
$STATE,1928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1928,begin apogee
$GC,1935,-0.23,0.0,224.2,10.0,235,2056,0.43,0.00,117.70,0.708,6,0.120,0.000,2866,2090,2600,0,0,0,0,0,0
$STATE,2057,end apogee,CONTROL_FINISHED_OK
$STATE,2057,begin climb
$GC,2060,0.71,146.6,228.5,0.0,247,2188,0.88,0.00,123.70,0.682,6,0.084,0.000,3167,2090,2001,0,0,0,0,0,0
$GC,2315,0.68,146.6,198.4,14.7,272,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2090,1994,0,0,0,0,0,0
$GC,2443,0.65,146.6,179.5,15.0,284,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2090,1991,0,0,0,0,0,0
$GC,2570,0.63,146.6,160.0,15.7,296,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2090,1990,0,0,0,0,0,0
$GC,2697,0.60,146.6,139.8,15.9,308,2702,0.00,2.45,0.00,0.000,4,0.000,0.056,3167,3618,1989,0,0,0,0,0,0
$GC,2738,0.57,146.6,133.2,16.6,311,2744,0.17,2.35,0.00,0.000,6,0.167,0.041,3133,2109,1988,0,0,0,0,0,0
$GC,2874,0.57,146.6,115.2,12.5,323,2878,0.00,2.35,0.00,0.000,4,0.000,0.052,3142,591,1988,0,0,0,0,0,0
$GC,2896,0.57,146.6,112.1,12.4,324,2904,0.00,2.38,0.00,0.000,6,0.000,0.046,3142,2097,1988,0,0,0,0,0,0
$GC,3031,0.55,146.6,96.1,12.9,340,3038,0.00,2.42,0.00,0.000,4,0.000,0.057,3142,3611,1987,0,0,0,0,0,0
$GC,3047,0.54,146.6,93.6,14.5,342,3054,0.00,2.40,0.00,0.000,6,0.000,0.044,3152,2092,1987,0,0,0,0,0,0
$GC,3120,0.53,146.6,84.6,12.6,355,3128,0.12,2.35,0.00,0.000,4,0.163,0.053,3128,574,1986,0,0,0,0,0,0
$GC,3164,0.53,147.6,80.0,10.0,362,3172,0.00,2.33,0.00,0.000,6,0.000,0.046,3128,2063,1986,0,0,0,0,0,0
$GC,3237,0.55,179.8,73.2,8.5,375,3272,0.00,2.38,25.80,0.609,4,0.000,0.054,3138,593,1865,0,0,0,0,0,0
$GC,3312,0.58,209.7,66.6,8.6,387,3347,0.00,2.25,24.88,0.597,6,0.000,0.046,3137,2016,1745,0,0,0,0,0,0
$GC,3415,0.61,236.6,57.9,8.8,404,3445,0.00,0.00,22.15,0.586,6,0.000,0.000,3137,2016,1635,0,0,0,0,0,0
$GC,3511,0.63,252.0,49.1,9.3,420,3526,0.00,0.00,13.73,0.564,6,0.000,0.000,3137,2016,1572,0,0,0,0,0,0
$GC,3592,0.65,252.0,41.1,10.4,434,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2016,1567,0,0,0,0,0,0
$GC,3663,0.66,252.0,33.7,10.4,447,3671,0.00,2.30,0.00,0.000,4,0.000,0.054,3145,588,1566,0,0,0,0,0,0
$GC,3695,0.68,252.0,30.6,10.2,452,3702,0.00,2.25,0.00,0.000,6,0.000,0.046,3145,2007,1565,0,0,0,0,0,0
$GC,3768,0.70,252.0,21.9,12.4,465,3778,0.00,2.62,0.00,0.000,4,0.000,0.058,3146,3609,1565,0,0,0,0,0,0
$GC,3792,0.71,252.0,18.8,12.7,468,3799,0.00,2.53,0.00,0.000,6,0.000,0.045,3152,1998,1564,0,0,0,0,0,0
$GC,3866,0.76,274.9,10.7,9.0,481,3895,0.12,2.28,18.73,0.563,4,0.093,0.054,3216,593,1477,0,0,0,0,0,0
$STATE,3943,end climb,SURFACE_DEPTH_REACHED
$STATE,3943,begin surface coast
$FINISH,2.8,1.023191
$STATE,3957,end surface coast,CONTROL_FINISHED_OK
$STATE,3957,begin surface
$SM_CCo,3977,40.03,0.455,2,0,1213,340.23
$SM_GC,1.11,0.00,0.00,40.03,0.000,0.000,0.455,131,2257,1213,-8.81,0.20,340.23
$IRIDIUM_FIX,4716.56,-12459.26,040511,191909
$TT8_MAMPS,0.026964
$HUMID,34.64
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.9,15.405
$10V_AH,10.3,9.445
$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,20.900,71.150,346.675,40.025,0.000,25.007,42.778,3117.001,0.000,0.000,47.283,1198.872,1164.756,521.903,3821.975,692.218,0.000,1061.591,0.000,1081.367,0.000,0.538,0.000
$DEVICE_MAMPS,235.620,80.325,707.625,455.175,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.465,365.254,761.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297768
$DATA_FILE_SIZE,26947,496
$CAP_FILE_SIZE,127661,0
$CFSIZE,260165632,205922304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.226,158.9,1
$GPS,040511,231356,4735.632,-12506.007,13,1.4,13,18.6