version: 66.07
glider: 187
mission: 4
dive: 438
start: 6 17 111 3 28 26
data:
$ID,187
$MISSION,4
$DIVE,438
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,75
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,325
$N_FILEKB,8
$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,-1585273
$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,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2735
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$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
$GPS1,170611,032201,4752.466,-12504.336,49,1.2,49,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-77.9
$GPS2,170611,032731,4752.408,-12504.259,16,1.2,16,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.071,0.300
$KALMAN_X,68932.3,-364.9,24.7,-64990.5,44.1
$KALMAN_Y,-178926.8,-186.7,-360.0,190405.4,-393.7
$MHEAD_RNG_PITCHd_Wd,337.3,13722,-17.6,-11.111
$D_GRID,113
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.67,-195.5,0.0,0.0,0,78,0.00,0.00,-58.53,0.000,2,0.000,0.000,132,2196,2833,0,0,0,0,0,0
$GC,81,-0.67,-195.5,3.9,-5.8,9,111,10.20,2.40,-13.07,0.000,4,0.233,0.057,2696,660,3534,0,0,0,0,0,0
$GC,169,-0.65,-195.5,24.3,-14.0,23,178,0.00,2.38,0.00,0.000,6,0.000,0.047,2687,2163,3535,0,0,0,0,0,0
$GC,308,-0.63,-195.5,45.5,-16.3,48,316,0.12,0.00,0.00,0.000,6,0.161,0.000,2721,2163,3536,0,0,0,0,0,0
$GC,446,-0.63,-195.5,64.6,-12.7,73,454,0.00,2.35,0.00,0.000,4,0.000,0.049,2721,664,3536,0,0,0,0,0,0
$GC,472,-0.63,-195.5,68.2,-13.3,77,480,0.00,2.38,0.00,0.000,6,0.000,0.047,2718,2182,3536,0,0,0,0,0,0
$GC,610,-0.63,-195.5,82.8,-10.5,102,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2181,3536,0,0,0,0,0,0
$GC,749,-0.63,-195.5,100.0,-11.9,127,757,0.00,2.38,0.00,0.000,4,0.000,0.050,2717,664,3536,0,0,0,0,0,0
$GC,776,-0.63,-195.5,103.5,-12.4,130,780,0.00,2.35,0.00,0.000,6,0.000,0.047,2714,2185,3537,0,0,0,0,0,0
$STATE,855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,856,begin apogee
$GC,863,-0.22,0.0,113.1,12.1,137,1022,0.38,0.00,152.35,0.633,6,0.109,0.000,2843,2040,2734,0,0,0,0,0,0
$STATE,1024,end apogee,CONTROL_FINISHED_OK
$STATE,1024,begin climb
$GC,1027,0.67,195.5,122.4,0.0,153,1191,0.82,2.42,156.98,0.617,4,0.079,0.049,3141,557,1936,0,0,0,0,0,0
$GC,1285,0.67,198.8,103.8,11.0,174,1293,0.00,2.42,0.00,0.000,6,0.000,0.044,3141,2063,1930,0,0,0,0,0,0
$GC,1486,0.68,238.7,83.3,9.6,208,1528,0.00,2.42,34.62,0.591,4,0.000,0.050,3152,547,1760,0,0,0,0,0,0
$GC,1548,0.69,258.1,77.0,10.4,217,1571,0.00,2.35,17.00,0.562,6,0.000,0.044,3152,2023,1682,0,0,0,0,0,0
$GC,1701,0.69,258.1,59.9,12.0,244,1709,0.00,2.35,0.00,0.000,4,0.000,0.052,3162,560,1676,0,0,0,0,0,0
$GC,1734,0.69,264.5,56.4,10.9,249,1749,0.00,2.30,5.90,0.474,6,0.000,0.045,3161,2011,1655,0,0,0,0,0,0
$GC,1879,0.69,264.5,41.1,11.2,275,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2011,1652,0,0,0,0,0,0
$GC,2018,0.70,275.4,25.7,10.7,300,2034,0.00,2.35,9.73,0.526,4,0.000,0.052,3171,556,1611,0,0,0,0,0,0
$GC,2070,0.70,276.3,20.0,11.1,308,2077,0.00,2.22,0.00,0.000,6,0.000,0.045,3171,1973,1610,0,0,0,0,0,0
$GC,2208,0.78,388.0,7.6,6.9,333,2273,0.00,0.00,62.38,0.566,2,0.000,0.000,3171,1973,1295,0,0,0,0,0,0
$STATE,2274,end climb,SURFACE_DEPTH_REACHED
$STATE,2274,begin surface coast
$FINISH,0.9,1.022662
$STATE,2346,end surface coast,CONTROL_FINISHED_OK
$STATE,2346,begin surface
$SM_CCo,2424,0.00,0.000,0,0,1285,355.68
$SM_GC,1.79,8.02,0.00,0.00,0.035,0.000,0.000,128,2185,1285,-8.61,0.28,355.68
$IRIDIUM_FIX,4735.69,-12502.41,170611,020255
$TT8_MAMPS,0.026964
$HUMID,37.55
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,52.4
$24V_AH,24.1,45.401
$10V_AH,10.1,41.255
$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,19.550,33.575,438.950,0.000,0.000,27.149,37.303,154.655,0.750,0.000,16.865,807.920,249.169,428.185,1100.903,171.742,33.328,857.750,0.000,836.870,0.000,7.105,0.000
$DEVICE_MAMPS,232.560,68.085,633.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.851,851.021,677.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297436
$DATA_FILE_SIZE,20241,355
$CAP_FILE_SIZE,48172,0
$CFSIZE,260165632,185032704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232,173.3,1
$GPS,170611,040938,4752.413,-12504.255,13,1.4,13,18.7