version: 66.07
glider: 187
mission: 4
dive: 807
start: 9 10 111 12 55 22
data:
$ID,187
$MISSION,4
$DIVE,807
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$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,540
$T_MISSION,600
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,1
$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,-1586662.6
$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,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,36
$R_STBD_OVSHOOT,41
$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,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
$GPS1,100911,124904,4751.399,-12510.890,18,3.1,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.6
$GPS2,100911,125428,4751.368,-12510.832,18,3.5,37,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.092,0.052
$KALMAN_X,384637.7,167.7,3.2,-389391.2,-144.5
$KALMAN_Y,-796683.7,374.6,-401.4,805711.2,-496.5
$MHEAD_RNG_PITCHd_Wd,280.5,815,-27.7,-6.111
$D_GRID,220
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.88,-30.0,0.0,0.0,0,77,0.00,0.00,-59.30,0.000,6,0.000,0.000,130,2197,2858,0,0,0,0,0,0
$GC,80,-0.91,-74.8,0.0,-0.0,0,100,10.12,2.40,-3.55,0.000,4,0.224,0.064,2611,3679,3043,0,0,0,0,0,0
$GC,107,-0.74,-74.8,15.8,-40.1,0,113,0.25,2.35,0.00,0.000,6,0.163,0.043,2679,2172,3045,0,0,0,0,0,0
$GC,388,-0.74,-74.8,58.4,-14.6,3,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2166,3048,0,0,0,0,0,0
$GC,589,-0.74,-74.8,84.5,-14.2,5,593,0.00,2.35,0.00,0.000,4,0.000,0.047,2679,653,3049,0,0,0,0,0,0
$GC,628,-0.75,-74.8,88.7,-10.3,5,632,0.00,2.30,0.00,0.000,6,0.000,0.046,2670,2155,3049,0,0,0,0,0,0
$GC,1098,-0.77,-74.8,146.0,-12.2,8,1102,0.00,2.42,0.00,0.000,4,0.000,0.057,2658,3694,3050,0,0,0,0,0,0
$GC,1193,-0.78,-74.8,156.5,-10.1,8,1197,0.00,2.38,0.00,0.000,6,0.000,0.041,2656,2162,3050,0,0,0,0,0,0
$GC,1730,-0.80,-74.8,212.2,-9.6,10,1734,0.00,2.33,0.00,0.000,4,0.000,0.048,2656,667,3049,0,0,0,0,0,0
$GC,1780,-0.81,-74.8,217.7,-10.6,10,1784,0.00,2.35,0.00,0.000,6,0.000,0.048,2646,2180,3049,0,0,0,0,0,0
$STATE,1804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1804,begin apogee
$GC,1813,-0.22,0.0,220.6,11.4,10,1879,0.60,0.00,62.88,0.695,6,0.126,0.000,2841,2053,2734,0,0,0,0,0,0
$STATE,1880,end apogee,CONTROL_FINISHED_OK
$STATE,1880,begin climb
$GC,1883,0.91,74.8,223.9,0.0,10,1953,1.02,0.00,63.95,0.677,6,0.073,0.000,3209,2052,2429,0,0,0,0,0,0
$GC,2345,0.91,74.8,190.7,8.8,12,2349,0.00,2.42,0.00,0.000,4,0.000,0.054,3209,3582,2422,0,0,0,0,0,0
$GC,2569,0.89,74.8,169.9,7.3,12,2574,0.00,2.35,0.00,0.000,6,0.000,0.041,3220,2070,2419,0,0,0,0,0,0
$GC,2972,0.88,74.8,140.0,7.5,14,2976,0.00,2.38,0.00,0.000,4,0.000,0.054,3220,3580,2419,0,0,0,0,0,0
$GC,3230,0.86,74.8,118.0,7.6,14,3235,0.12,2.33,0.00,0.000,6,0.180,0.041,3201,2076,2417,0,0,0,0,0,0
$GC,3604,0.86,83.2,99.0,5.0,16,3618,0.00,2.45,6.70,0.534,4,0.000,0.050,3211,543,2395,0,0,0,0,0,0
$GC,3684,0.87,96.8,96.3,4.3,16,3703,0.00,2.35,13.70,0.594,6,0.000,0.044,3210,2074,2339,0,0,0,0,0,0
$GC,3917,0.87,101.3,83.8,5.5,19,3927,0.00,2.38,5.07,0.483,4,0.000,0.053,3211,3572,2321,0,0,0,0,0,0
$GC,4180,0.88,106.6,68.0,5.4,21,4191,0.00,2.25,5.72,0.500,6,0.000,0.041,3222,2114,2300,0,0,0,0,0,0
$GC,4445,0.89,125.7,58.8,3.5,24,4469,0.00,2.35,18.12,0.591,4,0.000,0.054,3222,3565,2221,0,0,0,0,0,0
$GC,4487,0.90,136.8,56.9,4.6,24,4503,0.00,2.30,10.77,0.553,6,0.000,0.041,3233,2077,2177,0,0,0,0,0,0
$GC,4750,0.90,136.8,38.2,7.3,27,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2077,2173,0,0,0,0,0,0
$GC,4952,0.90,136.8,24.3,7.3,29,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2076,2172,0,0,0,0,0,0
$GC,5152,0.90,137.7,14.3,6.0,31,5156,0.00,2.42,0.00,0.000,4,0.000,0.056,3233,3583,2172,0,0,0,0,0,0
$GC,5414,0.91,154.7,12.8,3.8,33,5435,0.12,2.28,15.80,0.556,6,0.168,0.041,3212,2099,2103,0,0,0,0,0,0
$GC,5685,0.96,193.8,9.3,0.8,36,5724,0.00,2.47,33.33,0.567,4,0.000,0.050,3222,562,1943,0,0,0,0,0,0
$STATE,5846,end climb,NO_VERTICAL_VELOCITY
$STATE,5846,begin surface
$SM_CCo,5850,213.90,0.519,8,0,469,555.60
$SM_GC,1.47,8.15,0.00,0.00,0.033,0.000,0.000,127,2175,462,-8.61,0.00,557.32
$IRIDIUM_FIX,4735.69,-12513.98,100911,111105
$TT8_MAMPS,0.027713
$HUMID,42.00
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,23.9,88.078
$10V_AH,9.9,85.993
$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,20.400,52.375,236.050,213.900,0.000,27.225,32.524,121.318,0.250,0.000,39.301,327.118,4584.128,534.993,896.078,202.969,33.352,951.315,0.000,694.095,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,73.440,694.620,519.435,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297804
$DATA_FILE_SIZE,335,37
$CAP_FILE_SIZE,61237,0
$CFSIZE,260165632,154558464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1
$GPS,100911,143944,4751.146,-12511.596,10,1.8,10,18.7