version: 66.06
glider: 187
mission: 2
dive: 57
start: 7 18 110 4 48 32
data:
$ID,187
$MISSION,2
$DIVE,57
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,54
$T_MISSION,75
$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,100
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,2
$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,-24559.879
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$GPS1,040720,4747.913,-12503.564,17,1.0,17,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.89
$_SM_ANGLEo,-8.5
$GPS2,040720,4747.913,-12503.564,17,1.0,17,18.7
$SPEED_LIMITS,0.214,0.317
$TGT_NAME,HEADING
$TGT_LATLONG,4747.913,-12519.641
$TGT_RADIUS,1852.000
$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,251.3,20000,-18.1,-12.346
$D_GRID,135
$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,12,-0.99,-195.5,0.0,0.0,0,20,0.00,0.00,-7.30,0.000,2,0.000,0.000,2833,3235,3668,0,0,0,0,0,0
$GC,22,-0.99,-195.5,9.7,-0.0,1,33,0.80,0.15,-5.68,0.000,4,0.044,0.280,2513,3342,3948,0,0,0,0,0,0
$GC,53,-0.59,-195.5,15.7,-22.2,7,60,0.47,2.00,0.00,0.000,6,0.159,0.050,2653,2093,3949,0,0,0,0,0,0
$GC,379,-0.59,-195.5,67.9,-12.0,68,386,0.00,1.95,0.00,0.000,4,0.000,0.059,2653,864,3950,0,0,0,0,0,0
$GC,470,-0.71,-195.5,77.8,-10.3,85,477,0.00,1.98,0.00,0.000,6,0.000,0.058,2650,2100,3950,0,0,0,0,0,0
$GC,791,-0.78,-195.5,119.8,-11.2,131,795,0.15,1.98,0.00,0.000,4,0.088,0.059,2584,861,3951,0,0,0,0,0,0
$GC,817,-0.73,-195.5,123.4,-14.5,133,824,0.10,2.00,0.00,0.000,6,0.178,0.058,2605,2110,3951,0,0,0,0,0,0
$STATE,905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,905,begin apogee
$GC,907,-0.21,0.0,135.2,13.8,142,1066,0.55,0.00,152.32,0.650,6,0.133,0.000,2781,1989,3150,0,0,0,0,0,0
$STATE,1067,end apogee,CONTROL_FINISHED_OK
$STATE,1067,begin climb
$GC,1068,0.99,195.5,141.4,0.0,158,1232,1.12,2.15,155.50,0.627,4,0.087,0.059,3159,3233,2352,0,0,0,0,0,0
$GC,1473,0.57,195.5,84.1,21.2,204,1480,0.43,1.98,0.00,0.000,6,0.165,0.051,3043,2010,2346,0,0,0,0,0,0
$GC,1799,0.79,373.7,54.2,4.8,265,1945,0.17,2.05,139.48,0.588,4,0.078,0.059,3116,3232,1625,0,0,0,0,0,0
$GC,1970,0.74,373.7,33.1,14.9,298,1978,0.10,2.05,0.00,0.000,6,0.139,0.053,3093,2004,1620,0,0,0,0,0,0
$STATE,2269,end climb,SURFACE_DEPTH_REACHED
$STATE,2269,begin surface coast
$FINISH,0.2,1.012824
$STATE,2308,end surface coast,CONTROL_FINISHED_OK
$STATE,2308,begin surface
$SM_CCo,2380,0.00,0.000,0,0,1612,377.27
$SM_GC,1.02,7.97,0.00,0.00,0.049,0.000,0.000,138,2120,1612,-8.39,0.54,377.27
$IRIDIUM_FIX,4732.49,-12458.73,121099,040452
$TT8_MAMPS,0.052156
$HUMID,38.54
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,24.1,7.299
$10V_AH,10.4,3.914
$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,11.875,18.625,447.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,1061.636,359.869,953.146,29.957,0.000,743.308,0.000,840.857,0.000,0.534,0.000
$DEVICE_MAMPS,177.944,279.955,649.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,242.951,264.574,656.174,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298692
$DATA_FILE_SIZE,19165,361
$CAP_FILE_SIZE,37672,0
$CFSIZE,260165632,255299584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180710,052843,4747.345,-12504.070,12,1.3,17,18.7