version: 66.06
glider: 187
mission: 2
dive: 71
start: 7 18 110 22 44 48
data:
$ID,187
$MISSION,2
$DIVE,71
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,270
$T_MISSION,360
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,-24758.773
$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,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,0.0012300001
$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
$GPS1,223955,4743.521,-12514.885,40,1.5,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.5
$GPS2,224443,4743.475,-12514.879,10,1.3,15,18.7
$SPEED_LIMITS,0.212,0.316
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,1000.000
$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,220.1,155280,-17.9,-12.222
$D_GRID,796
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-1.02,-195.5,0.0,0.0,0,92,0.00,0.00,-77.78,0.000,2,0.000,0.000,132,2103,3100,0,0,0,0,0,0
$GC,93,-1.02,-195.5,3.1,-6.6,14,126,9.75,1.83,-17.40,0.000,4,0.251,0.080,2507,3226,3949,0,0,0,0,0,0
$GC,200,-0.86,-195.5,37.2,-25.3,34,207,0.20,1.95,0.00,0.000,6,0.154,0.052,2565,2003,3950,0,0,0,0,0,0
$GC,530,-0.77,-195.5,109.4,-20.2,92,534,0.12,1.98,0.00,0.000,4,0.188,0.059,2598,758,3952,0,0,0,0,0,0
$GC,584,-0.73,-195.5,118.8,-17.2,97,587,0.00,1.95,0.00,0.000,6,0.000,0.056,2593,1991,3952,0,0,0,0,0,0
$GC,903,-0.69,-195.5,169.6,-15.8,128,908,0.12,2.00,0.00,0.000,4,0.173,0.065,2619,3231,3953,0,0,0,0,0,0
$GC,930,-0.69,-195.5,173.4,-14.0,130,936,0.00,1.95,0.00,0.000,6,0.000,0.051,2619,1996,3953,0,0,0,0,0,0
$GC,1245,-0.69,-195.5,214.5,-12.9,161,1250,0.00,2.03,0.00,0.000,4,0.000,0.066,2610,3234,3953,0,0,0,0,0,0
$GC,1277,-0.71,-195.5,218.5,-12.6,164,1282,0.00,1.92,0.00,0.000,6,0.000,0.051,2611,2004,3954,0,0,0,0,0,0
$GC,1598,-0.71,-195.5,264.2,-14.6,195,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2001,3953,0,0,0,0,0,0
$GC,1909,-0.71,-195.5,307.6,-13.7,225,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2001,3953,0,0,0,0,0,0
$GC,2219,-0.71,-195.5,350.8,-14.1,255,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2001,3954,0,0,0,0,0,0
$GC,2530,-0.71,-195.5,391.7,-12.6,285,2534,0.00,1.98,0.00,0.000,4,0.000,0.069,2603,3223,3953,0,0,0,0,0,0
$GC,2550,-0.71,-195.5,394.3,-12.5,287,2555,0.00,1.92,0.00,0.000,6,0.000,0.054,2602,1999,3954,0,0,0,0,0,0
$GC,2871,-0.71,-195.5,434.7,-12.5,318,2875,0.00,1.95,0.00,0.000,4,0.000,0.062,2602,756,3954,0,0,0,0,0,0
$GC,2908,-0.71,-195.5,439.6,-12.4,321,2915,0.00,1.98,0.00,0.000,6,0.000,0.058,2600,2006,3954,0,0,0,0,0,0
$GC,3224,-0.71,-195.5,482.1,-13.2,352,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2006,3954,0,0,0,0,0,0
$GC,3535,-0.71,-195.5,524.8,-14.0,382,3538,0.00,1.98,0.00,0.000,4,0.000,0.070,2592,3233,3954,0,0,0,0,0,0
$GC,3581,-0.73,-195.5,531.3,-13.1,386,3588,0.00,1.95,0.00,0.000,6,0.000,0.054,2592,1994,3954,0,0,0,0,0,0
$GC,3897,-0.73,-195.5,576.2,-13.4,417,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1992,3954,0,0,0,0,0,0
$GC,4204,-0.73,-195.5,617.3,-13.7,439,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1992,3954,0,0,0,0,0,0
$GC,4508,-0.73,-195.5,659.4,-13.5,449,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1992,3955,0,0,0,0,0,0
$GC,4811,-0.73,-195.5,699.8,-13.1,459,4817,0.00,1.95,0.00,0.000,4,0.000,0.064,2592,766,3955,0,0,0,0,0,0
$GC,4854,-0.73,-195.5,705.8,-14.3,460,4859,0.00,1.95,0.00,0.000,6,0.000,0.061,2585,1998,3954,0,0,0,0,0,0
$GC,5179,-0.71,-195.5,749.6,-13.1,471,5180,0.12,0.00,0.00,0.000,6,0.181,0.000,2617,1999,3955,0,0,0,0,0,0
$GC,5482,-0.73,-195.5,782.6,-10.2,481,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2001,3955,0,0,0,0,0,0
$STATE,5663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5663,begin apogee
$GC,5665,-0.22,0.0,798.1,8.1,487,5834,0.47,0.00,167.05,1.097,6,0.128,0.000,2774,2001,3150,0,0,0,0,0,0
$STATE,5835,end apogee,CONTROL_FINISHED_OK
$STATE,5835,begin climb
$GC,5836,1.02,195.5,800.6,0.0,492,6012,1.20,0.00,171.68,1.055,6,0.077,0.000,3174,2001,2353,0,0,0,0,0,0
$GC,6288,0.77,195.5,713.7,23.0,507,6293,0.30,2.08,0.00,0.000,4,0.202,0.067,3100,3231,2347,0,0,0,0,0,0
$GC,6347,0.60,195.5,702.0,18.4,508,6355,0.20,2.05,0.00,0.000,6,0.184,0.057,3050,1996,2346,0,0,0,0,0,0
$GC,6656,0.51,195.5,658.6,13.9,519,6660,0.12,2.05,0.00,0.000,4,0.179,0.067,3017,3227,2347,0,0,0,0,0,0
$GC,6703,0.45,195.5,652.3,13.0,520,6708,0.00,2.00,0.00,0.000,6,0.000,0.057,3024,2000,2347,0,0,0,0,0,0
$GC,7022,0.40,195.5,613.2,12.2,531,7027,0.15,2.03,0.00,0.000,4,0.170,0.068,2983,3227,2348,0,0,0,0,0,0
$GC,7065,0.47,250.6,608.7,9.9,532,7117,0.00,2.00,47.10,0.967,6,0.000,0.058,2986,1994,2127,0,0,0,0,0,0
$GC,7425,0.57,308.8,573.9,9.8,560,7480,0.12,2.17,50.60,0.943,4,0.096,0.068,3040,3238,1891,0,0,0,0,0,0
$GC,7511,0.55,308.8,562.6,14.3,568,7515,0.00,2.05,0.00,0.000,6,0.000,0.058,3042,2015,1887,0,0,0,0,0,0
$GC,7831,0.53,308.8,517.2,14.2,599,7836,0.00,2.08,0.00,0.000,4,0.000,0.067,3050,757,1883,0,0,0,0,0,0
$GC,7873,0.53,308.8,511.0,14.3,603,7878,0.00,2.05,0.00,0.000,6,0.000,0.058,3050,2013,1883,0,0,0,0,0,0
$GC,8195,0.50,308.8,460.8,16.3,634,8199,0.15,1.98,0.00,0.000,4,0.163,0.068,3010,3231,1883,0,0,0,0,0,0
$GC,8237,0.52,308.8,455.0,13.2,638,8241,0.00,2.00,0.00,0.000,6,0.000,0.058,3013,2000,1882,0,0,0,0,0,0
$GC,8558,0.60,346.7,418.2,10.6,669,8593,0.00,2.00,32.08,0.861,4,0.000,0.067,3016,760,1735,0,0,0,0,0,0
$GC,8652,0.75,418.0,409.2,9.2,677,8719,0.17,2.03,61.17,0.842,6,0.055,0.058,3098,2008,1444,0,0,0,0,0,0
$GC,9028,0.70,418.0,341.3,18.8,714,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2008,1436,0,0,0,0,0,0
$GC,9339,0.65,418.0,281.2,19.3,744,9343,0.15,2.03,0.00,0.000,4,0.160,0.068,3064,759,1434,0,0,0,0,0,0
$GC,9375,0.67,418.0,274.9,16.2,747,9383,0.00,2.03,0.00,0.000,6,0.000,0.058,3064,2010,1434,0,0,0,0,0,0
$GC,9692,0.67,418.0,228.5,13.7,778,9696,0.00,2.03,0.00,0.000,4,0.000,0.070,3070,759,1433,0,0,0,0,0,0
$GC,9733,0.70,418.0,223.0,13.4,782,9738,0.00,2.00,0.00,0.000,6,0.000,0.058,3069,2004,1433,0,0,0,0,0,0
$GC,10054,0.70,418.0,177.2,14.9,813,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2005,1432,0,0,0,0,0,0
$GC,10365,0.70,418.0,128.9,14.7,843,10369,0.00,2.00,0.00,0.000,4,0.000,0.070,3076,759,1433,0,0,0,0,0,0
$GC,10434,0.75,431.0,120.0,11.7,849,10451,0.00,1.98,10.07,0.657,6,0.000,0.058,3076,1998,1393,0,0,0,0,0,0
$GC,10766,0.78,431.0,75.5,12.9,897,10773,0.00,1.98,0.00,0.000,4,0.000,0.069,3082,767,1390,0,0,0,0,0,0
$GC,10793,0.83,432.5,72.3,12.2,902,10800,0.05,1.92,0.00,0.000,6,0.079,0.059,3121,1981,1390,0,0,0,0,0,0
$GC,11120,0.83,432.5,24.4,13.9,963,11126,0.00,2.03,0.00,0.000,4,0.000,0.068,3121,3233,1391,0,0,0,0,0,0
$GC,11178,0.86,444.0,16.8,11.7,974,11196,0.00,1.98,12.18,0.607,6,0.000,0.057,3124,1987,1339,0,0,0,0,0,0
$STATE,11296,end climb,SURFACE_DEPTH_REACHED
$STATE,11296,begin surface coast
$FINISH,0.5,1.023906
$STATE,11317,end surface coast,CONTROL_FINISHED_OK
$STATE,11317,begin surface
$SM_CCo,11389,0.00,0.000,0,0,1334,445.46
$SM_GC,1.38,7.90,0.00,0.00,0.046,0.000,0.000,149,1983,1334,-8.39,-0.48,445.46
$IRIDIUM_FIX,4726.11,-12504.76,121099,191930
$TT8_MAMPS,0.051389
$HUMID,40.58
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.4,8.846
$10V_AH,10.3,4.717
$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,21.325,79.750,551.925,0.000,0.000,30.101,34.140,146.240,0.000,0.000,15.610,0.000,8341.722,636.847,2371.118,310.839,0.000,1530.770,0.000,2004.869,0.000,0.534,0.000
$DEVICE_MAMPS,250.809,79.768,1096.810,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,689.227,815.620,942.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298576
$DATA_FILE_SIZE,56969,1000
$CAP_FILE_SIZE,120420,0
$CFSIZE,260165632,254652416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,342.4,1
$GPS,190710,015536,4742.895,-12517.659,38,1.4,44,18.7