version: 66.06
glider: 187
mission: 2
dive: 178
start: 8 9 110 0 38 55
data:
$ID,187
$MISSION,2
$DIVE,178
$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,540
$T_MISSION,600
$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,1000
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,115
$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,0.0046000001
$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,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,-27061.539
$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,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,35
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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,0.00060000003
$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,-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
$GPS1,003437,4755.202,-12501.938,37,1.2,37,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-76.5
$GPS2,003850,4755.175,-12501.951,16,1.2,16,18.8
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,359.3,8066,-13.9,-6.111
$D_GRID,103
$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,13,-0.45,-112.4,0.0,0.0,0,78,0.00,0.00,-63.33,0.000,2,0.000,0.000,134,2085,3180,0,0,0,0,0,0
$GC,79,-0.45,-112.4,3.3,-2.9,12,103,10.52,2.03,-9.45,0.000,4,0.251,0.071,2683,825,3611,0,0,0,0,0,0
$GC,209,-0.43,-112.4,31.6,-17.8,36,216,0.00,2.00,0.00,0.000,6,0.000,0.058,2676,2073,3613,0,0,0,0,0,0
$GC,535,-0.42,-112.4,75.9,-10.9,97,542,0.00,2.00,0.00,0.000,4,0.000,0.066,2668,3320,3615,0,0,0,0,0,0
$GC,733,-0.40,-112.4,95.6,-9.7,134,740,0.08,1.90,0.00,0.000,6,0.126,0.052,2695,2107,3615,0,0,0,0,0,0
$STATE,816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,816,begin apogee
$GC,819,-0.14,0.0,103.1,8.6,147,911,0.28,0.00,86.75,0.634,6,0.127,0.000,2785,1995,3150,0,0,0,0,0,0
$STATE,911,end apogee,CONTROL_FINISHED_OK
$STATE,911,begin climb
$GC,912,0.45,112.4,106.5,0.0,156,1005,0.57,2.08,88.07,0.610,4,0.092,0.061,2982,768,2689,0,0,0,0,0,0
$GC,1015,0.49,170.4,104.2,4.0,166,1067,0.00,2.05,46.47,0.597,6,0.000,0.056,2982,2009,2454,0,0,0,0,0,0
$GC,1386,0.49,171.2,80.9,6.1,228,1393,0.00,2.03,0.00,0.000,4,0.000,0.066,2982,3236,2450,0,0,0,0,0,0
$GC,1509,0.49,171.2,72.2,6.4,251,1517,0.00,1.92,0.00,0.000,6,0.000,0.054,2986,2029,2450,0,0,0,0,0,0
$GC,1837,0.52,223.6,56.9,4.2,312,1887,0.00,2.00,42.03,0.603,4,0.000,0.067,2986,3232,2236,0,0,0,0,0,0
$GC,1902,0.55,247.2,53.7,5.2,324,1930,0.00,1.95,19.70,0.576,6,0.000,0.055,2986,2027,2141,0,0,0,0,0,0
$GC,2251,0.61,307.7,35.9,3.9,389,2306,0.12,2.03,48.20,0.588,4,0.093,0.067,3045,3233,1893,0,0,0,0,0,0
$GC,2316,0.61,307.7,31.9,6.3,401,2323,0.00,1.98,0.00,0.000,6,0.000,0.055,3046,2028,1892,0,0,0,0,0,0
$GC,2643,0.63,329.2,15.1,5.3,462,2666,0.00,2.03,17.15,0.568,4,0.000,0.064,3046,757,1807,0,0,0,0,0,0
$GC,2686,0.68,369.7,13.0,4.6,470,2726,0.00,1.98,33.33,0.566,6,0.000,0.058,3046,1989,1641,0,0,0,0,0,0
$STATE,2869,end climb,SURFACE_DEPTH_REACHED
$STATE,2869,begin surface coast
$FINISH,0.7,1.012837
$STATE,2928,end surface coast,CONTROL_FINISHED_OK
$STATE,2928,begin surface
$SM_CCo,3000,0.00,0.000,0,0,1631,372.61
$SM_GC,1.70,7.82,0.00,0.00,0.048,0.000,0.000,145,2097,1631,-8.34,0.62,372.61
$IRIDIUM_FIX,4738.89,-12504.26,021199,232321
$TT8_MAMPS,0.052923
$HUMID,38.65
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.5,21.574
$10V_AH,10.3,17.657
$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,19.400,28.250,381.700,0.000,0.000,29.642,35.494,115.255,0.000,0.000,16.468,0.000,1275.618,370.331,1347.071,253.009,0.000,849.006,0.000,1176.235,0.000,0.533,0.000
$DEVICE_MAMPS,250.809,87.438,633.542,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,349.543,385.824,1041.715,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,28633,515
$CAP_FILE_SIZE,53149,0
$CFSIZE,260165632,245735424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,170.8,1
$GPS,090810,012925,4755.233,-12501.782,10,0.9,15,18.8