version: 66.06
glider: 187
mission: 2
dive: 237
start: 8 11 110 3 5 55
data:
$ID,187
$MISSION,2
$DIVE,237
$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,-28297.42
$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,35
$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
$GPS1,030136,4753.063,-12503.862,34,1.3,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.8
$GPS2,030550,4753.072,-12503.846,12,1.6,12,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,223.1,176592,-13.9,-6.111
$D_GRID,115
$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,-62.92,0.000,2,0.000,0.000,133,2087,3198,0,0,0,0,0,0
$GC,80,-0.45,-112.4,3.8,-3.6,12,103,10.55,2.00,-8.60,0.000,4,0.250,0.080,2674,3301,3611,0,0,0,0,0,0
$GC,268,-0.44,-112.4,35.7,-13.3,47,275,0.00,1.95,0.00,0.000,6,0.000,0.051,2673,2068,3614,0,0,0,0,0,0
$GC,596,-0.42,-112.4,76.0,-11.1,108,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2064,3615,0,0,0,0,0,0
$GC,916,-0.41,-112.4,113.1,-11.0,158,920,0.00,1.90,0.00,0.000,4,0.000,0.058,2673,849,3616,0,0,0,0,0,0
$STATE,937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,937,begin apogee
$GC,942,-0.14,0.0,115.4,11.3,160,1031,0.35,0.00,87.35,0.638,6,0.127,0.000,2784,1995,3150,0,0,0,0,0,0
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1033,0.45,112.4,120.2,0.0,169,1124,0.60,0.00,87.97,0.618,6,0.096,0.000,2981,1995,2691,0,0,0,0,0,0
$GC,1432,0.51,210.3,108.4,2.5,208,1515,0.00,2.05,77.18,0.619,4,0.000,0.064,2981,3231,2290,0,0,0,0,0,0
$GC,1546,0.51,210.3,101.7,8.3,219,1550,0.00,2.03,0.00,0.000,6,0.000,0.053,2985,2005,2287,0,0,0,0,0,0
$GC,1872,0.52,210.3,78.2,7.3,277,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2003,2284,0,0,0,0,0,0
$GC,2198,0.54,210.3,57.3,6.4,338,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2004,2283,0,0,0,0,0,0
$GC,2523,0.60,278.9,44.4,3.6,399,2580,0.12,0.00,53.08,0.603,6,0.097,0.000,3043,2002,2013,0,0,0,0,0,0
$GC,2900,0.60,278.9,15.9,7.5,469,2906,0.00,2.03,0.00,0.000,4,0.000,0.067,3043,3230,2005,0,0,0,0,0,0
$GC,2969,0.60,278.9,11.2,6.4,482,2976,0.00,1.95,0.00,0.000,6,0.000,0.054,3047,2000,2004,0,0,0,0,0,0
$STATE,3113,end climb,SURFACE_DEPTH_REACHED
$STATE,3113,begin surface coast
$FINISH,0.7,1.001269
$STATE,3193,end surface coast,CONTROL_FINISHED_OK
$STATE,3193,begin surface
$SM_CCo,3206,40.03,0.482,1,0,1723,350.04
$SM_GC,2.31,0.00,0.00,40.03,0.000,0.000,0.482,145,2083,1723,-8.40,0.23,350.04
$IRIDIUM_FIX,4738.89,-12511.36,051199,020212
$TT8_MAMPS,0.052923
$HUMID,39.68
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.5,25.626
$10V_AH,10.3,21.180
$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,19.350,15.850,305.575,40.025,0.000,30.483,34.173,115.451,0.000,0.000,12.911,0.000,1520.635,353.082,1357.963,267.842,0.000,810.190,0.000,1194.800,0.000,0.534,0.000
$DEVICE_MAMPS,250.042,105.079,638.144,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,359.083,396.239,998.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,28661,524
$CAP_FILE_SIZE,50479,0
$CFSIZE,260165632,243687424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,205.7,1
$GPS,110810,040044,4752.805,-12504.355,20,1.6,20,18.7