version: 66.06
glider: 187
mission: 2
dive: 351
start: 9 1 110 10 1 7
data:
$ID,187
$MISSION,2
$DIVE,351
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,-30672.488
$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,2855
$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
$GPS1,095632,4755.202,-12501.415,21,1.7,21,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-77.3
$GPS2,100102,4755.145,-12501.373,12,2.0,12,18.8
$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,34.0,7574,-13.9,-6.111
$D_GRID,100
$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,12,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-57.47,0.000,2,0.000,0.000,131,2090,3059,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.5,-2.9,11,103,10.35,1.98,-12.10,0.000,4,0.240,0.070,2700,827,3610,0,0,0,0,0,0
$GC,252,-0.45,-112.4,31.7,-10.0,44,258,0.00,1.98,0.00,0.000,6,0.000,0.055,2695,2066,3612,0,0,0,0,0,0
$GC,578,-0.44,-112.4,60.3,-8.8,105,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2066,3613,0,0,0,0,0,0
$GC,903,-0.44,-112.4,89.3,-9.2,166,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2066,3614,0,0,0,0,0,0
$STATE,1020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1020,begin apogee
$GC,1024,-0.14,0.0,100.5,9.6,188,1113,0.35,0.00,86.43,0.634,6,0.118,0.000,2809,1978,3149,0,0,0,0,0,0
$STATE,1113,end apogee,CONTROL_FINISHED_OK
$STATE,1114,begin climb
$GC,1115,0.45,112.4,104.4,0.0,197,1210,0.55,2.10,87.10,0.614,4,0.084,0.061,3001,3239,2691,0,0,0,0,0,0
$GC,1236,0.46,181.8,103.3,3.6,208,1296,0.00,2.00,55.67,0.604,6,0.000,0.050,3009,2011,2407,0,0,0,0,0,0
$GC,1618,0.46,181.8,77.8,7.7,274,1625,0.00,2.00,0.00,0.000,4,0.000,0.063,3010,3230,2401,0,0,0,0,0,0
$GC,1742,0.45,181.8,67.0,8.9,297,1748,0.00,1.90,0.00,0.000,6,0.000,0.051,3013,2034,2400,0,0,0,0,0,0
$GC,2069,0.47,217.3,46.5,4.8,358,2102,0.00,0.00,27.73,0.597,6,0.000,0.000,3013,2034,2264,0,0,0,0,0,0
$GC,2423,0.50,260.7,31.2,4.5,424,2462,0.00,2.00,34.42,0.591,4,0.000,0.063,3013,3234,2086,0,0,0,0,0,0
$GC,2499,0.52,299.9,27.7,4.7,438,2538,0.00,1.90,32.08,0.578,6,0.000,0.053,3013,2050,1926,0,0,0,0,0,0
$GC,2859,0.60,330.8,9.1,5.0,505,2892,0.10,2.08,24.83,0.571,4,0.108,0.061,3056,770,1800,0,0,0,0,0,0
$GC,2913,0.65,349.1,6.2,5.4,515,2936,0.00,2.03,15.65,0.547,6,0.000,0.056,3056,2031,1727,0,0,0,0,0,0
$STATE,2976,end climb,SURFACE_DEPTH_REACHED
$STATE,2976,begin surface coast
$FINISH,0.9,1.014487
$STATE,3046,end surface coast,CONTROL_FINISHED_OK
$STATE,3046,begin surface
$SM_CCo,3120,0.00,0.000,0,0,1719,351.02
$SM_GC,2.41,7.72,0.00,0.00,0.038,0.000,0.000,139,2087,1719,-8.41,0.34,351.02
$IRIDIUM_FIX,4742.09,-12506.10,261199,090901
$TT8_MAMPS,0.052156
$HUMID,39.60
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.5,38.364
$10V_AH,10.2,35.077
$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,19.075,20.150,363.900,0.000,0.000,27.771,33.616,125.856,0.000,0.000,12.769,0.000,1328.073,339.904,1426.222,286.991,0.000,836.865,0.000,1254.510,0.000,0.533,0.000
$DEVICE_MAMPS,240.071,121.953,633.542,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,366.174,403.585,1099.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,28552,540
$CAP_FILE_SIZE,52643,0
$CFSIZE,260165632,234377216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,133.1,1
$GPS,010910,105424,4755.397,-12501.088,45,0.9,61,18.8