version: 66.06
glider: 187
mission: 2
dive: 572
start: 9 28 110 13 0 41
data:
$ID,187
$MISSION,2
$DIVE,572
$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,-35850.398
$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,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
$GPS1,125516,4753.656,-12508.185,14,2.9,33,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-75.9
$GPS2,130034,4753.641,-12508.229,13,2.9,32,18.8
$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,211.5,172625,-13.9,-6.111
$D_GRID,150
$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,-0.45,-112.4,0.0,0.0,0,66,0.00,0.00,-52.60,0.000,2,0.000,0.000,131,2084,2914,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.1,-2.3,10,102,10.48,2.00,-16.45,0.000,4,0.235,0.077,2694,3301,3612,0,0,0,0,0,0
$GC,193,-0.44,-112.4,23.7,-14.5,33,199,0.00,1.95,0.00,0.000,6,0.000,0.048,2694,2078,3613,0,0,0,0,0,0
$GC,519,-0.44,-112.4,59.9,-10.9,94,525,0.00,1.95,0.00,0.000,4,0.000,0.054,2693,836,3615,0,0,0,0,0,0
$GC,562,-0.44,-112.4,64.8,-11.2,102,567,0.00,1.95,0.00,0.000,6,0.000,0.053,2690,2066,3615,0,0,0,0,0,0
$GC,888,-0.44,-112.4,93.9,-7.5,163,894,0.00,2.03,0.00,0.000,4,0.000,0.064,2683,3309,3615,0,0,0,0,0,0
$GC,948,-0.44,-112.4,98.5,-8.0,174,954,0.00,1.95,0.00,0.000,6,0.000,0.048,2683,2067,3615,0,0,0,0,0,0
$GC,1268,-0.44,-112.4,125.1,-8.5,207,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2065,3615,0,0,0,0,0,0
$STATE,1546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1546,begin apogee
$GC,1551,-0.14,0.0,150.3,9.2,234,1641,0.38,0.00,87.78,0.665,6,0.114,0.000,2805,1987,3151,0,0,0,0,0,0
$STATE,1642,end apogee,CONTROL_FINISHED_OK
$STATE,1642,begin climb
$GC,1644,0.45,112.4,153.7,0.0,243,1741,0.55,2.05,88.22,0.643,4,0.084,0.057,3005,770,2691,0,0,0,0,0,0
$GC,1779,0.47,153.8,150.7,4.6,256,1819,0.00,2.00,33.78,0.626,6,0.000,0.052,3005,2010,2522,0,0,0,0,0,0
$GC,2129,0.47,153.8,131.8,6.3,290,2132,0.00,1.98,0.00,0.000,4,0.000,0.062,3005,3239,2518,0,0,0,0,0,0
$GC,2321,0.45,153.8,119.2,7.4,308,2325,0.00,1.95,0.00,0.000,6,0.000,0.050,3012,2017,2517,0,0,0,0,0,0
$GC,2639,0.44,153.8,96.3,7.4,343,2645,0.00,2.00,0.00,0.000,4,0.000,0.063,3012,3232,2517,0,0,0,0,0,0
$GC,2736,0.42,153.8,89.3,7.4,361,2742,0.00,1.92,0.00,0.000,6,0.000,0.051,3019,2019,2516,0,0,0,0,0,0
$GC,3063,0.44,206.6,71.9,4.2,422,3113,0.00,2.00,41.85,0.618,4,0.000,0.062,3019,3230,2306,0,0,0,0,0,0
$GC,3157,0.44,215.1,67.3,5.8,439,3169,0.00,1.95,8.10,0.544,6,0.000,0.051,3025,2019,2272,0,0,0,0,0,0
$GC,3491,0.47,266.8,49.1,4.2,501,3534,0.00,0.00,41.33,0.601,6,0.000,0.000,3025,2018,2062,0,0,0,0,0,0
$GC,3855,0.51,303.5,34.7,4.8,569,3893,0.00,2.00,29.95,0.589,4,0.000,0.062,3025,3224,1912,0,0,0,0,0,0
$GC,3920,0.55,332.6,31.6,5.0,581,3953,0.00,1.95,24.45,0.574,6,0.000,0.053,3025,2021,1793,0,0,0,0,0,0
$GC,4274,0.62,335.0,9.9,6.0,647,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2021,1787,0,0,0,0,0,0
$STATE,4384,end climb,SURFACE_DEPTH_REACHED
$STATE,4384,begin surface coast
$FINISH,0.9,1.010294
$STATE,4434,end surface coast,CONTROL_FINISHED_OK
$STATE,4434,begin surface
$SM_CCo,4449,15.20,0.312,1,0,1723,350.04
$SM_GC,2.17,0.00,0.00,15.20,0.000,0.000,0.312,134,2090,1723,-8.50,0.42,350.04
$IRIDIUM_FIX,4735.69,-12502.41,231299,111101
$TT8_MAMPS,0.05369
$HUMID,40.86
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,24.3,59.305
$10V_AH,10.1,57.293
$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,19.025,31.825,355.450,15.200,0.000,22.997,30.089,139.217,0.000,0.000,33.560,0.000,2293.980,359.622,1766.971,355.037,0.000,962.788,0.000,1532.729,0.000,0.534,0.000
$DEVICE_MAMPS,235.469,106.613,664.989,312.169,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,478.115,444.703,1207.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,35024,677
$CAP_FILE_SIZE,66998,0
$CFSIZE,260165632,220520448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.190, 59.8,1
$GPS,280910,141614,4753.373,-12508.573,43,1.6,43,18.7