version: 66.06
glider: 187
mission: 2
dive: 583
start: 9 29 110 6 56 49
data:
$ID,187
$MISSION,2
$DIVE,583
$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,-36110.465
$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,27
$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
$GPS1,064824,4750.835,-12513.557,75,1.2,93,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-76.9
$GPS2,065643,4750.832,-12513.612,16,1.1,33,18.7
$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,226.1,164070,-13.9,-6.111
$D_GRID,380
$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,14,-0.45,-112.4,0.0,0.0,0,71,0.00,0.00,-55.38,0.000,2,0.000,0.000,131,2060,3026,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.1,-2.4,10,102,10.40,2.03,-12.55,0.000,4,0.232,0.076,2691,3313,3607,0,0,0,0,0,0
$GC,140,-0.41,-112.4,18.5,-19.2,22,145,0.08,1.98,0.00,0.000,6,0.117,0.050,2718,2079,3610,0,0,0,0,0,0
$GC,466,-0.41,-112.4,51.1,-8.7,83,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2076,3612,0,0,0,0,0,0
$GC,791,-0.42,-112.4,78.3,-9.1,144,797,0.00,1.95,0.00,0.000,4,0.000,0.056,2718,843,3612,0,0,0,0,0,0
$GC,851,-0.43,-112.4,83.6,-8.9,155,857,0.00,1.95,0.00,0.000,6,0.000,0.054,2718,2071,3613,0,0,0,0,0,0
$GC,1180,-0.45,-112.4,105.7,-6.0,208,1183,0.00,2.00,0.00,0.000,4,0.000,0.064,2717,3312,3612,0,0,0,0,0,0
$GC,1233,-0.47,-112.4,109.1,-6.4,213,1236,0.00,1.92,0.00,0.000,6,0.000,0.050,2718,2072,3612,0,0,0,0,0,0
$GC,1554,-0.49,-112.4,131.7,-7.7,244,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2071,3612,0,0,0,0,0,0
$GC,1867,-0.50,-112.4,154.7,-6.6,274,1870,0.00,2.03,0.00,0.000,4,0.000,0.065,2717,3320,3612,0,0,0,0,0,0
$GC,1909,-0.53,-112.4,157.6,-7.0,278,1912,0.00,1.92,0.00,0.000,6,0.000,0.050,2716,2096,3611,0,0,0,0,0,0
$GC,2230,-0.55,-112.4,176.1,-5.3,309,2234,0.12,2.00,0.00,0.000,4,0.094,0.057,2651,848,3611,0,0,0,0,0,0
$GC,2267,-0.53,-112.4,179.4,-9.7,312,2273,0.10,1.98,0.00,0.000,6,0.126,0.054,2679,2094,3611,0,0,0,0,0,0
$GC,2582,-0.53,-112.4,207.7,-9.1,343,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2094,3611,0,0,0,0,0,0
$GC,2895,-0.53,-112.4,236.2,-9.0,373,2898,0.00,1.98,0.00,0.000,4,0.000,0.065,2673,3318,3610,0,0,0,0,0,0
$GC,2942,-0.53,-112.4,240.6,-9.2,377,2948,0.00,1.92,0.00,0.000,6,0.000,0.051,2673,2096,3610,0,0,0,0,0,0
$GC,3257,-0.53,-112.4,268.2,-8.2,408,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2096,3610,0,0,0,0,0,0
$GC,3570,-0.53,-112.4,294.5,-8.6,438,3573,0.00,1.98,0.00,0.000,4,0.000,0.065,2665,3313,3609,0,0,0,0,0,0
$GC,3606,-0.53,-112.4,298.0,-9.2,441,3614,0.00,1.92,0.00,0.000,6,0.000,0.051,2665,2096,3609,0,0,0,0,0,0
$GC,3923,-0.53,-112.4,329.2,-10.1,472,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2096,3609,0,0,0,0,0,0
$GC,4235,-0.53,-112.4,358.7,-9.3,502,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2096,3608,0,0,0,0,0,0
$STATE,4468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4468,begin apogee
$GC,4474,-0.14,0.0,380.1,8.8,525,4566,0.45,0.00,89.60,0.828,6,0.114,0.000,2812,1985,3150,0,0,0,0,0,0
$STATE,4566,end apogee,CONTROL_FINISHED_OK
$STATE,4566,begin climb
$GC,4568,0.45,112.4,382.6,0.0,534,4668,0.52,2.05,91.95,0.800,4,0.075,0.059,3008,780,2690,0,0,0,0,0,0
$GC,4715,0.46,152.3,379.5,4.6,548,4757,0.00,2.03,33.92,0.775,6,0.000,0.053,3009,2007,2528,0,0,0,0,0,0
$GC,5067,0.44,152.3,353.7,7.3,582,5070,0.00,2.03,0.00,0.000,4,0.000,0.062,3008,3232,2524,0,0,0,0,0,0
$GC,5196,0.42,152.3,343.2,8.0,594,5199,0.00,1.92,0.00,0.000,6,0.000,0.052,3015,2019,2523,0,0,0,0,0,0
$GC,5517,0.40,152.3,319.6,7.2,625,5520,0.12,1.98,0.00,0.000,4,0.161,0.064,2981,3234,2522,0,0,0,0,0,0
$GC,5574,0.40,152.3,315.5,6.7,630,5581,0.00,1.92,0.00,0.000,6,0.000,0.052,2986,2028,2522,0,0,0,0,0,0
$GC,5891,0.41,175.6,297.6,5.3,661,5914,0.00,1.98,19.35,0.751,4,0.000,0.064,2986,3230,2434,0,0,0,0,0,0
$GC,5986,0.41,175.6,291.3,6.9,670,5989,0.00,1.92,0.00,0.000,6,0.000,0.054,2986,2032,2431,0,0,0,0,0,0
$GC,6306,0.41,175.6,270.6,6.7,701,6310,0.00,1.98,0.00,0.000,4,0.000,0.063,2986,3233,2431,0,0,0,0,0,0
$GC,6376,0.41,175.6,265.4,8.7,707,6381,0.00,1.90,0.00,0.000,6,0.000,0.052,2986,2042,2430,0,0,0,0,0,0
$GC,6691,0.41,175.6,245.0,6.4,738,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2042,2430,0,0,0,0,0,0
$GC,7003,0.42,196.0,227.4,5.4,768,7025,0.00,1.98,17.48,0.715,4,0.000,0.065,2986,3233,2351,0,0,0,0,0,0
$GC,7072,0.42,196.0,223.1,6.7,774,7078,0.00,1.90,0.00,0.000,6,0.000,0.053,2986,2053,2349,0,0,0,0,0,0
$GC,7388,0.42,196.0,202.7,6.5,805,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2052,2348,0,0,0,0,0,0
$GC,7700,0.43,214.2,183.9,5.4,835,7720,0.00,2.05,16.35,0.689,4,0.000,0.062,2986,764,2275,0,0,0,0,0,0
$GC,7764,0.46,234.3,180.2,5.4,841,7787,0.00,2.03,17.55,0.679,6,0.000,0.056,2986,2046,2194,0,0,0,0,0,0
$GC,8105,0.48,234.3,160.5,6.5,874,8108,0.00,1.92,0.00,0.000,4,0.000,0.065,2987,3232,2190,0,0,0,0,0,0
$GC,8147,0.48,234.3,157.7,7.1,878,8150,0.00,1.92,0.00,0.000,6,0.000,0.054,2986,2017,2189,0,0,0,0,0,0
$GC,8467,0.49,238.2,137.1,6.0,909,8472,0.00,0.00,4.03,0.484,6,0.000,0.000,2986,2016,2179,0,0,0,0,0,0
$GC,8778,0.51,247.6,118.2,5.8,939,8789,0.10,0.00,9.70,0.625,6,0.110,0.000,3036,2016,2140,0,0,0,0,0,0
$GC,9102,0.51,247.6,90.2,9.0,980,9108,0.00,2.00,0.00,0.000,4,0.000,0.064,3036,3229,2137,0,0,0,0,0,0
$GC,9167,0.50,247.6,83.9,9.6,992,9173,0.00,1.90,0.00,0.000,6,0.000,0.053,3041,2040,2136,0,0,0,0,0,0
$GC,9493,0.50,247.6,55.6,8.6,1053,9500,0.00,2.05,0.00,0.000,4,0.000,0.062,3042,774,2136,0,0,0,0,0,0
$GC,9574,0.50,247.6,49.6,7.2,1068,9580,0.00,1.98,0.00,0.000,6,0.000,0.054,3043,2021,2136,0,0,0,0,0,0
$GC,9900,0.50,247.6,29.1,6.9,1129,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2021,2136,0,0,0,0,0,0
$GC,10227,0.57,342.7,11.9,2.6,1190,10311,0.00,2.00,75.88,0.597,4,0.000,0.064,3042,3223,1751,0,0,0,0,0,0
$GC,10377,0.63,377.7,5.4,4.8,1217,10411,0.00,1.95,28.38,0.569,6,0.000,0.053,3042,2023,1610,0,0,0,0,0,0
$STATE,10425,end climb,SURFACE_DEPTH_REACHED
$STATE,10425,begin surface coast
$FINISH,1.0,1.022478
$STATE,10495,end surface coast,CONTROL_FINISHED_OK
$STATE,10495,begin surface
$SM_CCo,10570,0.00,0.000,0,0,1601,379.97
$SM_GC,1.85,7.75,0.00,0.00,0.041,0.000,0.000,135,2075,1601,-8.41,0.00,379.97
$IRIDIUM_FIX,4738.89,-12515.83,241299,040455
$TT8_MAMPS,0.052923
$HUMID,41.88
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.9,60.230
$10V_AH,10.0,58.236
$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,19.650,71.150,404.175,0.000,0.000,28.015,48.540,276.927,0.000,0.000,34.006,0.000,7024.063,424.072,2961.752,638.293,0.000,1450.680,0.000,2552.142,0.000,0.534,0.000
$DEVICE_MAMPS,231.634,128.089,828.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,897.302,819.403,1540.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298668
$DATA_FILE_SIZE,66428,1239
$CAP_FILE_SIZE,125245,0
$CFSIZE,260165632,219926528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 71.4,1
$GPS,290910,095352,4750.380,-12514.878,14,2.2,34,18.7