version: 66.06
glider: 187
mission: 2
dive: 625
start: 10 9 110 20 22 19
data:
$ID,187
$MISSION,2
$DIVE,625
$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,-37079.57
$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,29
$R_STBD_OVSHOOT,20
$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
$GPS1,201054,4758.381,-12524.559,124,1.1,124,18.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-71.2
$GPS2,202214,4758.573,-12524.451,22,1.4,22,18.8
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,CANYON
$TGT_LATLONG,4801.600,-12521.000
$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,30.7,7050,-13.9,-6.111
$D_GRID,288
$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,-112.4,0.0,0.0,0,69,0.00,0.00,-54.30,0.000,2,0.000,0.000,130,2069,3004,0,0,0,0,0,0
$GC,72,-0.45,-112.4,3.7,-3.2,10,101,10.48,2.00,-12.90,0.000,4,0.232,0.074,2695,3318,3611,0,0,0,0,0,0
$GC,331,-0.45,-112.4,36.9,-10.2,58,336,0.00,1.98,0.00,0.000,6,0.000,0.048,2695,2070,3613,0,0,0,0,0,0
$GC,658,-0.45,-112.4,69.3,-9.2,119,663,0.00,1.92,0.00,0.000,4,0.000,0.056,2695,849,3614,0,0,0,0,0,0
$GC,738,-0.45,-112.4,77.4,-10.2,134,744,0.00,1.90,0.00,0.000,6,0.000,0.053,2692,2056,3615,0,0,0,0,0,0
$GC,1068,-0.45,-112.4,104.2,-7.4,191,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2055,3614,0,0,0,0,0,0
$GC,1380,-0.45,-112.4,126.4,-6.4,221,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2055,3614,0,0,0,0,0,0
$GC,1691,-0.45,-112.4,147.1,-7.7,251,1694,0.00,2.00,0.00,0.000,4,0.000,0.064,2682,3312,3614,0,0,0,0,0,0
$GC,1737,-0.45,-112.4,151.3,-8.6,255,1744,0.00,2.03,0.00,0.000,6,0.000,0.049,2683,2026,3614,0,0,0,0,0,0
$GC,2054,-0.45,-112.4,175.9,-7.3,286,2057,0.00,1.85,0.00,0.000,4,0.000,0.058,2683,843,3613,0,0,0,0,0,0
$GC,2095,-0.45,-112.4,179.3,-8.8,290,2099,0.00,1.88,0.00,0.000,6,0.000,0.055,2679,2026,3613,0,0,0,0,0,0
$GC,2416,-0.45,-112.4,206.6,-8.9,321,2420,0.00,2.05,0.00,0.000,4,0.000,0.064,2670,3301,3612,0,0,0,0,0,0
$GC,2492,-0.45,-112.4,213.1,-9.1,328,2495,0.10,1.98,0.00,0.000,6,0.115,0.048,2705,2039,3612,0,0,0,0,0,0
$GC,2812,-0.45,-112.4,238.1,-7.6,359,2815,0.00,2.10,0.00,0.000,4,0.000,0.066,2705,3315,3612,0,0,0,0,0,0
$GC,2891,-0.47,-112.4,243.8,-6.8,366,2898,0.00,1.95,0.00,0.000,6,0.000,0.049,2704,2070,3611,0,0,0,0,0,0
$GC,3209,-0.47,-112.4,265.8,-7.2,397,3212,0.00,2.03,0.00,0.000,4,0.000,0.067,2703,3310,3611,0,0,0,0,0,0
$GC,3245,-0.49,-112.4,268.4,-6.8,400,3252,0.00,1.92,0.00,0.000,6,0.000,0.049,2702,2082,3611,0,0,0,0,0,0
$STATE,3529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3529,begin apogee
$GC,3535,-0.14,0.0,288.5,7.0,428,3630,0.32,0.00,89.60,0.768,6,0.111,0.000,2808,1986,3150,0,0,0,0,0,0
$STATE,3630,end apogee,CONTROL_FINISHED_OK
$STATE,3630,begin climb
$GC,3632,0.45,112.4,291.1,0.0,438,3730,0.52,2.08,90.32,0.743,4,0.077,0.060,3003,768,2690,0,0,0,0,0,0
$GC,3799,0.44,121.7,287.5,5.8,453,3814,0.00,2.03,8.88,0.643,6,0.000,0.054,3003,2007,2653,0,0,0,0,0,0
$GC,4125,0.43,121.7,264.3,8.1,485,4128,0.00,2.00,0.00,0.000,4,0.000,0.063,3003,3237,2651,0,0,0,0,0,0
$GC,4270,0.41,121.7,252.3,8.4,498,4275,0.00,1.95,0.00,0.000,6,0.000,0.051,3011,2019,2650,0,0,0,0,0,0
$GC,4585,0.40,137.2,231.2,5.5,529,4605,0.00,2.00,13.45,0.687,4,0.000,0.063,3011,3237,2589,0,0,0,0,0,0
$GC,4733,0.37,137.2,219.4,8.8,543,4737,0.12,1.90,0.00,0.000,6,0.125,0.049,2977,2039,2589,0,0,0,0,0,0
$GC,5055,0.40,177.7,203.8,4.6,574,5095,0.00,2.00,33.78,0.705,4,0.000,0.064,2977,3234,2424,0,0,0,0,0,0
$GC,5191,0.41,194.8,196.5,5.5,587,5213,0.00,1.88,15.07,0.668,6,0.000,0.051,2979,2066,2355,0,0,0,0,0,0
$GC,5522,0.43,224.0,179.7,5.0,619,5553,0.00,1.95,24.70,0.683,4,0.000,0.065,2979,3235,2235,0,0,0,0,0,0
$GC,5579,0.45,260.6,177.0,4.8,624,5616,0.00,1.88,30.85,0.673,6,0.000,0.052,2982,2073,2086,0,0,0,0,0,0
$GC,5927,0.47,272.6,159.5,5.7,658,5941,0.00,2.08,10.23,0.629,4,0.000,0.061,2982,763,2038,0,0,0,0,0,0
$GC,5979,0.51,283.5,156.7,5.7,662,5995,0.08,2.08,10.77,0.624,6,0.064,0.055,3029,2059,1994,0,0,0,0,0,0
$GC,6305,0.51,283.5,129.6,7.5,694,6308,0.00,1.90,0.00,0.000,4,0.000,0.064,3030,3244,1990,0,0,0,0,0,0
$GC,6325,0.51,283.5,127.9,8.1,696,6329,0.00,1.90,0.00,0.000,6,0.000,0.053,3035,2059,1989,0,0,0,0,0,0
$GC,6647,0.51,283.5,102.3,8.2,727,6650,0.00,2.08,0.00,0.000,4,0.000,0.063,3041,761,1989,0,0,0,0,0,0
$GC,6711,0.51,283.5,97.4,7.9,736,6717,0.00,2.05,0.00,0.000,6,0.000,0.054,3041,2054,1989,0,0,0,0,0,0
$GC,7039,0.51,283.5,71.4,7.6,797,7044,0.00,2.08,0.00,0.000,4,0.000,0.061,3047,774,1988,0,0,0,0,0,0
$GC,7066,0.51,283.5,69.3,7.3,802,7071,0.00,2.00,0.00,0.000,6,0.000,0.054,3047,2036,1988,0,0,0,0,0,0
$GC,7391,0.51,283.5,47.4,7.4,863,7397,0.00,1.95,0.00,0.000,4,0.000,0.064,3047,3232,1987,0,0,0,0,0,0
$GC,7402,0.51,283.5,46.5,7.8,865,7408,0.10,1.90,0.00,0.000,6,0.120,0.054,3019,2043,1988,0,0,0,0,0,0
$GC,7731,0.58,342.7,28.5,3.9,926,7785,0.00,1.98,47.70,0.608,4,0.000,0.064,3018,3232,1752,0,0,0,0,0,0
$GC,7951,0.64,342.7,13.5,7.3,967,7957,0.10,1.98,0.00,0.000,6,0.060,0.052,3070,2003,1746,0,0,0,0,0,0
$STATE,8120,end climb,SURFACE_DEPTH_REACHED
$STATE,8120,begin surface coast
$FINISH,1.1,1.024108
$STATE,8168,end surface coast,CONTROL_FINISHED_OK
$STATE,8168,begin surface
$SM_CCo,8184,4.45,0.091,0,0,1723,350.04
$SM_GC,3.41,0.00,0.00,4.45,0.000,0.000,0.091,136,2088,1723,-8.50,0.37,350.04
$IRIDIUM_FIX,4742.09,-12531.14,030100,202054
$TT8_MAMPS,0.052156
$HUMID,42.04
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.0,66.166
$10V_AH,9.9,64.935
$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,19.650,71.425,375.350,4.450,0.000,56.609,85.760,316.719,0.000,0.000,22.538,0.000,5207.264,412.714,2498.720,726.720,0.000,1287.833,0.000,2154.352,0.000,0.534,0.000
$DEVICE_MAMPS,231.634,96.642,767.767,91.273,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,690.149,775.268,1361.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298392
$DATA_FILE_SIZE,56984,1008
$CAP_FILE_SIZE,110265,0
$CFSIZE,260165632,215535616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,219.6,1
$GPS,091010,224004,4758.625,-12524.264,35,2.7,54,18.8