version: 66.06
glider: 187
mission: 2
dive: 694
start: 10 17 110 10 32 42
data:
$ID,187
$MISSION,2
$DIVE,694
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,60
$T_MISSION,90
$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,200
$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,550
$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,-38655.188
$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,27
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,350
$ALTIM_PING_DELTA,25
$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
$GPS1,102644,4741.912,-12556.782,8,1.9,8,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-74.8
$GPS2,103236,4741.872,-12556.769,17,1.1,33,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,PATCH
$TGT_LATLONG,4743.200,-12556.100
$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,337.3,2598,-17.6,-11.111
$D_GRID,1000
$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,13,-0.61,-195.5,0.0,0.0,0,100,0.00,0.00,-85.35,0.000,2,0.000,0.000,134,2044,2933,0,0,0,0,0,0
$GC,103,-0.61,-195.5,3.3,-3.1,16,142,10.10,1.92,-22.30,0.000,4,0.227,0.071,2653,847,3946,0,0,0,0,0,0
$GC,187,-0.59,-195.5,21.9,-19.8,31,193,0.00,1.95,0.00,0.000,6,0.000,0.056,2647,2067,3948,0,0,0,0,0,0
$GC,514,-0.59,-195.5,69.8,-12.9,92,520,0.00,2.00,0.00,0.000,4,0.000,0.064,2637,3310,3949,0,0,0,0,0,0
$GC,633,-0.61,-195.5,82.1,-9.8,114,639,0.00,1.92,0.00,0.000,6,0.000,0.049,2637,2093,3949,0,0,0,0,0,0
$GC,955,-0.63,-195.5,115.9,-11.2,161,958,0.00,1.98,0.00,0.000,4,0.000,0.063,2629,3314,3949,0,0,0,0,0,0
$GC,1073,-0.65,-195.5,129.8,-11.9,172,1076,0.00,1.85,0.00,0.000,6,0.000,0.048,2629,2115,3949,0,0,0,0,0,0
$GC,1393,-0.65,-195.5,167.3,-11.8,203,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2115,3949,0,0,0,0,0,0
$STATE,1680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1680,begin apogee
$GC,1688,-0.14,0.0,200.2,10.5,231,1845,0.55,0.00,153.65,0.695,6,0.110,0.000,2817,1987,3150,0,0,0,0,0,0
$STATE,1847,end apogee,CONTROL_FINISHED_OK
$STATE,1847,begin climb
$GC,1850,0.61,195.5,208.9,0.0,247,2012,0.62,2.00,156.85,0.674,4,0.056,0.055,3063,776,2352,0,0,0,0,0,0
$GC,2072,0.62,242.8,202.0,9.3,267,2118,0.00,2.00,39.47,0.650,6,0.000,0.051,3063,1997,2159,0,0,0,0,0,0
$GC,2429,0.61,246.1,162.2,11.0,302,2432,0.00,2.03,0.00,0.000,4,0.000,0.061,3063,3252,2153,0,0,0,0,0,0
$GC,2477,0.59,246.1,156.7,12.0,306,2483,0.00,1.98,0.00,0.000,6,0.000,0.051,3072,2016,2152,0,0,0,0,0,0
$GC,2793,0.58,248.0,120.1,11.0,337,2803,0.00,1.98,4.70,0.483,4,0.000,0.061,3082,764,2137,0,0,0,0,0,0
$GC,2808,0.57,248.0,118.3,11.1,338,2814,0.15,1.95,0.00,0.000,6,0.151,0.054,3040,2012,2137,0,0,0,0,0,0
$GC,3128,0.60,296.2,90.6,9.3,379,3172,0.00,2.03,39.97,0.625,4,0.000,0.061,3040,3232,1941,0,0,0,0,0,0
$GC,3301,0.64,340.1,74.5,9.4,411,3344,0.00,1.92,36.17,0.609,6,0.000,0.052,3042,2033,1762,0,0,0,0,0,0
$GC,3665,0.77,506.1,50.1,4.8,479,3808,0.17,2.10,131.12,0.595,4,0.078,0.061,3130,772,1083,0,0,0,0,0,0
$GC,3862,0.80,527.0,30.0,10.3,515,3884,0.00,2.05,17.58,0.552,6,0.000,0.052,3130,2042,1000,0,0,0,0,0,0
$STATE,4127,end climb,SURFACE_DEPTH_REACHED
$STATE,4127,begin surface coast
$FINISH,1.1,1.024044
$STATE,4155,end surface coast,CONTROL_FINISHED_OK
$STATE,4156,begin surface
$SM_CCo,4172,19.23,0.364,1,0,907,550.21
$SM_GC,1.84,0.00,0.00,19.23,0.000,0.000,0.364,134,2042,907,-8.50,-0.90,550.21
$IRIDIUM_FIX,4722.92,-12604.23,110100,090957
$TT8_MAMPS,0.052156
$HUMID,42.28
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.7,74.840
$10V_AH,9.8,71.397
$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,19.450,31.825,579.525,19.225,0.000,30.085,36.052,151.963,0.000,0.000,33.992,0.000,2148.491,531.929,1463.086,392.315,0.000,1136.209,0.000,1262.275,0.000,0.993,0.000
$DEVICE_MAMPS,227.032,79.768,694.902,363.558,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,384.280,412.482,904.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298460
$DATA_FILE_SIZE,31765,570
$CAP_FILE_SIZE,61874,0
$CFSIZE,260165632,211410944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.162,197.3,1
$GPS,171010,114308,4742.042,-12556.652,8,1.6,8,18.7