version: 66.12
glider: 187
mission: 7
dive: 4
start: 6 4 115 18 49 50
data:
$ID,187
$MISSION,7
$DIVE,4
$N_DIVES,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,64
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53361
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-06
$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,588.04138
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3440
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.45758
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,040615,183802,4743.5151,-12224.4453,34,0.8,34,16.1,0.0,0.0,10,6.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-77.6
$GPS2,040615,184919,4743.5435,-12224.4463,2,0.7,3,16.1,0.1,0.0,12,9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,215.4,694,-16.9,-10.000,-20.75,2244
$D_GRID,174
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.57,-146.6,94,1898,421,544,0.0,0.0,0,140,0.00,0.00,-106.75,0.000,16386,0.000,0.000,92,1899,3291,3269,3314,0,0,0,0,0,0,14.76,28.83,14.78
$GC,147,-0.57,-146.6,94,1896,3269,3313,3.0,-3.5,11,171,13.90,2.53,0.00,0.000,2308,0.392,0.109,3235,3314,3292,3269,3315,0,0,0,0,0,0,14.35,14.51,14.59
$GC,344,-0.30,-146.6,3234,3317,3268,3318,51.2,-18.5,48,354,0.38,2.53,0.00,0.000,3078,0.250,0.109,3339,1905,3293,3267,3319,0,0,0,0,0,0,14.47,14.54,14.64
$GC,536,-0.36,-146.6,3338,1905,3264,3323,70.0,-9.6,67,545,0.00,2.53,0.00,0.000,260,0.000,0.117,3339,3313,3291,3259,3323,0,0,0,0,0,0,14.81,14.59,14.82
$GC,654,-0.46,-146.6,3335,3316,3259,3323,79.7,-8.3,88,664,0.12,2.53,0.00,0.000,5126,0.125,0.107,3273,1901,3293,3264,3323,0,0,0,0,0,0,14.64,14.59,14.73
$GC,845,-0.30,-146.6,3273,1895,3263,3323,105.8,-14.0,107,854,0.20,2.53,0.00,0.000,2564,0.236,0.121,3335,475,3292,3263,3321,0,0,0,0,0,0,14.52,14.57,14.62
$GC,940,-0.37,-146.6,3335,475,3263,3324,115.5,-9.5,123,949,0.00,2.53,0.00,0.000,1030,0.000,0.106,3335,1909,3293,3263,3324,0,0,0,0,0,0,14.71,14.61,14.73
$GC,1140,-0.45,-146.6,3335,1910,3262,3324,133.5,-9.5,143,1150,0.08,0.00,0.00,0.000,4102,0.170,0.000,3281,1910,3293,3262,3325,0,0,0,0,0,0,14.66,14.71,14.70
$STATE,1271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1271,begin apogee
$GC,1281,-0.19,0.0,3283,1910,3263,3324,150.5,-13.6,156,1392,0.30,0.00,104.10,0.845,10246,0.226,0.000,3366,1910,2700,2615,2785,0,0,0,0,0,0,14.54,14.32,13.93
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1404,0.57,146.6,3366,1910,2606,2781,160.3,0.0,168,1533,0.77,0.00,110.60,0.817,10758,0.188,0.000,3610,1913,2096,1933,2259,0,0,0,0,0,0,14.24,14.16,13.81
$GC,1714,0.58,158.9,3610,1911,1931,2257,137.2,9.4,203,1732,0.00,2.55,10.85,0.819,8452,0.000,0.113,3610,3317,2046,1880,2212,0,0,0,0,0,0,14.62,14.34,14.04
$GC,1947,0.58,158.9,3610,3317,1877,2205,110.5,12.2,247,1956,0.00,2.58,0.00,0.000,1030,0.000,0.112,3612,1892,2041,1878,2205,0,0,0,0,0,0,14.59,14.49,14.62
$GC,2147,0.59,168.0,3611,1891,1877,2205,91.8,9.6,267,2162,0.00,2.60,3.47,0.584,8452,0.000,0.116,3612,3313,2015,1851,2179,0,0,0,0,0,0,14.76,14.52,14.08
$GC,2245,0.59,168.0,3611,3312,1872,2180,80.4,11.6,284,2255,0.00,2.55,1.45,0.091,9222,0.000,0.114,3611,1901,2013,1854,2173,0,0,0,0,0,0,14.64,14.56,14.53
$GC,2437,0.64,184.8,3611,1899,1879,2177,62.1,9.2,303,2467,0.08,2.60,18.20,0.780,10500,0.170,0.116,3668,3312,1935,1782,2088,0,0,0,0,0,0,14.61,14.49,14.21
$GC,2666,0.50,184.8,3668,3313,1782,2079,28.7,16.7,345,2674,0.22,2.55,0.00,0.000,5126,0.236,0.115,3604,1898,1931,1783,2080,0,0,0,0,0,0,14.50,14.56,14.65
$GC,2866,0.62,208.5,3603,1898,1783,2078,10.5,8.9,365,2887,0.08,2.60,8.90,0.118,10500,0.168,0.118,3658,3315,1849,1692,2006,0,0,0,0,0,0,14.60,14.55,14.57
$STATE,2913,end climb,SURFACE_DEPTH_REACHED
$STATE,2913,begin surface coast
$FINISH,0.2,1.021806
$STATE,2936,end surface coast,CONTROL_FINISHED_OK
$STATE,2936,begin surface
$SM_CCo,2969,147.35,0.084,0,0,469,547.02
$SM_CCo,3127,0.65,0.100,0,0,470,547.02
$SM_CCo,3134,0.22,0.129,0,0,469,547.02
$SM_GC,1.23,9.93,2.60,0.22,0.061,0.111,0.129,89,1898,469,-10.41,0.40,547.02,0,0,0,0,0,0,14.62,14.60,14.59
$IRIDIUM_FIX,4722.92,-12229.50,040615,184251
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.74
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.1,68.3
$SC_FREEKB,3936512
$24V_AH,13.81,1.645
$10V_AH,13.99,0.000
$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,26.050,35.825,257.575,148.225,0.000,0.000,0.000,323.225,0.500,0.000,4.884,816.249,1085.311,519.125,970.204,423.021,0.000,1229.014,0.000,595.758,0.000,5.612,0.000
$DEVICE_MAMPS,391.680,263.925,844.560,128.520,0.000,0.000,0.000,130.815,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2957.000,2939.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.391,9.022,0.000,0.000
$MEM,312292
$DATA_FILE_SIZE,13494,377
$CAP_FILE_SIZE,68203,0
$CFSIZE,260034560,256143360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,37.97,1
$GPS,040615,194305,4743.420,-12224.720,1,1.3,4,16.1,0.0,0.0,8,10.0