version: 66.07
glider: 187
mission: 3
dive: 3
start: 2 16 111 20 4 53
data:
$ID,187
$MISSION,3
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,250
$N_FILEKB,8
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1519635.6
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2025
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2592
$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,-60.830196
$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,85
$ALTIM_PING_DELTA,5
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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
$GPS1,160211,195343,4743.300,-12225.039,21,1.9,31,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.9
$GPS2,160211,200349,4743.340,-12225.037,17,1.9,34,18.2
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.127,0.229
$KALMAN_X,-187.6,-200.2,-191.2,654.9,-222.7
$KALMAN_Y,-81.2,-118.8,-91.0,590.0,-143.7
$MHEAD_RNG_PITCHd_Wd,10.7,1078,-18.6,-10.000
$D_GRID,179
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.71,-146.6,0.0,0.0,0,83,0.00,0.00,-64.53,0.000,2,0.000,0.000,136,2014,3084,0,0,0,0,0,0
$GC,86,-0.71,-146.6,3.7,-7.8,10,108,10.80,1.90,-2.00,0.000,4,0.239,0.066,2877,789,3192,0,0,0,0,0,0
$GC,344,-0.70,-146.6,55.2,-13.9,58,351,0.00,1.92,0.00,0.000,6,0.000,0.050,2869,2024,3194,0,0,0,0,0,0
$GC,489,-0.68,-146.6,75.1,-13.6,83,496,0.00,1.92,0.00,0.000,4,0.000,0.058,2860,3270,3195,0,0,0,0,0,0
$GC,588,-0.66,-146.6,90.5,-15.9,100,596,0.10,1.88,0.00,0.000,6,0.148,0.046,2891,2055,3195,0,0,0,0,0,0
$GC,733,-0.66,-146.6,109.6,-13.2,125,743,0.00,1.88,0.00,0.000,4,0.000,0.060,2884,3259,3195,0,0,0,0,0,0
$GC,844,-0.66,-146.6,125.0,-14.0,144,851,0.00,1.80,0.00,0.000,6,0.000,0.046,2883,2083,3195,0,0,0,0,0,0
$GC,988,-0.66,-146.6,143.6,-13.0,169,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2082,3195,0,0,0,0,0,0
$STATE,1034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1034,begin apogee
$GC,1040,-0.17,0.0,150.1,13.0,177,1159,0.50,0.00,114.20,0.682,6,0.126,0.000,3048,2082,2592,0,0,0,0,0,0
$STATE,1160,end apogee,CONTROL_FINISHED_OK
$STATE,1160,begin climb
$GC,1163,0.71,146.6,156.8,0.0,196,1295,0.82,2.10,119.32,0.653,4,0.088,0.054,3342,818,1992,0,0,0,0,0,0
$GC,1344,0.69,146.6,147.5,10.1,225,1350,0.00,1.95,0.00,0.000,6,0.000,0.049,3342,2059,1990,0,0,0,0,0,0
$GC,1487,0.67,146.6,130.0,13.6,250,1494,0.00,1.95,0.00,0.000,4,0.000,0.059,3342,3277,1986,0,0,0,0,0,0
$GC,1519,0.64,146.6,125.0,14.5,255,1527,0.12,1.88,0.00,0.000,6,0.215,0.047,3323,2063,1986,0,0,0,0,0,0
$GC,1662,0.63,146.6,108.7,11.0,280,1670,0.00,1.95,0.00,0.000,4,0.000,0.059,3322,3283,1986,0,0,0,0,0,0
$GC,1737,0.61,146.6,99.7,12.1,293,1743,0.00,1.83,0.00,0.000,6,0.000,0.046,3329,2090,1985,0,0,0,0,0,0
$GC,1880,0.61,157.4,85.1,9.5,318,1894,0.00,1.95,8.48,0.566,4,0.000,0.058,3328,3286,1950,0,0,0,0,0,0
$GC,1959,0.59,157.4,77.0,11.1,331,1966,0.15,1.80,0.00,0.000,6,0.187,0.047,3299,2104,1948,0,0,0,0,0,0
$GC,2102,0.59,157.4,62.7,10.3,356,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2100,1949,0,0,0,0,0,0
$GC,2243,0.60,174.1,48.8,9.2,381,2264,0.00,2.00,14.98,0.594,4,0.000,0.054,3306,807,1882,0,0,0,0,0,0
$GC,2414,0.64,212.4,34.0,8.2,412,2454,0.00,2.03,31.20,0.599,6,0.000,0.050,3306,2106,1725,0,0,0,0,0,0
$GC,2521,0.66,222.1,24.6,9.6,430,2536,0.00,1.85,8.77,0.538,4,0.000,0.057,3306,3284,1685,0,0,0,0,0,0
$GC,2596,0.68,228.4,17.2,9.7,443,2610,0.00,1.85,5.93,0.491,6,0.000,0.047,3312,2110,1662,0,0,0,0,0,0
$GC,2676,0.72,281.0,9.8,7.6,457,2725,0.00,2.12,43.10,0.580,4,0.000,0.054,3321,811,1445,0,0,0,0,0,0
$GC,2745,0.77,312.8,4.1,8.5,467,2768,0.08,2.05,17.23,0.549,2,0.105,0.051,3355,2089,1360,0,0,0,0,0,0
$STATE,2769,end climb,SURFACE_DEPTH_REACHED
$STATE,2769,begin surface coast
$FINISH,0.1,1.011718
$STATE,2805,end surface coast,CONTROL_FINISHED_OK
$STATE,2805,begin surface
$SM_CCo,2884,0.00,0.000,0,0,1352,304.17
$SM_GC,1.12,8.80,0.00,0.00,0.054,0.000,0.000,139,2016,1352,-9.20,-0.28,304.17
$IRIDIUM_FIX,4726.11,-12220.67,160211,191947
$TT8_MAMPS,0.026964
$HUMID,34.01
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,135.4,59.9
$24V_AH,24.2,0.361
$10V_AH,10.4,0.211
$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,21.375,38.700,363.200,0.000,0.000,55.239,113.620,220.821,3.750,0.000,34.996,1020.974,526.688,386.820,1376.794,196.275,31.409,866.089,0.000,968.160,0.000,22.657,0.000
$DEVICE_MAMPS,238.680,99.450,681.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.976,223.573,663.340,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,27013,477
$CAP_FILE_SIZE,61817,0
$CFSIZE,260165632,210423808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160211,205404,4743.395,-12224.790,11,3.0,30,18.2