version: 66.07
glider: 187
mission: 3
dive: 10
start: 2 17 111 3 11 49
data:
$ID,187
$MISSION,3
$DIVE,10
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,89
$T_MISSION,95
$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,180
$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,260
$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,-1519679.4
$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,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,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$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
$GPS1,170211,030252,4744.588,-12223.564,10,5.6,29,18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-78.1
$GPS2,170211,031052,4744.671,-12223.634,16,4.4,35,18.2
$SPEED_LIMITS,0.130,0.256
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.042,-0.253
$KALMAN_X,-970.3,-37.6,264.3,2569.9,-210.3
$KALMAN_Y,1311.9,-1255.3,-213.3,2903.7,1245.7
$MHEAD_RNG_PITCHd_Wd,152.5,887,-13.2,-7.491
$D_GRID,153
$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,15,begin dive
$GC,17,-0.54,-176.0,0.0,0.0,0,84,0.00,0.00,-64.85,0.000,2,0.000,0.000,135,2104,3060,0,0,0,0,0,0
$GC,88,-0.54,-176.0,3.8,-4.7,10,109,10.82,0.00,-4.68,0.000,6,0.232,0.000,2926,2104,3312,0,0,0,0,0,0
$GC,175,-0.52,-176.0,27.0,-15.1,25,182,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2104,3314,0,0,0,0,0,0
$GC,246,-0.50,-176.0,37.2,-13.6,38,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2104,3314,0,0,0,0,0,0
$GC,317,-0.48,-176.0,46.3,-12.1,51,324,0.00,2.00,0.00,0.000,4,0.000,0.061,2920,3337,3314,0,0,0,0,0,0
$GC,397,-0.46,-176.0,54.3,-9.3,65,405,0.15,1.88,0.00,0.000,6,0.145,0.046,2962,2099,3314,0,0,0,0,0,0
$GC,539,-0.46,-176.0,67.1,-9.7,90,547,0.00,1.90,0.00,0.000,4,0.000,0.054,2962,878,3314,0,0,0,0,0,0
$GC,594,-0.46,-176.0,73.0,-11.0,99,601,0.00,1.85,0.00,0.000,6,0.000,0.050,2958,2092,3315,0,0,0,0,0,0
$GC,736,-0.46,-176.0,88.7,-10.9,124,744,0.00,1.98,0.00,0.000,4,0.000,0.061,2954,3327,3315,0,0,0,0,0,0
$GC,784,-0.46,-176.0,93.6,-10.2,132,791,0.00,1.92,0.00,0.000,6,0.000,0.047,2954,2082,3315,0,0,0,0,0,0
$GC,930,-0.46,-176.0,106.7,-8.7,157,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2083,3315,0,0,0,0,0,0
$GC,1074,-0.46,-176.0,120.1,-9.6,182,1082,0.00,1.98,0.00,0.000,4,0.000,0.061,2946,3330,3315,0,0,0,0,0,0
$GC,1099,-0.46,-176.0,123.1,-9.9,186,1107,0.00,1.92,0.00,0.000,6,0.000,0.047,2945,2085,3315,0,0,0,0,0,0
$GC,1245,-0.46,-176.0,137.3,-10.6,211,1251,0.00,1.92,0.00,0.000,4,0.000,0.062,2938,3333,3315,0,0,0,0,0,0
$GC,1285,-0.46,-176.0,141.3,-8.8,218,1293,0.00,1.88,0.00,0.000,6,0.000,0.047,2938,2116,3315,0,0,0,0,0,0
$GC,1430,-0.45,-176.0,151.8,-8.1,243,1436,0.00,1.90,0.00,0.000,4,0.000,0.062,2930,3332,3315,0,0,0,0,0,0
$STATE,1442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1442,begin apogee
$GC,1450,-0.17,0.0,153.1,7.6,245,1595,0.38,0.00,136.75,0.678,6,0.127,0.000,3053,2047,2592,0,0,0,0,0,0
$STATE,1596,end apogee,CONTROL_FINISHED_OK
$STATE,1596,begin climb
$GC,1598,0.54,176.0,156.1,0.0,268,1751,0.68,2.08,143.15,0.647,4,0.096,0.055,3287,825,1872,0,0,0,0,0,0
$GC,1887,0.55,182.7,136.3,7.3,316,1901,0.00,1.98,5.72,0.507,6,0.000,0.049,3287,2051,1848,0,0,0,0,0,0
$GC,2035,0.54,182.7,123.1,9.3,342,2043,0.00,1.98,0.00,0.000,4,0.000,0.059,3287,3276,1845,0,0,0,0,0,0
$GC,2168,0.53,182.7,111.2,10.1,365,2175,0.00,1.85,0.00,0.000,6,0.000,0.046,3288,2077,1844,0,0,0,0,0,0
$GC,2310,0.53,182.7,96.9,10.2,390,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2074,1843,0,0,0,0,0,0
$GC,2450,0.53,182.7,83.4,9.4,415,2457,0.00,1.92,0.00,0.000,4,0.000,0.056,3289,819,1844,0,0,0,0,0,0
$GC,2488,0.53,182.7,80.2,8.5,421,2495,0.00,2.00,0.00,0.000,6,0.000,0.051,3289,2110,1844,0,0,0,0,0,0
$GC,2630,0.53,191.7,68.3,7.2,446,2644,0.00,0.00,8.55,0.564,6,0.000,0.000,3289,2111,1810,0,0,0,0,0,0
$GC,2777,0.56,244.5,58.7,6.0,472,2828,0.00,2.10,42.80,0.612,4,0.000,0.055,3288,819,1594,0,0,0,0,0,0
$GC,2864,0.60,302.4,53.6,5.8,486,2915,0.00,2.03,47.00,0.596,6,0.000,0.050,3288,2090,1359,0,0,0,0,0,0
$GC,3045,0.61,302.4,40.5,8.7,518,3052,0.00,1.92,0.00,0.000,4,0.000,0.059,3288,3281,1352,0,0,0,0,0,0
$GC,3081,0.62,302.4,37.3,9.0,524,3088,0.00,1.90,0.00,0.000,6,0.000,0.047,3289,2094,1351,0,0,0,0,0,0
$GC,3154,0.64,302.4,31.0,8.3,537,3161,0.00,2.03,0.00,0.000,4,0.000,0.057,3289,821,1350,0,0,0,0,0,0
$GC,3221,0.66,302.4,25.8,7.8,549,3229,0.00,1.95,0.00,0.000,6,0.000,0.049,3289,2055,1349,0,0,0,0,0,0
$GC,3294,0.68,304.8,20.4,7.4,562,3302,0.12,1.98,0.00,0.000,4,0.106,0.060,3336,3279,1349,0,0,0,0,0,0
$GC,3326,0.68,304.8,17.4,8.6,567,3333,0.00,1.95,0.00,0.000,6,0.000,0.048,3338,2049,1348,0,0,0,0,0,0
$GC,3399,0.68,304.8,9.6,9.9,580,3406,0.00,1.95,0.00,0.000,4,0.000,0.057,3338,815,1348,0,0,0,0,0,0
$GC,3461,0.69,304.8,4.4,8.1,591,3468,0.00,1.83,0.00,0.000,6,0.000,0.050,3338,1977,1348,0,0,0,0,0,0
$STATE,3479,end climb,SURFACE_DEPTH_REACHED
$STATE,3479,begin surface coast
$FINISH,0.2,1.021576
$STATE,3516,end surface coast,CONTROL_FINISHED_OK
$STATE,3516,begin surface
$SM_CCo,3595,0.00,0.000,0,0,1345,305.89
$SM_GC,0.98,8.52,0.00,0.00,0.050,0.000,0.000,144,2126,1345,-9.20,0.71,305.89
$IRIDIUM_FIX,4726.11,-12227.78,170211,020202
$TT8_MAMPS,0.026964
$HUMID,32.87
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.1,45.4
$24V_AH,24.0,0.930
$10V_AH,10.4,0.643
$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,20.675,54.750,383.975,0.000,0.000,24.715,29.474,267.437,0.500,0.000,37.354,1286.921,581.528,449.213,1536.951,226.727,33.313,1035.289,0.000,1200.213,0.000,8.038,0.000
$DEVICE_MAMPS,231.795,74.970,677.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.382,271.700,807.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,33582,601
$CAP_FILE_SIZE,74864,0
$CFSIZE,260165632,210132992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170211,041306,4744.552,-12223.648,41,1.0,46,18.2