version: 66.07
glider: 187
mission: 4
dive: 4
start: 5 1 111 0 2 10
data:
$ID,187
$MISSION,4
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$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,400
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1583890.8
$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,2925
$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,2018
$C_ROLL_CLIMB,2018
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2735
$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,-60.973145
$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,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
$GPS1,300411,235701,4808.021,-12455.715,10,1.2,15,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.3
$GPS2,010511,000114,4807.955,-12455.720,14,1.9,14,18.8
$SPEED_LIMITS,0.173,0.280
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.071,-0.271
$KALMAN_X,179.9,102.8,96.6,-122.0,36.9
$KALMAN_Y,-890.5,-500.6,-465.3,-1135.8,-170.8
$MHEAD_RNG_PITCHd_Wd,175.9,18504,-17.2,-10.000
$D_GRID,54
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-171.1,0.0,0.0,0,82,0.00,0.00,-64.60,0.000,2,0.000,0.000,132,2014,2663,0,0,0,0,0,0
$GC,85,-0.68,-171.1,3.3,-6.3,10,120,9.85,2.00,-14.90,0.000,4,0.224,0.076,2691,3247,3436,0,0,0,0,0,0
$STATE,336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,336,begin apogee
$GC,344,-0.17,0.0,54.5,15.8,57,484,0.55,0.00,133.20,0.606,6,0.134,0.000,2866,2001,2734,0,0,0,0,0,0
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,488,0.68,171.1,62.4,0.0,78,640,0.80,2.05,137.85,0.587,4,0.090,0.056,3145,786,2035,0,0,0,0,0,0
$GC,664,0.72,245.4,56.5,7.1,105,731,0.00,2.00,59.28,0.573,6,0.000,0.050,3145,2011,1733,0,0,0,0,0,0
$GC,1044,0.77,303.7,23.2,7.7,175,1097,0.00,2.00,45.33,0.568,4,0.000,0.058,3145,3249,1496,0,0,0,0,0,0
$GC,1160,0.81,309.6,12.7,9.8,194,1175,0.08,2.00,5.68,0.453,6,0.071,0.049,3189,2003,1471,0,0,0,0,0,0
$STATE,1285,end climb,SURFACE_DEPTH_REACHED
$STATE,1285,begin surface coast
$FINISH,0.3,1.022921
$STATE,1349,end surface coast,CONTROL_FINISHED_OK
$STATE,1349,begin surface
$SM_CCo,1366,43.45,0.474,1,0,1104,400.08
$SM_GC,0.96,0.00,0.00,43.45,0.000,0.000,0.474,132,1998,1104,-8.73,-0.57,400.08
$IRIDIUM_FIX,4751.72,-12450.28,300411,232307
$TT8_MAMPS,0.026964
$HUMID,35.74
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.1,3.415
$10V_AH,10.4,3.476
$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,19.475,12.000,381.325,43.450,0.000,26.949,34.633,95.707,0.000,0.000,17.640,431.688,77.352,388.189,689.035,96.474,32.332,692.387,0.000,540.772,0.000,0.537,0.000
$DEVICE_MAMPS,224.145,75.735,605.880,473.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,152.345,162.151,483.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297768
$DATA_FILE_SIZE,13590,229
$CAP_FILE_SIZE,28490,0
$CFSIZE,260165632,210186240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010511,002631,4807.601,-12455.747,8,1.9,8,18.8