version: 66.07
glider: 187
mission: 4
dive: 34
start: 5 1 111 16 19 4
data:
$ID,187
$MISSION,4
$DIVE,34
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$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,350
$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,-1583933.4
$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,2958
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,2040
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,31
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$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
$GPS1,010511,161336,4758.529,-12456.092,64,1.0,68,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-78.9
$GPS2,010511,161808,4758.549,-12456.012,10,1.7,10,18.8
$SPEED_LIMITS,0.173,0.297
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.234,-0.183
$KALMAN_X,3741.1,726.0,101.0,-4677.5,129.6
$KALMAN_Y,-8178.6,-1490.7,-505.9,-10242.9,123.2
$MHEAD_RNG_PITCHd_Wd,261.5,190481,-16.1,-10.000
$D_GRID,90
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.58,-195.5,0.0,0.0,0,70,0.00,0.00,-52.45,0.000,2,0.000,0.000,133,2034,2274,0,0,0,0,0,0
$GC,73,-0.58,-195.5,3.0,-5.0,8,116,10.27,2.00,-23.62,0.000,4,0.231,0.071,2755,3272,3533,0,0,0,0,0,0
$GC,136,-0.55,-195.5,18.0,-16.0,17,144,0.00,1.95,0.00,0.000,6,0.000,0.046,2754,2038,3534,0,0,0,0,0,0
$GC,463,-0.55,-195.5,61.8,-11.8,78,472,0.00,1.92,0.00,0.000,4,0.000,0.053,2754,804,3535,0,0,0,0,0,0
$GC,533,-0.56,-195.5,69.4,-10.5,90,541,0.00,1.92,0.00,0.000,6,0.000,0.049,2748,2033,3535,0,0,0,0,0,0
$STATE,667,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,670,begin apogee
$GC,675,-0.14,0.0,83.2,9.8,115,834,0.47,0.00,151.80,0.617,6,0.110,0.000,2908,2033,2734,0,0,0,0,0,0
$STATE,835,end apogee,CONTROL_FINISHED_OK
$STATE,835,begin climb
$GC,837,0.58,195.5,90.9,0.0,138,1005,0.65,2.05,157.50,0.597,4,0.062,0.057,3146,3230,1936,0,0,0,0,0,0
$GC,1152,0.55,195.5,64.2,13.1,189,1159,0.00,1.98,0.00,0.000,6,0.000,0.045,3153,2003,1928,0,0,0,0,0,0
$GC,1477,0.57,246.5,34.4,8.2,250,1526,0.00,2.00,40.00,0.575,4,0.000,0.054,3163,767,1729,0,0,0,0,0,0
$GC,1555,0.62,320.0,28.3,7.5,262,1625,0.00,2.00,59.08,0.567,6,0.000,0.047,3163,2018,1428,0,0,0,0,0,0
$GC,1944,0.85,597.9,4.5,0.5,332,2007,0.20,0.00,59.83,0.561,2,0.078,0.000,3243,2018,1118,0,0,0,0,0,0
$STATE,2008,end climb,SURFACE_DEPTH_REACHED
$STATE,2008,begin surface coast
$FINISH,0.3,1.012130
$STATE,2096,end surface coast,CONTROL_FINISHED_OK
$STATE,2096,begin surface
$SM_CCo,2174,0.00,0.000,0,0,1108,399.10
$SM_GC,2.65,8.43,0.00,0.00,0.046,0.000,0.000,137,2023,1108,-8.73,-0.51,399.10
$IRIDIUM_FIX,4732.49,-12442.72,010511,151500
$TT8_MAMPS,0.026964
$HUMID,35.78
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.2,32.6
$24V_AH,24.0,5.773
$10V_AH,10.4,4.664
$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,20.025,15.825,468.200,0.000,0.000,27.696,40.456,105.737,0.500,0.000,10.903,739.349,189.733,414.126,993.444,118.529,33.319,822.912,0.000,834.458,0.000,5.501,0.000
$DEVICE_MAMPS,231.030,71.145,616.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,239.275,254.095,752.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297724
$DATA_FILE_SIZE,20274,357
$CAP_FILE_SIZE,38524,0
$CFSIZE,260165632,209420288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222,148.3,1
$GPS,010511,165855,4758.391,-12456.059,182,1.9,182,18.8