version: 66.07
glider: 187
mission: 4
dive: 289
start: 5 24 111 0 7 16
data:
$ID,187
$MISSION,4
$DIVE,289
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,20
$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,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,30
$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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,-4
$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,-1584179.5
$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,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,43
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,32
$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,80
$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
$GPS1,240511,000152,4753.478,-12459.691,18,3.3,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-76.7
$GPS2,240511,000654,4753.417,-12459.645,28,1.2,45,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4802.769,-12451.567
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.195,0.262
$KALMAN_X,-581.1,-164.8,73.8,3254.4,-1.0
$KALMAN_Y,-4164.7,-1110.7,-315.0,5923.2,1022.5
$MHEAD_RNG_PITCHd_Wd,11.3,20000,-20.3,-13.333
$D_GRID,97
$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,-0.75,-195.5,0.0,0.0,0,108,0.00,0.00,-90.50,0.000,2,0.000,0.000,125,2162,2748,0,0,0,0,0,0
$GC,112,-0.75,-195.5,3.7,-7.0,14,147,9.95,2.38,-14.98,0.000,4,0.234,0.061,2654,668,3536,0,0,0,0,0,0
$GC,260,-0.72,-195.5,43.2,-20.4,40,267,0.00,2.38,0.00,0.000,6,0.000,0.047,2645,2172,3538,0,0,0,0,0,0
$GC,332,-0.68,-195.5,58.0,-20.9,53,340,0.15,0.00,0.00,0.000,6,0.163,0.000,2686,2172,3539,0,0,0,0,0,0
$GC,406,-0.66,-195.5,70.2,-13.7,66,413,0.00,2.38,0.00,0.000,4,0.000,0.048,2685,663,3539,0,0,0,0,0,0
$GC,442,-0.66,-195.5,75.0,-12.4,72,449,0.00,2.33,0.00,0.000,6,0.000,0.047,2678,2142,3539,0,0,0,0,0,0
$GC,518,-0.65,-195.5,85.1,-14.0,85,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2142,3539,0,0,0,0,0,0
$GC,589,-0.64,-195.5,94.8,-13.3,98,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2142,3539,0,0,0,0,0,0
$STATE,607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,607,begin apogee
$GC,613,-0.22,0.0,97.8,14.3,101,776,0.45,0.00,152.77,0.625,6,0.126,0.000,2826,2046,2735,0,0,0,0,0,0
$STATE,778,end apogee,CONTROL_FINISHED_OK
$STATE,778,begin climb
$GC,781,0.75,195.5,106.1,0.0,118,943,0.93,0.00,157.05,0.607,6,0.090,0.000,3139,2046,1937,0,0,0,0,0,0
$GC,1009,0.75,195.5,85.1,14.9,147,1016,0.00,2.42,0.00,0.000,4,0.000,0.050,3150,562,1931,0,0,0,0,0,0
$GC,1049,0.75,195.5,78.8,15.0,154,1057,0.00,2.40,0.00,0.000,6,0.000,0.044,3150,2057,1930,0,0,0,0,0,0
$GC,1121,0.75,195.5,67.6,15.7,167,1129,0.00,2.45,0.00,0.000,4,0.000,0.055,3150,3579,1928,0,0,0,0,0,0
$GC,1143,0.75,195.5,64.3,15.9,170,1151,0.00,2.40,0.00,0.000,6,0.000,0.041,3160,2082,1927,0,0,0,0,0,0
$GC,1215,0.78,237.5,54.6,11.4,183,1256,0.00,2.47,33.40,0.576,4,0.000,0.049,3172,542,1767,0,0,0,0,0,0
$GC,1322,0.81,287.1,42.3,11.1,201,1369,0.00,2.38,40.55,0.571,6,0.000,0.044,3172,2037,1563,0,0,0,0,0,0
$GC,1435,0.81,287.1,28.6,13.7,220,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2036,1557,0,0,0,0,0,0
$STATE,1504,end climb,FINISH_DEPTH_REACHED
$STATE,1505,begin subsurface finish
$FINISH1,19.7,1.025024,0
$GC,1511,0.00,0.0,19.7,-11.2,233,1534,0.80,0.00,-19.50,0.000,6,0.116,0.000,2909,2040,2737,0,0,0,0,0,0
$FINISH2,18.0
$STATE,1535,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1535,begin surface
$IRIDIUM_FIX,4735.69,-12502.41,230511,222215
$TT8_MAMPS,0.027713
$HUMID,35.62
$INTERNAL_PRESSURE,9.16712
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,34.9
$24V_AH,24.1,28.802
$10V_AH,10.2,22.933
$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,12.275,24.100,383.775,0.000,0.000,24.671,35.582,109.199,0.500,0.000,46.315,467.799,81.233,425.913,750.594,116.511,0.000,755.894,0.000,559.288,0.000,5.510,0.000
$DEVICE_MAMPS,234.090,84.915,625.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,157.051,169.580,460.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297564
$DATA_FILE_SIZE,13617,236
$CAP_FILE_SIZE,36464,0
$CFSIZE,260165632,196612096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,000654,4753.417,-12459.645,28,1.2,45,18.7