version: 66.07
glider: 187
mission: 4
dive: 303
start: 5 24 111 6 43 26
data:
$ID,187
$MISSION,4
$DIVE,303
$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,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,375
$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,-1584185.8
$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,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,34
$R_STBD_OVSHOOT,45
$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
$GPS1,240511,063708,4752.418,-12456.903,14,1.2,14,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-77.5
$GPS2,240511,064231,4752.339,-12456.943,11,1.3,17,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.134,0.298
$KALMAN_X,42.3,18.4,17.3,-854.2,19.0
$KALMAN_Y,-509.5,-387.0,-378.0,-192.3,-388.5
$MHEAD_RNG_PITCHd_Wd,304.2,12984,-20.3,-13.333
$D_GRID,92
$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,-0.75,-195.5,0.0,0.0,0,84,0.00,0.00,-64.55,0.000,2,0.000,0.000,131,2199,2745,0,0,0,0,0,0
$GC,87,-0.75,-195.5,3.2,-4.7,10,124,10.00,2.40,-15.60,0.000,4,0.236,0.069,2650,3676,3536,0,0,0,0,0,0
$GC,133,-0.64,-195.5,17.1,-28.4,16,142,0.10,2.38,0.00,0.000,6,0.144,0.042,2697,2175,3536,0,0,0,0,0,0
$GC,208,-0.61,-195.5,33.3,-19.3,29,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2171,3537,0,0,0,0,0,0
$GC,281,-0.59,-195.5,47.3,-18.7,42,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2171,3537,0,0,0,0,0,0
$GC,353,-0.57,-195.5,61.6,-20.1,55,360,0.00,2.45,0.00,0.000,4,0.000,0.058,2688,3671,3537,0,0,0,0,0,0
$GC,400,-0.57,-195.5,70.4,-18.0,63,408,0.08,2.35,0.00,0.000,6,0.122,0.042,2715,2169,3537,0,0,0,0,0,0
$GC,477,-0.57,-195.5,80.2,-14.0,76,485,0.00,2.35,0.00,0.000,4,0.000,0.050,2715,669,3537,0,0,0,0,0,0
$GC,545,-0.58,-195.5,89.6,-12.8,88,554,0.00,2.30,0.00,0.000,6,0.000,0.047,2709,2141,3537,0,0,0,0,0,0
$STATE,564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,564,begin apogee
$GC,571,-0.22,0.0,92.3,12.6,91,733,0.35,0.00,152.10,0.620,6,0.119,0.000,2826,2048,2734,0,0,0,0,0,0
$STATE,733,end apogee,CONTROL_FINISHED_OK
$STATE,733,begin climb
$GC,736,0.75,195.5,100.5,0.0,114,903,0.93,0.00,156.32,0.602,6,0.090,0.000,3138,2048,1938,0,0,0,0,0,0
$GC,969,0.78,248.7,82.2,10.9,148,1018,0.00,2.50,43.25,0.581,4,0.000,0.050,3149,555,1720,0,0,0,0,0,0
$GC,1077,0.79,248.7,67.7,14.3,165,1085,0.00,2.40,0.00,0.000,6,0.000,0.044,3149,2047,1716,0,0,0,0,0,0
$GC,1150,0.83,310.4,59.0,10.5,178,1206,0.00,2.53,49.42,0.573,4,0.000,0.054,3149,3577,1468,0,0,0,0,0,0
$GC,1253,0.87,344.7,47.3,11.8,194,1288,0.00,2.42,28.42,0.558,6,0.000,0.041,3156,2078,1327,0,0,0,0,0,0
$GC,1356,0.90,369.4,34.6,12.2,211,1386,0.12,2.53,20.50,0.545,4,0.087,0.052,3226,542,1227,0,0,0,0,0,0
$GC,1410,0.90,369.4,25.2,18.3,219,1418,0.12,2.45,0.00,0.000,6,0.160,0.044,3195,2068,1225,0,0,0,0,0,0
$GC,1484,0.90,369.4,13.4,14.5,232,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2067,1223,0,0,0,0,0,0
$GC,1560,0.97,446.3,4.4,9.8,245,1568,0.00,0.00,6.40,0.465,2,0.000,0.000,3195,2068,1198,0,0,0,0,0,0
$STATE,1569,end climb,SURFACE_DEPTH_REACHED
$STATE,1569,begin surface coast
$FINISH,0.7,1.023628
$STATE,1613,end surface coast,CONTROL_FINISHED_OK
$STATE,1613,begin surface
$SM_CCo,1692,0.00,0.000,0,0,1193,378.25
$SM_GC,1.46,8.05,0.00,0.00,0.034,0.000,0.000,124,2189,1193,-8.57,0.40,378.25
$IRIDIUM_FIX,4738.89,-12504.26,240511,050527
$TT8_MAMPS,0.026964
$HUMID,35.46
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,27.4
$24V_AH,24.1,29.915
$10V_AH,10.3,23.404
$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,19.750,29.325,456.425,0.000,0.000,26.055,33.989,156.055,0.500,0.000,18.061,514.499,132.125,441.962,778.366,157.142,31.409,809.072,0.000,597.799,0.000,5.491,0.000
$DEVICE_MAMPS,235.620,86.445,620.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.579,180.908,528.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297584
$DATA_FILE_SIZE,13596,254
$CAP_FILE_SIZE,42365,0
$CFSIZE,260165632,196243456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.308,183.6,1
$GPS,240511,071246,4752.243,-12457.185,13,2.2,32,18.7