version: 66.07
glider: 187
mission: 4
dive: 318
start: 5 24 111 15 44 48
data:
$ID,187
$MISSION,4
$DIVE,318
$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,-1584204.5
$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,32
$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,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
$GPS1,240511,153846,4751.462,-12459.529,12,3.0,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.9
$GPS2,240511,154351,4751.447,-12459.525,14,2.7,33,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.306,0.116
$KALMAN_X,1902.2,543.3,315.0,-6743.2,116.3
$KALMAN_Y,-3997.5,-1202.1,4.9,2081.5,-51.6
$MHEAD_RNG_PITCHd_Wd,308.7,10247,-20.3,-13.333
$D_GRID,100
$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,16,-0.75,-195.5,0.0,0.0,0,83,0.00,0.00,-64.82,0.000,2,0.000,0.000,124,2180,2755,0,0,0,0,0,0
$GC,86,-0.75,-195.5,3.2,-4.7,10,123,10.07,2.45,-14.93,0.000,4,0.238,0.061,2656,651,3536,0,0,0,0,0,0
$GC,274,-0.73,-195.5,48.0,-17.5,43,281,0.00,2.40,0.00,0.000,6,0.000,0.047,2646,2173,3538,0,0,0,0,0,0
$GC,346,-0.69,-195.5,61.7,-20.1,56,355,0.12,2.42,0.00,0.000,4,0.173,0.059,2669,3692,3538,0,0,0,0,0,0
$GC,402,-0.69,-195.5,71.6,-15.1,65,410,0.00,2.30,0.00,0.000,6,0.000,0.043,2668,2228,3538,0,0,0,0,0,0
$GC,478,-0.67,-195.5,85.4,-21.5,78,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2223,3539,0,0,0,0,0,0
$GC,551,-0.65,-195.5,98.8,-17.1,91,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2223,3538,0,0,0,0,0,0
$STATE,566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,573,-0.22,0.0,102.1,16.6,93,733,0.50,0.00,152.80,0.630,6,0.131,0.000,2831,2038,2735,0,0,0,0,0,0
$STATE,735,end apogee,CONTROL_FINISHED_OK
$STATE,735,begin climb
$GC,737,0.75,195.5,111.5,0.0,109,909,0.93,2.47,157.20,0.614,4,0.090,0.049,3154,560,1937,0,0,0,0,0,0
$GC,938,0.75,195.5,94.0,15.3,131,946,0.00,2.45,0.00,0.000,6,0.000,0.044,3154,2066,1932,0,0,0,0,0,0
$GC,1013,0.74,195.5,83.2,14.2,144,1021,0.00,2.50,0.00,0.000,4,0.000,0.055,3154,3591,1930,0,0,0,0,0,0
$GC,1066,0.72,195.5,74.8,14.7,153,1074,0.00,2.38,0.00,0.000,6,0.000,0.041,3165,2112,1929,0,0,0,0,0,0
$GC,1139,0.70,195.5,64.8,13.9,166,1147,0.12,2.45,0.00,0.000,4,0.164,0.050,3142,559,1929,0,0,0,0,0,0
$GC,1167,0.73,241.0,61.7,11.3,170,1210,0.00,2.40,36.53,0.584,6,0.000,0.045,3142,2069,1752,0,0,0,0,0,0
$GC,1277,0.76,295.4,52.3,10.8,188,1326,0.00,2.53,44.20,0.580,4,0.000,0.055,3142,3573,1528,0,0,0,0,0,0
$GC,1375,0.78,297.5,40.8,13.2,203,1382,0.00,2.40,0.00,0.000,6,0.000,0.041,3151,2086,1522,0,0,0,0,0,0
$GC,1448,0.79,297.5,29.9,14.6,216,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2084,1521,0,0,0,0,0,0
$GC,1521,0.83,343.9,21.2,11.2,229,1564,0.00,0.00,38.88,0.566,6,0.000,0.000,3151,2081,1332,0,0,0,0,0,0
$GC,1631,0.96,479.8,11.8,7.1,247,1701,0.17,0.00,66.88,0.561,2,0.071,0.000,3230,2081,992,0,0,0,0,0,0
$STATE,1702,end climb,SURFACE_DEPTH_REACHED
$STATE,1702,begin surface coast
$FINISH,0.6,1.022801
$STATE,1737,end surface coast,CONTROL_FINISHED_OK
$STATE,1737,begin surface
$SM_CCo,1816,0.00,0.000,0,0,983,429.77
$SM_GC,1.37,8.32,0.00,0.00,0.037,0.000,0.000,142,2188,983,-8.57,0.37,429.77
$IRIDIUM_FIX,4732.49,-12505.82,240511,151557
$TT8_MAMPS,0.026964
$HUMID,35.78
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,35.7
$24V_AH,24.1,31.298
$10V_AH,10.3,24.008
$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,20.250,29.550,496.475,0.000,0.000,25.753,37.227,119.278,0.500,0.000,34.891,552.650,143.627,507.222,784.577,143.055,33.318,854.421,0.000,603.244,0.000,5.512,0.000
$DEVICE_MAMPS,237.915,86.445,629.595,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.131,189.701,506.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297528
$DATA_FILE_SIZE,13590,263
$CAP_FILE_SIZE,41877,0
$CFSIZE,260165632,195813376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.196,178.8,1
$GPS,240511,161550,4751.421,-12459.694,11,2.0,11,18.7