version: 66.07
glider: 187
mission: 4
dive: 339
start: 5 25 111 3 42 47
data:
$ID,187
$MISSION,4
$DIVE,339
$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,10
$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,270
$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,-1584217
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,250511,023126,4748.697,-12503.212,13,1.2,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.07
$_SM_ANGLEo,-6.8
$GPS2,250511,023126,4748.697,-12503.212,13,1.2,13,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4748.697,-12519.292
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.294,0.143
$KALMAN_X,3782.5,745.2,232.9,-9202.7,214.5
$KALMAN_Y,-5690.9,-906.1,-167.0,3167.6,-119.0
$MHEAD_RNG_PITCHd_Wd,251.3,20000,-20.3,-13.333
$D_GRID,131
$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,17,-0.75,-195.5,0.0,0.0,0,26,0.00,0.00,-6.97,0.000,2,0.000,0.000,2904,537,3290,0,0,0,0,0,0
$GC,29,-0.75,-195.5,17.5,-0.0,1,38,0.62,0.17,-3.90,0.000,4,0.050,0.262,2652,662,3535,0,0,0,0,0,0
$GC,87,-0.73,-195.5,27.7,-22.6,11,95,0.00,2.40,0.00,0.000,6,0.000,0.049,2641,2176,3538,0,0,0,0,0,0
$GC,160,-0.68,-195.5,43.7,-24.3,24,168,0.15,2.45,0.00,0.000,4,0.161,0.058,2672,3700,3538,0,0,0,0,0,0
$GC,188,-0.65,-195.5,50.0,-21.7,28,195,0.00,2.42,0.00,0.000,6,0.000,0.044,2670,2172,3538,0,0,0,0,0,0
$GC,262,-0.63,-195.5,62.9,-17.3,41,270,0.10,2.40,0.00,0.000,4,0.174,0.052,2697,643,3538,0,0,0,0,0,0
$GC,309,-0.63,-195.5,70.3,-14.3,49,316,0.00,2.35,0.00,0.000,6,0.000,0.048,2689,2131,3538,0,0,0,0,0,0
$GC,384,-0.62,-195.5,80.9,-17.2,62,391,0.00,2.47,0.00,0.000,4,0.000,0.059,2677,3691,3538,0,0,0,0,0,0
$GC,412,-0.62,-195.5,85.9,-17.7,66,420,0.00,2.45,0.00,0.000,6,0.000,0.044,2676,2137,3539,0,0,0,0,0,0
$GC,486,-0.62,-195.5,97.6,-15.0,79,494,0.10,2.33,0.00,0.000,4,0.171,0.051,2703,666,3539,0,0,0,0,0,0
$GC,523,-0.62,-195.5,102.1,-12.1,84,527,0.00,2.22,0.00,0.000,6,0.000,0.048,2695,2097,3538,0,0,0,0,0,0
$GC,660,-0.62,-195.5,119.2,-13.8,96,665,0.00,2.50,0.00,0.000,4,0.000,0.059,2683,3685,3538,0,0,0,0,0,0
$GC,709,-0.63,-195.5,125.6,-13.1,100,713,0.00,2.45,0.00,0.000,6,0.000,0.041,2683,2093,3538,0,0,0,0,0,0
$STATE,747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,747,begin apogee
$GC,753,-0.22,0.0,131.1,12.8,103,912,0.45,0.00,154.80,0.650,6,0.124,0.000,2831,2088,2735,0,0,0,0,0,0
$STATE,914,end apogee,CONTROL_FINISHED_OK
$STATE,914,begin climb
$GC,917,0.75,195.5,140.5,0.0,119,1086,0.90,2.45,158.98,0.633,4,0.084,0.053,3139,3577,1935,0,0,0,0,0,0
$GC,1126,0.74,195.5,123.2,14.3,138,1133,0.00,2.47,0.00,0.000,6,0.000,0.040,3150,2039,1931,0,0,0,0,0,0
$GC,1261,0.72,195.5,103.9,14.6,151,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2039,1929,0,0,0,0,0,0
$GC,1386,0.73,207.6,87.3,12.8,172,1402,0.00,2.38,9.90,0.549,4,0.000,0.048,3162,542,1888,0,0,0,0,0,0
$GC,1442,0.75,233.7,80.4,12.1,181,1470,0.00,2.42,22.75,0.588,6,0.000,0.044,3162,2075,1782,0,0,0,0,0,0
$GC,1536,0.75,233.7,67.6,15.5,197,1543,0.00,2.45,0.00,0.000,4,0.000,0.055,3161,3564,1777,0,0,0,0,0,0
$GC,1572,0.75,233.7,61.5,17.0,203,1580,0.00,2.33,0.00,0.000,6,0.000,0.042,3172,2108,1775,0,0,0,0,0,0
$GC,1644,0.75,233.7,51.4,13.5,216,1651,0.00,2.45,0.00,0.000,4,0.000,0.052,3183,547,1775,0,0,0,0,0,0
$GC,1665,0.76,254.9,48.8,12.4,219,1693,0.12,2.47,18.15,0.572,6,0.155,0.044,3151,2138,1693,0,0,0,0,0,0
$GC,1760,0.79,304.1,37.9,11.1,235,1807,0.00,2.58,40.10,0.578,4,0.000,0.050,3154,545,1493,0,0,0,0,0,0
$GC,1854,0.87,394.1,28.7,9.2,250,1934,0.00,2.47,72.53,0.571,6,0.000,0.045,3155,2119,1127,0,0,0,0,0,0
$GC,2000,0.95,463.4,13.8,10.2,274,2035,0.15,0.00,32.08,0.551,2,0.078,0.000,3225,2119,966,0,0,0,0,0,0
$STATE,2036,end climb,FINISH_DEPTH_REACHED
$STATE,2036,begin subsurface finish
$FINISH1,9.8,1.023775,-38
$GC,2044,-0.02,-38.4,9.8,-12.5,279,2099,1.00,2.47,-47.12,0.000,4,0.108,0.063,2901,544,2895,0,0,0,0,0,0
$FINISH2,8.8
$STATE,2100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2100,begin surface
$IRIDIUM_FIX,4732.49,-12458.73,250511,000031
$TT8_MAMPS,0.027713
$HUMID,35.66
$INTERNAL_PRESSURE,9.17689
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.0,33.069
$10V_AH,10.2,24.800
$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,3.600,53.675,509.275,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,608.263,310.609,481.076,656.935,90.424,0.000,874.283,0.000,665.394,0.000,18.011,0.000
$DEVICE_MAMPS,174.420,261.630,650.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,189.417,207.927,502.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297572
$DATA_FILE_SIZE,13650,287
$CAP_FILE_SIZE,46206,0
$CFSIZE,260165632,195207168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,023126,4748.697,-12503.212,13,1.2,13,18.7