version: 66.07
glider: 187
mission: 4
dive: 744
start: 9 5 111 13 2 40
data:
$ID,187
$MISSION,4
$DIVE,744
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$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,540
$T_MISSION,600
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,1
$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,325
$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,-1586583.9
$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,2920
$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,42
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,050911,125622,4751.605,-12512.192,10,3.8,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-76.7
$GPS2,050911,130146,4751.595,-12512.155,18,3.9,37,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,SHELF
$TGT_LATLONG,4751.300,-12511.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.078,-0.072
$KALMAN_X,388251.2,-184.8,-49.4,-394238.2,362.6
$KALMAN_Y,-803988.1,520.9,-16.0,812900.5,-105.7
$MHEAD_RNG_PITCHd_Wd,114.2,1002,-27.7,-6.111
$D_GRID,220
$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,-0.88,-30.0,0.0,0.0,0,116,0.00,0.00,-95.25,0.000,6,0.000,0.000,128,2185,2858,0,0,0,0,0,0
$GC,119,-0.91,-74.8,6.6,-0.0,1,139,10.07,2.40,-3.28,0.000,4,0.226,0.055,2621,664,3043,0,0,0,0,0,0
$GC,391,-0.90,-74.8,58.1,-16.5,3,396,0.00,2.30,0.00,0.000,6,0.000,0.044,2612,2164,3046,0,0,0,0,0,0
$GC,651,-0.88,-74.8,103.0,-17.6,6,655,0.00,2.40,0.00,0.000,4,0.000,0.056,2600,3690,3047,0,0,0,0,0,0
$GC,765,-0.86,-74.8,122.4,-16.4,6,770,0.15,2.30,0.00,0.000,6,0.153,0.041,2640,2189,3047,0,0,0,0,0,0
$GC,1281,-0.86,-74.8,187.8,-12.7,8,1285,0.00,2.35,0.00,0.000,4,0.000,0.049,2640,668,3048,0,0,0,0,0,0
$GC,1394,-0.86,-74.8,202.7,-12.2,8,1398,0.00,2.35,0.00,0.000,6,0.000,0.047,2631,2188,3048,0,0,0,0,0,0
$STATE,1531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1532,begin apogee
$GC,1541,-0.22,0.0,220.1,12.2,8,1607,0.65,0.00,62.45,0.698,6,0.128,0.000,2841,2045,2735,0,0,0,0,0,0
$STATE,1607,end apogee,CONTROL_FINISHED_OK
$STATE,1608,begin climb
$GC,1610,0.91,74.8,224.0,0.0,8,1680,1.02,0.00,63.78,0.683,6,0.071,0.000,3212,2045,2429,0,0,0,0,0,0
$GC,2243,0.90,74.8,174.2,8.8,10,2247,0.00,2.40,0.00,0.000,4,0.000,0.054,3211,3577,2421,0,0,0,0,0,0
$GC,2472,0.88,74.8,152.1,10.0,10,2476,0.00,2.35,0.00,0.000,6,0.000,0.041,3223,2059,2419,0,0,0,0,0,0
$GC,2868,0.86,74.8,121.1,7.7,12,2872,0.00,2.40,0.00,0.000,4,0.000,0.054,3223,3580,2418,0,0,0,0,0,0
$GC,3017,0.84,74.8,110.5,6.3,12,3022,0.17,2.30,0.00,0.000,6,0.173,0.041,3189,2080,2417,0,0,0,0,0,0
$GC,3505,0.85,89.2,88.9,4.2,14,3524,0.00,2.45,11.62,0.591,4,0.000,0.050,3198,553,2370,0,0,0,0,0,0
$GC,3575,0.85,97.6,85.1,5.0,14,3589,0.00,2.35,8.90,0.565,6,0.000,0.044,3198,2093,2336,0,0,0,0,0,0
$GC,3815,0.85,102.1,72.0,5.5,17,3825,0.00,2.38,5.00,0.482,4,0.000,0.055,3198,3583,2317,0,0,0,0,0,0
$GC,3905,0.86,105.5,66.5,5.6,17,3914,0.00,2.33,4.50,0.455,6,0.000,0.041,3210,2080,2305,0,0,0,0,0,0
$GC,4122,0.86,116.9,56.5,4.6,20,4136,0.00,0.00,11.90,0.576,6,0.000,0.000,3210,2080,2258,0,0,0,0,0,0
$GC,4323,0.87,123.6,45.0,5.2,22,4337,0.00,2.42,6.78,0.518,4,0.000,0.055,3210,3570,2230,0,0,0,0,0,0
$GC,4429,0.87,123.6,38.0,7.3,22,4433,0.00,2.30,0.00,0.000,6,0.000,0.042,3221,2096,2229,0,0,0,0,0,0
$GC,4636,0.87,127.6,26.6,5.6,25,4646,0.00,2.42,5.12,0.467,4,0.000,0.050,3233,543,2214,0,0,0,0,0,0
$GC,4781,0.87,131.9,18.8,5.5,26,4791,0.12,2.38,5.05,0.461,6,0.169,0.044,3202,2087,2197,0,0,0,0,0,0
$GC,5052,0.91,164.4,13.4,1.7,29,5086,0.00,2.50,28.77,0.581,4,0.000,0.050,3211,545,2064,0,0,0,0,0,0
$GC,5277,0.98,212.7,9.8,-0.5,31,5323,0.00,2.28,40.12,0.576,6,0.000,0.044,3211,2041,1867,0,0,0,0,0,0
$STATE,5576,end climb,SURFACE_DEPTH_REACHED
$STATE,5576,begin surface coast
$FINISH,0.8,NaN
$STATE,5673,end surface coast,CONTROL_FINISHED_OK
$STATE,5674,begin surface
$SM_CCo,5692,72.95,0.485,4,0,1409,325.02
$SM_GC,1.70,0.00,0.00,72.95,0.000,0.000,0.485,112,2194,1409,-8.78,0.54,325.02
$IRIDIUM_FIX,4732.49,-12510.28,050911,101045
$TT8_MAMPS,0.027713
$HUMID,42.75
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.9,83.781
$10V_AH,9.9,84.173
$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,20.225,47.750,254.000,72.950,0.000,27.960,31.534,122.556,0.000,0.000,39.706,331.790,4197.700,422.866,972.941,189.870,33.347,866.212,0.000,764.720,0.000,0.536,0.000
$DEVICE_MAMPS,225.675,74.970,698.445,485.010,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297808
$DATA_FILE_SIZE,333,35
$CAP_FILE_SIZE,60572,0
$CFSIZE,260165632,156487680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,050911,144036,4751.679,-12511.572,46,1.1,52,18.7