version: 66.11
glider: 187
mission: 2
dive: 93
start: 10 1 112 20 12 12
data:
$ID,187
$MISSION,2
$DIVE,93
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-1587734.9
$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,3195
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,011012,200554,4751.991,-12509.500,11,1.4,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.4
$GPS2,011012,201142,4751.958,-12509.494,15,1.2,32,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,171.7,169532,-13.4,-7.333,-18.42
$D_GRID,165
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-146.0,0.0,0.0,0,85,0.00,0.00,-66.43,0.000,2,0.000,0.000,112,2173,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.0,-4.0,11,123,11.20,2.33,-12.02,0.000,4,0.222,0.073,3023,3581,3393,0,0,0,0,0,0,25.42,25.67,26.01
$GC,218,-0.48,-146.0,26.7,-11.4,34,226,0.00,2.22,0.00,0.000,6,0.000,0.042,3023,2167,3396,0,0,0,0,0,0,28.83,25.81,28.83
$GC,537,-0.48,-146.0,64.5,-14.9,95,544,0.00,2.15,0.00,0.000,4,0.000,0.049,3023,764,3397,0,0,0,0,0,0,28.83,25.94,28.83
$GC,685,-0.48,-146.0,84.9,-12.7,123,692,0.00,2.17,0.00,0.000,6,0.000,0.049,3013,2173,3397,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1007,-0.48,-146.0,122.0,-11.5,184,1012,0.00,2.22,0.00,0.000,4,0.000,0.062,3003,3592,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1098,-0.48,-146.0,132.7,-11.9,190,1104,0.10,2.12,0.00,0.000,6,0.118,0.042,3038,2171,3398,0,0,0,0,0,0,26.00,26.11,28.83
$GC,1415,-0.48,-146.0,163.4,-9.5,211,1420,0.00,2.12,0.00,0.000,4,0.000,0.049,3038,767,3397,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,1425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1425,begin apogee
$GC,1434,-0.22,0.0,165.0,-9.5,212,1555,0.28,0.00,116.18,0.665,6,0.122,0.000,3122,2312,2794,0,0,0,0,0,0,26.04,28.83,24.38
$STATE,1557,end apogee,CONTROL_FINISHED_OK
$STATE,1558,begin climb
$GC,1560,0.48,146.0,172.2,0.0,220,1689,0.65,2.33,120.60,0.655,4,0.099,0.049,3347,902,2195,0,0,0,0,0,0,24.94,24.68,24.13
$GC,1708,0.50,210.1,168.0,4.9,230,1766,0.00,2.30,51.53,0.637,6,0.000,0.051,3347,2292,1937,0,0,0,0,0,0,28.83,24.89,24.16
$GC,2069,0.51,217.9,141.9,7.0,254,2083,0.00,0.00,7.00,0.530,6,0.000,0.000,3347,2292,1904,0,0,0,0,0,0,28.83,28.83,24.90
$GC,2385,0.51,218.1,119.1,7.3,275,2391,0.00,2.28,0.00,0.000,4,0.000,0.063,3347,3716,1901,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2420,0.51,218.1,116.2,7.7,281,2427,0.00,2.20,0.00,0.000,6,0.000,0.044,3355,2296,1901,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2733,0.51,218.1,92.0,8.6,342,2739,0.00,2.28,0.00,0.000,4,0.000,0.063,3355,3718,1900,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2753,0.51,218.1,90.2,9.0,345,2760,0.00,2.20,0.00,0.000,6,0.000,0.045,3363,2290,1900,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3068,0.51,222.6,63.8,7.2,406,3083,0.00,2.25,4.80,0.464,4,0.000,0.060,3363,3705,1884,0,0,0,0,0,0,28.83,25.97,25.27
$GC,3102,0.51,222.6,61.0,8.1,411,3109,0.00,2.17,0.00,0.000,6,0.000,0.045,3370,2296,1884,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3420,0.51,222.6,45.0,8.0,472,3427,0.00,2.20,0.00,0.000,4,0.000,0.053,3380,901,1883,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3482,0.51,222.6,39.0,9.7,483,3488,0.00,2.15,0.00,0.000,6,0.000,0.050,3380,2304,1883,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3797,0.51,229.4,18.4,7.1,544,3811,0.00,2.20,7.12,0.512,4,0.000,0.050,3388,886,1856,0,0,0,0,0,0,28.83,26.06,25.37
$GC,3841,0.52,253.6,15.2,6.4,551,3867,0.00,2.17,20.85,0.578,6,0.000,0.050,3387,2302,1759,0,0,0,0,0,0,28.83,26.06,25.23
$STATE,4177,end climb,SURFACE_DEPTH_REACHED
$STATE,4180,begin surface coast
$FINISH,0.6,1.008177
$STATE,4277,end surface coast,CONTROL_FINISHED_OK
$STATE,4277,begin surface
$SM_CCo,4297,28.67,0.441,1,0,1570,300.00
$SM_GC,1.65,8.40,0.20,28.67,0.034,0.069,0.441,111,2161,1570,-9.47,1.05,300.00,0,0,0,0,1,0,26.10,26.06,25.18
$IRIDIUM_FIX,4732.49,-12507.66,011012,181837
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.70
$XPDR_PINGS,2
$24V_AH,24.1,14.395
$10V_AH,10.2,12.369
$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,20.625,44.700,328.075,28.675,0.000,27.900,39.002,160.068,0.500,0.000,33.090,1502.426,1145.032,408.940,1463.154,173.970,0.000,985.606,0.000,1234.973,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,73.440,664.785,441.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.553,477.279,574.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297096
$DATA_FILE_SIZE,36934,634
$CAP_FILE_SIZE,63413,0
$CFSIZE,260165632,250142720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.123,355.6,1
$GPS,011012,212533,4751.633,-12509.605,10,2.5,29,18.7