version: 66.11
glider: 187
mission: 2
dive: 304
start: 11 23 112 19 11 25
data:
$ID,187
$MISSION,2
$DIVE,304
$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,-1588141.1
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,28
$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
$GPS1,231112,190536,4751.815,-12512.403,32,1.0,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-74.6
$GPS2,231112,191055,4751.865,-12512.478,13,1.7,13,18.7
$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,171.0,166343,-13.4,-7.333,-18.42
$D_GRID,249
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-66.82,0.000,2,0.000,0.000,110,2199,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.0,-4.1,11,130,11.38,2.28,-21.05,0.000,4,0.220,0.072,3026,3614,3391,0,0,0,0,0,0,25.15,25.66,26.23
$GC,159,-0.48,-146.0,13.8,-17.9,22,166,0.00,2.20,0.00,0.000,6,0.000,0.041,3026,2211,3392,0,0,0,0,0,0,28.83,25.79,28.83
$GC,476,-0.48,-146.0,65.8,-13.0,83,482,0.00,2.17,0.00,0.000,4,0.000,0.047,3026,783,3393,0,0,0,0,0,0,28.83,25.83,28.83
$GC,658,-0.48,-146.0,89.2,-12.0,118,664,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2202,3393,0,0,0,0,0,0,28.83,25.88,28.83
$GC,970,-0.48,-146.0,125.4,-10.7,173,976,0.00,2.17,0.00,0.000,4,0.000,0.059,3006,3606,3393,0,0,0,0,0,0,28.83,25.84,28.83
$GC,993,-0.48,-146.0,126.9,-10.7,174,1001,0.08,2.17,0.00,0.000,6,0.116,0.040,3035,2189,3394,0,0,0,0,0,0,25.81,26.01,28.83
$GC,1303,-0.48,-146.0,157.4,-9.5,195,1308,0.00,2.10,0.00,0.000,4,0.000,0.047,3035,795,3394,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1332,-0.48,-146.0,160.5,-9.6,197,1337,0.00,2.15,0.00,0.000,6,0.000,0.048,3029,2202,3394,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1647,-0.48,-146.0,192.3,-10.1,218,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2202,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1961,-0.48,-146.0,225.2,-10.2,235,1967,0.00,2.15,0.00,0.000,4,0.000,0.047,3029,793,3394,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1994,-0.48,-146.0,227.4,-10.4,236,2001,0.00,2.15,0.00,0.000,6,0.000,0.049,3020,2200,3394,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,2199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2199,begin apogee
$GC,2206,-0.22,0.0,250.6,-10.8,247,2329,0.30,0.00,117.93,0.701,6,0.118,0.000,3120,2341,2794,0,0,0,0,0,0,25.79,28.83,24.28
$STATE,2332,end apogee,CONTROL_FINISHED_OK
$STATE,2332,begin climb
$GC,2334,0.48,146.0,256.6,0.0,253,2466,0.65,2.33,121.40,0.682,4,0.087,0.048,3352,924,2198,0,0,0,0,0,0,25.01,24.71,24.01
$GC,2487,0.51,217.8,252.1,4.6,261,2552,0.00,2.25,58.47,0.665,6,0.000,0.048,3352,2319,1906,0,0,0,0,0,0,28.83,24.92,24.00
$GC,2854,0.51,217.8,225.5,7.6,279,2860,0.00,2.25,0.00,0.000,4,0.000,0.062,3352,3727,1897,0,0,0,0,0,0,28.83,25.50,28.83
$GC,2907,0.51,217.8,222.2,7.7,281,2914,0.00,2.17,0.00,0.000,6,0.000,0.043,3360,2327,1897,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3214,0.52,243.4,200.1,6.3,297,3245,0.00,2.25,21.35,0.637,4,0.000,0.051,3369,923,1799,0,0,0,0,0,0,28.83,25.65,24.80
$GC,3326,0.52,263.0,193.0,6.6,304,3353,0.00,2.17,17.35,0.623,6,0.000,0.049,3369,2328,1720,0,0,0,0,0,0,28.83,25.67,24.68
$GC,3656,0.52,263.0,168.4,7.8,326,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2328,1715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3954,0.52,263.0,146.2,7.4,346,3960,0.00,2.25,0.00,0.000,4,0.000,0.063,3369,3737,1714,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3985,0.52,263.0,143.7,7.5,348,3990,0.00,2.17,0.00,0.000,6,0.000,0.043,3375,2321,1713,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4301,0.52,263.0,119.2,7.6,369,4308,0.00,2.17,0.00,0.000,4,0.000,0.050,3385,915,1713,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4347,0.52,263.0,115.8,7.6,377,4353,0.00,2.17,0.00,0.000,6,0.000,0.050,3386,2327,1712,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4659,0.52,263.0,89.9,8.0,438,4666,0.00,2.22,0.00,0.000,4,0.000,0.063,3386,3735,1712,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4684,0.52,263.0,87.7,8.7,442,4691,0.00,2.17,0.00,0.000,6,0.000,0.044,3394,2313,1712,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5004,0.52,263.0,60.6,8.0,503,5011,0.00,2.15,0.00,0.000,4,0.000,0.050,3403,913,1712,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5064,0.52,263.0,55.7,8.2,514,5073,0.10,2.22,0.00,0.000,6,0.102,0.050,3365,2326,1712,0,0,0,0,0,0,25.79,25.94,28.83
$GC,5390,0.57,372.2,39.9,3.1,575,5484,0.00,2.25,85.85,0.572,4,0.000,0.048,3365,915,1274,0,0,0,0,0,0,28.83,25.33,24.63
$GC,5566,0.57,372.2,28.2,9.0,605,5573,0.00,2.22,0.00,0.000,6,0.000,0.047,3365,2338,1270,0,0,0,0,0,0,28.83,25.48,28.83
$STATE,5802,end climb,SURFACE_DEPTH_REACHED
$STATE,5803,begin surface coast
$FINISH,1.1,1.023649
$STATE,5841,end surface coast,CONTROL_FINISHED_OK
$STATE,5841,begin surface
$SM_CCo,5921,0.00,0.000,0,0,1264,375.06
$SM_GC,2.17,8.25,0.22,0.00,0.024,0.065,0.000,112,2179,1264,-9.46,0.93,375.06,0,0,0,0,0,0,25.92,25.87,28.83
$IRIDIUM_FIX,4735.69,-12516.60,231112,171737
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.84
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,16.70
$XPDR_PINGS,2
$24V_AH,24.0,42.536
$10V_AH,10.1,35.245
$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,20.750,57.600,422.350,0.000,0.000,28.408,38.446,139.652,0.500,0.000,14.773,1572.390,2518.623,445.798,1525.536,185.114,0.000,1115.999,0.000,1316.981,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,78.795,700.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.801,463.377,521.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,36947,657
$CAP_FILE_SIZE,72458,0
$CFSIZE,260165632,232718336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274,345.3,1
$GPS,231112,205055,4751.780,-12513.040,12,1.6,12,18.7