version: 66.11
glider: 187
mission: 2
dive: 846
start: 4 21 113 10 34 38
data:
$ID,187
$MISSION,2
$DIVE,846
$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,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,140
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1590050.2
$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,43
$R_STBD_OVSHOOT,24
$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,20
$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
$GPS1,210413,102654,4749.058,-12515.666,50,1.9,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-79.9
$GPS2,210413,103355,4749.017,-12515.646,15,1.9,15,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,PARKING
$TGT_LATLONG,4749.600,-12515.250
$TGT_RADIUS,3000.000
$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,322.5,1186,-20.8,-7.021,-24.60
$D_GRID,462
$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,17,-0.67,-61.0,0.0,0.0,0,63,0.00,0.00,-44.25,0.000,2,0.000,0.000,105,2189,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.69,-110.8,3.3,-3.0,8,99,11.45,2.28,-15.18,0.000,4,0.218,0.060,2962,795,3249,0,0,0,0,0,0,24.57,25.39,26.18
$GC,127,-0.69,-110.8,20.3,-25.2,18,135,0.00,2.25,0.00,0.000,6,0.000,0.051,2954,2208,3251,0,0,0,0,0,0,28.83,25.27,28.83
$GC,440,-0.69,-110.8,85.4,-19.8,79,447,0.00,2.25,0.00,0.000,4,0.000,0.049,2954,790,3252,0,0,0,0,0,0,28.83,25.13,28.83
$GC,471,-0.69,-110.8,90.9,-17.8,84,478,0.00,2.25,0.00,0.000,6,0.000,0.050,2944,2211,3252,0,0,0,0,0,0,28.83,25.11,28.83
$GC,793,-0.69,-110.8,145.5,-15.9,127,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2211,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1094,-0.69,-110.8,191.9,-15.0,147,1101,0.00,2.25,0.00,0.000,4,0.000,0.049,2943,797,3253,0,0,0,0,0,0,28.83,25.04,28.83
$GC,1212,-0.69,-110.8,209.6,-14.2,156,1219,0.15,2.30,0.00,0.000,6,0.148,0.050,2972,2201,3253,0,0,0,0,0,0,24.75,25.03,28.83
$GC,1532,-0.69,-110.8,247.1,-11.7,172,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2201,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1834,-0.69,-110.8,284.5,-12.6,187,1838,0.00,2.22,0.00,0.000,4,0.000,0.048,2972,796,3253,0,0,0,0,0,0,28.83,25.00,28.83
$GC,1892,-0.69,-110.8,292.0,-12.7,190,1898,0.00,2.30,0.00,0.000,6,0.000,0.049,2964,2200,3253,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2212,-0.69,-110.8,333.1,-13.2,206,2218,0.00,2.28,0.00,0.000,4,0.000,0.047,2964,801,3253,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2243,-0.69,-110.8,335.9,-13.3,207,2251,0.00,2.28,0.00,0.000,6,0.000,0.050,2954,2201,3253,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2553,-0.69,-110.8,379.1,-13.2,223,2558,0.00,2.28,0.00,0.000,4,0.000,0.048,2954,798,3253,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2612,-0.69,-110.8,387.4,-13.7,226,2618,0.00,2.33,0.00,0.000,6,0.000,0.050,2943,2211,3253,0,0,0,0,0,0,28.83,24.92,28.83
$GC,2924,-0.69,-110.8,431.0,-14.1,238,2928,0.00,2.35,0.00,0.000,4,0.000,0.063,2933,3603,3253,0,0,0,0,0,0,28.83,24.68,28.83
$GC,2960,-0.69,-110.8,435.5,-14.3,239,2965,0.15,2.28,0.00,0.000,6,0.147,0.042,2970,2203,3253,0,0,0,0,0,0,24.82,25.19,28.83
$STATE,3181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3181,begin apogee
$GC,3188,-0.22,0.0,462.3,-10.8,247,3290,0.45,0.00,96.93,0.824,6,0.113,0.000,3119,2345,2794,0,0,0,0,0,0,24.86,28.83,23.53
$STATE,3291,end apogee,CONTROL_FINISHED_OK
$STATE,3291,begin climb
$GC,3295,0.69,110.8,466.1,0.0,250,3399,0.88,0.00,100.65,0.793,6,0.077,0.000,3416,2345,2342,0,0,0,0,0,0,24.72,28.83,23.37
$GC,3694,0.69,110.8,438.9,7.9,264,3699,0.00,2.33,0.00,0.000,4,0.000,0.064,3416,3729,2333,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3792,0.69,110.8,430.9,8.7,267,3798,0.00,2.30,0.00,0.000,6,0.000,0.045,3426,2318,2331,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4113,0.69,110.8,403.3,8.2,278,4119,0.00,2.38,0.00,0.000,4,0.000,0.063,3427,3721,2331,0,0,0,0,0,0,28.83,25.09,28.83
$GC,4353,0.69,110.8,378.2,11.0,289,4359,0.00,2.28,0.00,0.000,6,0.000,0.045,3437,2327,2330,0,0,0,0,0,0,28.83,25.35,28.83
$GC,4674,0.69,110.8,350.3,8.7,305,4679,0.00,2.30,0.00,0.000,4,0.000,0.054,3449,921,2329,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4693,0.69,110.8,348.7,8.6,306,4699,0.00,2.30,0.00,0.000,6,0.000,0.054,3449,2317,2329,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5015,0.69,110.8,320.4,9.4,322,5019,0.00,2.35,0.00,0.000,4,0.000,0.065,3449,3734,2329,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5114,0.69,110.8,309.5,11.0,327,5120,0.12,2.28,0.00,0.000,6,0.150,0.045,3422,2331,2328,0,0,0,0,0,0,24.79,25.28,28.83
$GC,5433,0.69,110.8,283.9,8.0,343,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2325,2328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5734,0.69,110.8,258.9,8.4,358,5739,0.00,2.38,0.00,0.000,4,0.000,0.065,3422,3729,2327,0,0,0,0,0,0,28.83,24.81,28.83
$GC,5793,0.69,110.8,253.0,9.6,361,5799,0.00,2.33,0.00,0.000,6,0.000,0.046,3431,2311,2327,0,0,0,0,0,0,28.83,25.20,28.83
$GC,6113,0.69,110.8,224.3,9.0,377,6119,0.00,2.42,0.00,0.000,4,0.000,0.065,3431,3733,2327,0,0,0,0,0,0,28.83,24.77,28.83
$GC,6204,0.69,110.8,216.6,9.7,381,6212,0.00,2.28,0.00,0.000,6,0.000,0.046,3442,2329,2326,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6513,0.69,110.8,189.3,8.2,399,6523,0.00,2.38,0.00,0.000,4,0.000,0.064,3442,3729,2326,0,0,0,0,0,0,28.83,24.75,28.83
$GC,6564,0.69,110.8,184.7,9.1,404,6572,0.00,2.28,0.00,0.000,6,0.000,0.046,3453,2328,2326,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6874,0.69,110.8,159.1,7.2,425,6883,0.12,2.40,0.00,0.000,4,0.166,0.063,3422,3734,2326,0,0,0,0,0,0,25.74,24.72,28.83
$GC,6923,0.69,110.8,155.5,7.3,430,6932,0.00,2.33,0.00,0.000,6,0.000,0.046,3431,2317,2326,0,0,0,0,0,0,28.83,25.16,28.83
$GC,7235,0.70,118.8,135.7,6.4,451,7248,0.00,0.00,5.55,0.506,6,0.000,0.000,3431,2317,2309,0,0,0,0,0,0,28.83,28.83,24.10
$GC,7550,0.70,124.4,114.3,6.6,482,7565,0.00,2.42,7.03,0.529,4,0.000,0.063,3431,3741,2285,0,0,0,0,0,0,28.83,25.22,24.11
$GC,7629,0.70,124.4,108.4,7.6,496,7636,0.00,2.25,0.00,0.000,6,0.000,0.046,3442,2313,2284,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7940,0.70,124.4,87.5,7.0,557,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2312,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8252,0.71,157.8,67.3,4.3,618,8289,0.00,0.00,29.90,0.589,6,0.000,0.000,3442,2312,2148,0,0,0,0,0,0,28.83,28.83,24.05
$GC,8596,0.72,178.7,49.5,5.3,684,8622,0.00,2.42,18.65,0.562,4,0.000,0.064,3442,3738,2064,0,0,0,0,0,0,28.83,25.27,24.10
$GC,8700,0.72,178.7,42.4,7.6,703,8708,0.00,2.22,0.00,0.000,6,0.000,0.046,3453,2322,2061,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9015,0.73,204.0,23.2,5.0,764,9046,0.00,2.30,21.70,0.550,4,0.000,0.053,3464,921,1961,0,0,0,0,0,0,28.83,25.35,24.13
$GC,9125,0.74,225.0,17.3,5.3,784,9151,0.12,2.22,19.02,0.537,6,0.143,0.052,3431,2331,1875,0,0,0,0,0,0,25.19,25.34,24.06
$STATE,9435,end climb,SURFACE_DEPTH_REACHED
$STATE,9437,begin surface coast
$FINISH,1.0,1.024208
$STATE,9538,end surface coast,CONTROL_FINISHED_OK
$STATE,9538,begin surface
$SM_CCo,9560,47.12,0.453,2,0,1570,300.00
$SM_GC,2.80,8.62,0.20,47.12,0.031,0.070,0.453,107,2196,1570,-9.46,1.07,300.00,0,0,0,0,2,0,25.73,25.86,24.06
$IRIDIUM_FIX,4732.49,-12519.22,210413,070742
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.48
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,23.4,116.870
$10V_AH,9.9,86.992
$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,22.075,83.425,299.425,47.125,0.000,24.909,36.466,223.523,0.250,0.000,16.075,2165.943,5497.492,513.481,1624.502,254.253,0.000,1234.634,0.000,1331.943,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,77.265,823.905,452.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.574,562.486,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,46897,864
$CAP_FILE_SIZE,96598,0
$CFSIZE,260165632,187527168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.062,119.5,1
$GPS,210413,131623,4749.758,-12515.880,46,1.9,47,18.7