version: 66.11
glider: 187
mission: 2
dive: 850
start: 4 21 113 22 8 58
data:
$ID,187
$MISSION,2
$DIVE,850
$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,-1590055.2
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,210413,215824,4749.374,-12515.683,44,1.7,45,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-78.9
$GPS2,210413,220824,4749.270,-12515.626,14,1.6,19,18.7
$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,333.7,770,-26.8,-7.021,-30.00
$D_GRID,482
$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,-0.85,-36.8,0.0,0.0,0,63,0.00,0.00,-44.38,0.000,2,0.000,0.000,107,2196,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.87,-74.0,3.0,-2.2,8,99,11.15,2.20,-13.50,0.000,4,0.215,0.060,2911,799,3097,0,0,0,0,0,0,24.57,25.36,26.17
$GC,140,-0.87,-74.0,20.8,-26.4,20,146,0.00,2.22,0.00,0.000,6,0.000,0.050,2902,2211,3099,0,0,0,0,0,0,28.83,25.27,28.83
$GC,453,-0.87,-74.0,90.1,-18.4,81,460,0.00,2.22,0.00,0.000,4,0.000,0.047,2902,801,3101,0,0,0,0,0,0,28.83,25.15,28.83
$GC,508,-0.87,-74.0,100.5,-18.4,91,515,0.00,2.22,0.00,0.000,6,0.000,0.050,2892,2209,3101,0,0,0,0,0,0,28.83,25.11,28.83
$GC,828,-0.87,-74.0,156.7,-17.8,126,837,0.00,2.28,0.00,0.000,4,0.000,0.047,2891,801,3101,0,0,0,0,0,0,28.83,25.09,28.83
$GC,978,-0.87,-74.0,183.6,-17.6,141,988,0.12,2.28,0.00,0.000,6,0.177,0.047,2909,2202,3101,0,0,0,0,0,0,24.77,25.09,28.83
$GC,1300,-0.87,-74.0,235.5,-16.0,159,1304,0.00,2.25,0.00,0.000,4,0.000,0.047,2908,804,3101,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1399,-0.87,-74.0,251.9,-16.3,164,1404,0.00,2.28,0.00,0.000,6,0.000,0.049,2900,2203,3101,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1719,-0.87,-74.0,302.2,-15.6,180,1724,0.00,2.25,0.00,0.000,4,0.000,0.047,2900,805,3101,0,0,0,0,0,0,28.83,25.02,28.83
$GC,1780,-0.87,-74.0,311.9,-15.9,183,1784,0.00,2.25,0.00,0.000,6,0.000,0.050,2890,2195,3101,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2098,-0.87,-74.0,361.4,-15.6,199,2104,0.00,2.35,0.00,0.000,4,0.000,0.060,2879,3605,3101,0,0,0,0,0,0,28.83,24.77,28.83
$GC,2146,-0.87,-74.0,368.0,-16.0,201,2151,0.15,2.28,0.00,0.000,6,0.160,0.042,2915,2197,3101,0,0,0,0,0,0,24.79,25.22,28.83
$GC,2460,-0.87,-74.0,413.8,-14.3,215,2464,0.00,2.25,0.00,0.000,4,0.000,0.050,2915,801,3101,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2616,-0.87,-74.0,435.7,-14.4,220,2620,0.00,2.30,0.00,0.000,6,0.000,0.050,2906,2205,3101,0,0,0,0,0,0,28.83,24.95,28.83
$GC,2929,-0.87,-74.0,481.5,-14.2,231,2934,0.00,2.35,0.00,0.000,4,0.000,0.061,2895,3611,3101,0,0,0,0,0,0,28.83,24.70,28.83
$STATE,2956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2956,begin apogee
$GC,2966,-0.22,0.0,485.9,-14.4,232,3035,0.73,0.00,65.43,0.842,6,0.136,0.000,3113,2320,2794,0,0,0,0,0,0,24.10,28.83,23.63
$STATE,3036,end apogee,CONTROL_FINISHED_OK
$STATE,3036,begin climb
$GC,3039,0.87,74.0,490.3,0.0,234,3115,1.05,2.35,68.05,0.808,4,0.076,0.051,3483,925,2492,0,0,0,0,0,0,24.78,24.76,23.38
$GC,3148,0.87,84.6,486.3,5.6,238,3168,0.00,2.33,11.30,0.737,6,0.000,0.053,3483,2325,2448,0,0,0,0,0,0,28.83,25.05,23.47
$GC,3468,0.87,84.6,452.3,10.6,249,3474,0.00,2.35,0.00,0.000,4,0.000,0.063,3482,3737,2442,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3710,0.87,84.6,423.3,12.0,257,3714,0.00,2.22,0.00,0.000,6,0.000,0.045,3494,2329,2440,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4030,0.87,84.6,388.5,11.1,269,4034,0.00,2.35,0.00,0.000,4,0.000,0.063,3494,3728,2440,0,0,0,0,0,0,28.83,25.03,28.83
$GC,4177,0.87,84.6,370.9,13.3,276,4181,0.00,2.30,0.00,0.000,6,0.000,0.046,3506,2320,2438,0,0,0,0,0,0,28.83,25.31,28.83
$GC,4483,0.87,84.6,341.5,8.7,291,4487,0.00,2.35,0.00,0.000,4,0.000,0.063,3506,3741,2438,0,0,0,0,0,0,28.83,24.91,28.83
$GC,4716,0.87,84.6,316.9,10.9,302,4721,0.15,2.33,0.00,0.000,6,0.183,0.045,3482,2317,2437,0,0,0,0,0,0,24.77,25.25,28.83
$GC,5020,0.87,84.6,290.7,8.3,317,5024,0.00,2.40,0.00,0.000,4,0.000,0.064,3481,3733,2437,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5207,0.87,84.6,274.0,9.1,326,5211,0.00,2.30,0.00,0.000,6,0.000,0.046,3491,2325,2437,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5510,0.87,88.6,249.9,6.5,341,5515,0.00,2.33,0.00,0.000,4,0.000,0.063,3491,3733,2437,0,0,0,0,0,0,28.83,24.78,28.83
$GC,5668,0.87,88.6,238.2,7.9,348,5677,0.00,2.30,0.00,0.000,6,0.000,0.045,3502,2323,2436,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5979,0.87,88.6,212.1,8.2,364,5984,0.00,2.28,0.00,0.000,4,0.000,0.052,3513,930,2436,0,0,0,0,0,0,28.83,24.94,28.83
$GC,6038,0.87,88.6,207.1,8.2,367,6045,0.15,2.30,0.00,0.000,6,0.173,0.053,3478,2324,2436,0,0,0,0,0,0,24.56,24.94,28.83
$GC,6350,0.87,88.6,183.9,7.2,386,6357,0.00,2.35,0.00,0.000,4,0.000,0.064,3478,3729,2436,0,0,0,0,0,0,28.83,24.71,28.83
$GC,6468,0.87,88.6,173.5,8.9,398,6477,0.00,2.30,0.00,0.000,6,0.000,0.046,3487,2322,2436,0,0,0,0,0,0,28.83,25.14,28.83
$GC,6780,0.87,88.6,150.1,7.1,419,6788,0.00,2.38,0.00,0.000,4,0.000,0.063,3487,3732,2436,0,0,0,0,0,0,28.83,24.70,28.83
$GC,6869,0.87,88.6,142.7,7.9,428,6877,0.00,2.28,0.00,0.000,6,0.000,0.046,3499,2327,2436,0,0,0,0,0,0,28.83,25.12,28.83
$GC,7180,0.88,92.6,121.1,6.5,449,7191,0.00,2.33,6.15,0.513,4,0.000,0.053,3510,920,2416,0,0,0,0,0,0,28.83,25.20,24.10
$GC,7417,0.88,109.5,105.7,4.8,494,7443,0.12,2.25,16.73,0.598,6,0.177,0.052,3482,2335,2347,0,0,0,0,0,0,24.81,25.08,24.08
$GC,7753,0.89,124.9,86.0,5.0,558,7771,0.00,0.00,14.35,0.579,6,0.000,0.000,3481,2335,2284,0,0,0,0,0,0,28.83,28.83,24.08
$GC,8078,0.89,124.9,63.0,7.7,621,8085,0.00,2.25,0.00,0.000,4,0.000,0.051,3490,919,2282,0,0,0,0,0,0,28.83,25.16,28.83
$GC,8316,0.90,146.3,51.4,4.2,667,8341,0.00,2.25,19.60,0.568,6,0.000,0.051,3490,2336,2197,0,0,0,0,0,0,28.83,25.07,24.13
$GC,8649,0.90,165.6,34.1,4.5,731,8674,0.00,2.28,17.85,0.553,4,0.000,0.050,3501,910,2117,0,0,0,0,0,0,28.83,25.37,24.14
$GC,8693,0.91,175.7,31.6,5.7,738,8712,0.00,2.28,10.12,0.516,6,0.000,0.052,3501,2334,2075,0,0,0,0,0,0,28.83,25.39,24.03
$GC,9022,0.93,216.1,9.7,1.7,801,9066,0.00,2.33,34.53,0.549,4,0.000,0.064,3501,3743,1910,0,0,0,0,0,0,28.83,25.24,24.09
$STATE,9150,end climb,SURFACE_DEPTH_REACHED
$STATE,9150,begin surface coast
$FINISH,1.1,1.013208
$STATE,9197,end surface coast,CONTROL_FINISHED_OK
$STATE,9197,begin surface
$SM_CCo,9219,54.60,0.451,3,0,1571,300.00
$SM_GC,2.46,8.70,2.50,54.60,0.025,0.044,0.451,106,2202,1571,-9.48,1.10,300.00,0,0,0,0,3,0,25.72,25.39,24.00
$IRIDIUM_FIX,4729.30,-12512.90,210413,222234
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.70
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,23.4,117.194
$10V_AH,9.7,87.227
$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,22.325,96.275,264.100,54.600,0.000,60.432,77.864,222.780,0.500,0.000,20.088,2096.164,5291.883,485.563,1738.261,285.814,0.000,1211.248,0.000,1341.868,0.000,0.536,0.000
$DEVICE_MAMPS,214.965,64.260,842.265,451.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.365,545.998,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296728
$DATA_FILE_SIZE,46809,833
$CAP_FILE_SIZE,99021,0
$CFSIZE,260165632,187293696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.086,151.4,1
$GPS,220413,004606,4749.606,-12515.710,96,1.4,97,18.7