version: 66.11
glider: 187
mission: 2
dive: 87
start: 10 1 112 13 24 25
data:
$ID,187
$MISSION,2
$DIVE,87
$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,-1587727.4
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,011012,131906,4752.689,-12509.210,11,1.9,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.7
$GPS2,011012,132355,4752.696,-12509.204,15,1.2,15,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,64.3,18043,-13.4,-7.333,-18.42
$D_GRID,150
$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,-67.60,0.000,2,0.000,0.000,111,2177,2842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.2,-4.3,11,118,11.23,2.28,-10.93,0.000,4,0.224,0.065,3031,765,3393,0,0,0,0,0,0,25.46,25.75,26.07
$GC,355,-0.48,-146.0,49.9,-12.4,60,363,0.00,2.22,0.00,0.000,6,0.000,0.050,3023,2175,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,678,-0.48,-146.0,90.5,-12.5,121,685,0.00,2.17,0.00,0.000,4,0.000,0.050,3023,759,3398,0,0,0,0,0,0,28.83,26.01,28.83
$GC,733,-0.48,-146.0,97.6,-12.9,131,740,0.00,2.17,0.00,0.000,6,0.000,0.049,3013,2180,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1046,-0.48,-146.0,134.8,-11.9,176,1052,0.00,2.17,0.00,0.000,4,0.000,0.061,3003,3583,3398,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1092,-0.48,-146.0,140.4,-12.0,179,1098,0.10,2.12,0.00,0.000,6,0.116,0.042,3038,2165,3398,0,0,0,0,0,0,26.01,26.13,28.83
$STATE,1193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1194,begin apogee
$GC,1201,-0.22,0.0,151.6,-9.9,186,1323,0.25,0.00,116.40,0.656,6,0.122,0.000,3125,2314,2793,0,0,0,0,0,0,26.03,28.83,24.40
$STATE,1325,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1328,0.48,146.0,158.5,0.0,194,1455,0.65,2.33,119.35,0.629,4,0.093,0.061,3344,3695,2197,0,0,0,0,0,0,24.96,24.68,24.18
$GC,1473,0.51,222.5,155.2,4.4,204,1546,0.00,2.22,61.88,0.634,6,0.000,0.042,3353,2302,1884,0,0,0,0,0,0,28.83,24.91,24.16
$GC,1846,0.51,237.0,130.6,6.8,229,1860,0.00,0.00,12.12,0.585,6,0.000,0.000,3353,2302,1827,0,0,0,0,0,0,28.83,28.83,24.87
$GC,2162,0.51,237.0,103.7,10.5,272,2170,0.00,2.28,0.00,0.000,4,0.000,0.063,3353,3693,1823,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2197,0.51,237.0,99.7,11.9,278,2204,0.00,2.15,0.00,0.000,6,0.000,0.044,3361,2299,1822,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2512,0.51,237.0,64.6,10.7,339,2519,0.00,2.17,0.00,0.000,4,0.000,0.051,3369,896,1822,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2548,0.51,237.0,60.9,9.9,345,2555,0.00,2.15,0.00,0.000,6,0.000,0.050,3369,2292,1821,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2867,0.51,237.0,33.8,8.1,406,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2292,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,0.58,397.7,17.2,1.1,467,3317,0.00,0.00,124.68,0.571,6,0.000,0.000,3369,2292,1171,0,0,0,0,0,0,28.83,28.83,24.50
$STATE,3391,end climb,SURFACE_DEPTH_REACHED
$STATE,3391,begin surface coast
$FINISH,0.8,0.999808
$STATE,3434,end surface coast,CONTROL_FINISHED_OK
$STATE,3434,begin surface
$SM_CCo,3514,0.00,0.000,0,0,1161,400.57
$SM_GC,1.76,8.45,0.17,0.00,0.028,0.072,0.000,116,2169,1161,-9.46,1.27,400.57,0,0,0,0,0,0,25.53,25.48,28.83
$IRIDIUM_FIX,4735.69,-12516.60,011012,121202
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.50
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,24.2,13.891
$10V_AH,10.3,12.040
$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,20.675,26.850,434.425,0.000,0.000,24.899,44.429,112.800,0.000,0.000,16.446,1165.819,906.371,416.180,1194.688,131.538,0.000,932.936,0.000,1008.859,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,74.970,655.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.366,381.381,456.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296972
$DATA_FILE_SIZE,26890,510
$CAP_FILE_SIZE,49911,0
$CFSIZE,260165632,250388480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216,256.3,1
$GPS,011012,142405,4752.699,-12508.811,13,0.8,29,18.7