version: 66.11
glider: 187
mission: 2
dive: 306
start: 11 23 112 22 58 37
data:
$ID,187
$MISSION,2
$DIVE,306
$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,-1588143.6
$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,49
$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
$GPS1,231112,225233,4751.746,-12513.797,33,6.2,52,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-75.7
$GPS2,231112,225807,4751.807,-12513.829,15,1.8,15,18.7
$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,170.7,164889,-13.4,-7.333,-18.42
$D_GRID,318
$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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-59.72,0.000,2,0.000,0.000,104,2190,2792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.2,-2.9,10,117,11.43,2.33,-12.95,0.000,4,0.220,0.071,3028,3607,3393,0,0,0,0,0,0,25.10,25.64,26.20
$GC,263,-0.48,-146.0,38.1,-15.9,42,270,0.00,2.17,0.00,0.000,6,0.000,0.041,3028,2214,3395,0,0,0,0,0,0,28.83,25.82,28.83
$GC,588,-0.48,-146.0,83.8,-12.5,103,594,0.00,2.17,0.00,0.000,4,0.000,0.047,3028,782,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,669,-0.48,-146.0,93.5,-12.4,118,676,0.00,2.17,0.00,0.000,6,0.000,0.047,3019,2202,3396,0,0,0,0,0,0,28.83,25.84,28.83
$GC,987,-0.48,-146.0,130.7,-11.4,167,988,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2202,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1288,-0.48,-146.0,163.8,-11.4,187,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2202,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1587,-0.48,-146.0,197.0,-10.7,207,1593,0.00,2.20,0.00,0.000,4,0.000,0.060,3008,3606,3397,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1635,-0.48,-146.0,201.5,-11.3,210,1640,0.12,2.15,0.00,0.000,6,0.137,0.041,3043,2187,3397,0,0,0,0,0,0,25.84,26.03,28.83
$GC,1943,-0.48,-146.0,228.6,-9.0,225,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2181,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2244,-0.48,-146.0,256.0,-9.3,240,2249,0.00,2.10,0.00,0.000,4,0.000,0.047,3043,794,3396,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2290,-0.48,-146.0,259.8,-9.3,242,2294,0.00,2.17,0.00,0.000,6,0.000,0.049,3037,2211,3396,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2598,-0.48,-146.0,288.9,-9.0,257,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2210,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2899,-0.48,-146.0,315.7,-8.8,272,2904,0.00,2.15,0.00,0.000,4,0.000,0.048,3037,795,3396,0,0,0,0,0,0,28.83,25.92,28.83
$STATE,2934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2935,begin apogee
$GC,2944,-0.22,0.0,319.5,-9.0,274,3069,0.28,0.00,119.25,0.745,6,0.115,0.000,3122,2323,2793,0,0,0,0,0,0,25.82,28.83,24.20
$STATE,3071,end apogee,CONTROL_FINISHED_OK
$STATE,3072,begin climb
$GC,3074,0.48,146.0,325.0,0.0,280,3201,0.65,0.00,123.25,0.728,6,0.086,0.000,3345,2323,2198,0,0,0,0,0,0,24.98,28.83,23.91
$GC,3500,0.49,188.8,304.3,5.7,302,3543,0.00,2.25,35.70,0.706,4,0.000,0.048,3354,924,2022,0,0,0,0,0,0,28.83,25.23,24.39
$GC,3598,0.51,221.7,298.3,6.1,307,3631,0.00,2.20,27.90,0.693,6,0.000,0.050,3354,2324,1890,0,0,0,0,0,0,28.83,25.38,24.29
$GC,3935,0.52,254.5,277.0,6.1,323,3965,0.00,0.00,27.67,0.691,6,0.000,0.000,3354,2323,1756,0,0,0,0,0,0,28.83,28.83,24.59
$GC,4253,0.53,290.5,257.9,5.9,339,4292,0.00,2.28,29.95,0.688,4,0.000,0.050,3360,933,1607,0,0,0,0,0,0,28.83,25.44,24.63
$GC,4324,0.55,318.6,254.0,6.3,342,4355,0.00,2.20,24.05,0.672,6,0.000,0.050,3360,2330,1494,0,0,0,0,0,0,28.83,25.49,24.50
$GC,4657,0.55,323.4,231.2,7.1,359,4667,0.00,2.25,4.55,0.481,4,0.000,0.051,3365,933,1475,0,0,0,0,0,0,28.83,25.71,24.55
$GC,4699,0.55,329.1,228.4,7.1,361,4715,0.00,2.17,6.88,0.564,6,0.000,0.050,3365,2326,1451,0,0,0,0,0,0,28.83,25.70,24.62
$GC,5015,0.55,329.1,204.1,7.4,377,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2326,1448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5316,0.56,347.0,183.0,6.6,396,5337,0.00,2.25,15.70,0.632,4,0.000,0.051,3369,929,1378,0,0,0,0,0,0,28.83,25.80,24.86
$GC,5376,0.56,364.0,178.9,6.7,400,5397,0.00,2.17,15.50,0.627,6,0.000,0.050,3369,2332,1309,0,0,0,0,0,0,28.83,25.76,24.72
$GC,5708,0.57,374.3,155.9,6.9,422,5723,0.00,2.25,9.12,0.576,4,0.000,0.050,3369,933,1268,0,0,0,0,0,0,28.83,25.77,24.78
$GC,5768,0.58,403.1,152.1,6.2,426,5798,0.00,2.15,25.17,0.629,6,0.000,0.049,3369,2325,1148,0,0,0,0,0,0,28.83,25.75,24.71
$GC,6113,0.60,444.2,132.7,5.7,449,6156,0.00,2.30,33.03,0.624,4,0.000,0.050,3369,925,981,0,0,0,0,0,0,28.83,25.50,24.72
$GC,6190,0.62,492.8,128.4,5.5,454,6235,0.00,2.20,39.58,0.612,6,0.000,0.048,3369,2330,784,0,0,0,0,0,0,28.83,25.54,24.52
$GC,6541,0.62,492.8,87.3,13.0,509,6548,0.00,2.25,0.00,0.000,4,0.000,0.063,3369,3736,777,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6611,0.62,492.8,77.8,13.4,522,6618,0.00,2.17,0.00,0.000,6,0.000,0.042,3369,2318,775,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6935,0.62,492.8,37.3,10.8,583,6942,0.00,2.15,0.00,0.000,4,0.000,0.049,3369,928,775,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6985,0.62,492.8,31.4,11.8,592,6993,0.00,2.20,0.00,0.000,6,0.000,0.048,3369,2326,775,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,7214,end climb,SURFACE_DEPTH_REACHED
$STATE,7214,begin surface coast
$FINISH,1.2,1.016590
$STATE,7247,end surface coast,CONTROL_FINISHED_OK
$STATE,7247,begin surface
$SM_CCo,7327,0.00,0.000,0,0,773,495.75
$SM_GC,1.91,8.20,0.17,0.00,0.025,0.073,0.000,117,2201,773,-9.46,1.47,495.75,0,0,0,0,0,0,26.13,26.10,28.83
$IRIDIUM_FIX,4738.89,-12511.36,231112,202032
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.55
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,16.00
$XPDR_PINGS,3
$24V_AH,23.9,42.737
$10V_AH,10.1,35.377
$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,20.675,57.675,537.300,0.000,0.000,24.907,34.966,157.821,0.750,0.000,16.064,1599.095,3827.960,529.118,1519.537,191.018,0.000,1215.655,0.000,1294.068,0.000,0.536,0.000
$DEVICE_MAMPS,219.555,73.440,745.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.684,423.121,424.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,36922,641
$CAP_FILE_SIZE,78225,0
$CFSIZE,260165632,232615936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.399,358.6,1
$GPS,241112,010230,4751.559,-12514.496,9,1.4,68,18.7