version: 66.11
glider: 187
mission: 2
dive: 819
start: 4 18 113 3 40 47
data:
$ID,187
$MISSION,2
$DIVE,819
$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,-1590016.5
$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,35
$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,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
$GPS1,180413,033305,4749.383,-12515.055,36,1.3,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-80.1
$GPS2,180413,034013,4749.377,-12514.994,15,1.4,15,18.7
$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,274.5,522,-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,16,-0.85,-36.8,0.0,0.0,0,69,0.00,0.00,-50.05,0.000,2,0.000,0.000,116,2186,2543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.87,-77.6,3.1,-1.7,9,104,11.18,2.22,-13.82,0.000,4,0.216,0.061,2909,790,3112,0,0,0,0,0,0,24.52,25.35,26.20
$GC,336,-0.87,-77.6,63.8,-19.2,59,343,0.00,2.22,0.00,0.000,6,0.000,0.050,2900,2199,3114,0,0,0,0,0,0,28.83,25.20,28.83
$GC,651,-0.87,-77.6,126.3,-18.2,116,658,0.00,2.22,0.00,0.000,4,0.000,0.048,2900,789,3116,0,0,0,0,0,0,28.83,25.16,28.83
$GC,799,-0.87,-77.6,153.4,-17.9,131,808,0.00,2.30,0.00,0.000,6,0.000,0.049,2889,2201,3115,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1124,-0.87,-77.6,210.6,-16.8,152,1130,0.00,2.28,0.00,0.000,4,0.000,0.047,2889,785,3116,0,0,0,0,0,0,28.83,25.14,28.83
$GC,1225,-0.87,-77.6,227.3,-16.7,157,1230,0.10,2.30,0.00,0.000,6,0.155,0.049,2907,2202,3116,0,0,0,0,0,0,24.77,25.13,28.83
$GC,1544,-0.87,-77.6,277.3,-16.1,173,1549,0.00,2.30,0.00,0.000,4,0.000,0.048,2908,787,3116,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1684,-0.87,-77.6,300.2,-16.3,180,1690,0.00,2.30,0.00,0.000,6,0.000,0.049,2899,2207,3115,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2004,-0.87,-77.6,350.4,-15.0,196,2009,0.00,2.30,0.00,0.000,4,0.000,0.049,2899,789,3115,0,0,0,0,0,0,28.83,25.08,28.83
$GC,2044,-0.87,-77.6,356.4,-15.0,198,2049,0.00,2.33,0.00,0.000,6,0.000,0.050,2888,2210,3115,0,0,0,0,0,0,28.83,25.07,28.83
$GC,2375,-0.87,-77.6,407.0,-15.9,214,2379,0.00,2.30,0.00,0.000,4,0.000,0.050,2888,789,3115,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2482,-0.87,-77.6,421.5,-16.1,217,2487,0.15,2.33,0.00,0.000,6,0.166,0.050,2913,2208,3115,0,0,0,0,0,0,24.69,25.05,28.83
$GC,2784,-0.87,-77.6,467.0,-14.0,227,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2208,3115,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2901,begin apogee
$GC,2909,-0.22,0.0,484.0,-14.2,231,2982,0.65,0.00,68.78,0.840,6,0.129,0.000,3115,2347,2794,0,0,0,0,0,0,24.41,28.83,23.56
$STATE,2983,end apogee,CONTROL_FINISHED_OK
$STATE,2983,begin climb
$GC,2986,0.87,77.6,487.6,0.0,233,3061,1.05,0.00,71.70,0.805,6,0.078,0.000,3472,2347,2477,0,0,0,0,0,0,24.79,28.83,23.35
$GC,3345,0.87,77.6,461.0,9.0,245,3350,0.00,2.30,0.00,0.000,4,0.000,0.064,3472,3725,2469,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3572,0.87,77.6,440.2,10.0,252,3576,0.00,2.28,0.00,0.000,6,0.000,0.046,3483,2320,2466,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3874,0.87,77.6,414.1,8.2,262,3880,0.00,2.30,0.00,0.000,4,0.000,0.053,3495,918,2466,0,0,0,0,0,0,28.83,25.26,28.83
$GC,3983,0.87,77.6,407.1,7.9,265,3992,0.00,2.30,0.00,0.000,6,0.000,0.054,3494,2318,2465,0,0,0,0,0,0,28.83,25.24,28.83
$GC,4294,0.87,77.6,378.5,8.4,280,4299,0.00,2.35,0.00,0.000,4,0.000,0.063,3494,3730,2465,0,0,0,0,0,0,28.83,25.06,28.83
$GC,4535,0.87,77.6,356.1,9.0,292,4540,0.12,2.22,0.00,0.000,6,0.185,0.047,3478,2325,2464,0,0,0,0,0,0,24.96,25.34,28.83
$GC,4854,0.87,77.6,332.3,7.1,308,4860,0.00,2.38,0.00,0.000,4,0.000,0.065,3478,3731,2463,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5094,0.87,77.6,312.7,8.1,320,5099,0.00,2.28,0.00,0.000,6,0.000,0.046,3487,2326,2463,0,0,0,0,0,0,28.83,25.31,28.83
$GC,5416,0.87,77.6,289.4,7.2,336,5420,0.00,2.33,0.00,0.000,4,0.000,0.064,3488,3734,2462,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5652,0.87,77.6,271.5,7.6,347,5656,0.00,2.30,0.00,0.000,6,0.000,0.046,3499,2319,2461,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5955,0.87,77.6,249.5,7.0,362,5959,0.00,2.38,0.00,0.000,4,0.000,0.064,3499,3729,2461,0,0,0,0,0,0,28.83,24.88,28.83
$GC,6194,0.87,77.6,229.9,8.8,374,6201,0.15,2.30,0.00,0.000,6,0.182,0.047,3475,2317,2461,0,0,0,0,0,0,24.77,25.24,28.83
$GC,6517,0.87,77.6,204.3,7.9,390,6521,0.00,2.35,0.00,0.000,4,0.000,0.063,3475,3743,2461,0,0,0,0,0,0,28.83,24.85,28.83
$GC,6754,0.87,77.6,184.6,7.9,410,6763,0.00,2.30,0.00,0.000,6,0.000,0.045,3484,2322,2461,0,0,0,0,0,0,28.83,25.23,28.83
$GC,7067,0.87,84.2,165.2,6.2,431,7076,0.00,2.40,4.38,0.467,4,0.000,0.063,3484,3733,2450,0,0,0,0,0,0,28.83,25.15,24.06
$GC,7195,0.88,91.4,156.6,6.1,444,7213,0.00,2.28,8.48,0.575,6,0.000,0.046,3496,2320,2420,0,0,0,0,0,0,28.83,25.34,24.06
$GC,7518,0.88,91.6,134.4,7.0,466,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2320,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7817,0.88,100.3,115.3,5.9,496,7836,0.00,2.38,9.48,0.566,4,0.000,0.063,3496,3731,2384,0,0,0,0,0,0,28.83,25.27,24.09
$GC,7956,0.88,100.3,104.6,8.6,522,7964,0.00,2.20,0.00,0.000,6,0.000,0.047,3507,2324,2383,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8271,0.89,117.7,88.5,4.7,583,8291,0.00,0.00,16.60,0.586,6,0.000,0.000,3507,2324,2314,0,0,0,0,0,0,28.83,28.83,24.10
$GC,8598,0.90,146.8,75.8,3.2,646,8630,0.00,2.40,26.12,0.588,4,0.000,0.063,3507,3739,2194,0,0,0,0,0,0,28.83,25.27,24.03
$GC,8861,0.90,146.8,58.1,7.1,696,8868,0.12,2.22,0.00,0.000,6,0.180,0.046,3489,2320,2190,0,0,0,0,0,0,25.07,25.41,28.83
$GC,9174,0.90,147.8,37.4,6.9,757,9181,0.00,2.33,0.00,0.000,4,0.000,0.063,3489,3733,2189,0,0,0,0,0,0,28.83,25.01,28.83
$GC,9380,0.90,153.2,23.2,6.3,797,9393,0.00,2.22,6.30,0.468,6,0.000,0.045,3498,2315,2168,0,0,0,0,0,0,28.83,25.31,24.15
$GC,9699,0.93,217.2,14.7,-1.4,859,9764,0.00,2.42,54.25,0.550,4,0.000,0.066,3498,3733,1907,0,0,0,0,0,0,28.83,25.18,24.01
$GC,9779,0.94,251.0,13.9,2.6,872,9815,0.00,2.25,28.77,0.513,6,0.000,0.046,3507,2323,1770,0,0,0,0,0,0,28.83,25.37,23.87
$GC,10125,0.95,275.1,4.7,3.9,938,10132,0.00,0.00,5.45,0.425,2,0.000,0.000,3507,2322,1744,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10133,end climb,SURFACE_DEPTH_REACHED
$STATE,10133,begin surface coast
$FINISH,1.2,1.012732
$STATE,10211,end surface coast,CONTROL_FINISHED_OK
$STATE,10211,begin surface
$SM_CCo,10231,29.50,0.418,1,0,1571,300.00
$SM_GC,2.24,8.82,0.17,29.50,0.033,0.076,0.418,104,2200,1571,-9.47,1.27,300.00,0,0,0,0,1,0,25.84,25.87,24.12
$IRIDIUM_FIX,4732.49,-12507.66,180413,000034
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.54
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.20
$XPDR_PINGS,2
$24V_AH,23.4,114.680
$10V_AH,9.8,85.384
$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,22.350,83.225,300.300,29.500,0.000,28.245,47.557,215.509,0.500,0.000,16.268,2369.528,5760.043,467.721,1823.898,280.320,0.000,1272.797,0.000,1524.210,0.000,0.538,0.000
$DEVICE_MAMPS,216.495,83.385,839.970,417.690,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.679,627.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296784
$DATA_FILE_SIZE,53664,954
$CAP_FILE_SIZE,102625,0
$CFSIZE,260165632,189030400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.113,112.4,1
$GPS,180413,063354,4749.013,-12514.918,79,1.0,80,18.7