version: 66.11
glider: 187
mission: 2
dive: 823
start: 4 18 113 15 46 35
data:
$ID,187
$MISSION,2
$DIVE,823
$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,-1590021.5
$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,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
$GPS1,180413,153557,4749.454,-12514.951,22,5.3,42,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-76.8
$GPS2,180413,154551,4749.500,-12514.838,12,3.9,31,18.7
$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,261.3,545,-25.6,-7.021,-28.91
$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,-0.82,-40.4,0.0,0.0,0,63,0.00,0.00,-44.92,0.000,2,0.000,0.000,104,2193,2565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.83,-68.1,3.3,-3.7,8,99,11.25,2.20,-12.20,0.000,4,0.216,0.063,2918,802,3075,0,0,0,0,0,0,24.52,25.38,26.20
$GC,216,-0.83,-68.1,37.1,-22.3,35,222,0.00,2.20,0.00,0.000,6,0.000,0.050,2910,2200,3076,0,0,0,0,0,0,28.83,25.25,28.83
$GC,528,-0.83,-68.1,101.0,-16.9,96,534,0.00,2.30,0.00,0.000,4,0.000,0.059,2899,3619,3077,0,0,0,0,0,0,28.83,25.03,28.83
$GC,569,-0.83,-68.1,108.1,-19.1,103,576,0.00,2.20,0.00,0.000,6,0.000,0.042,2899,2205,3077,0,0,0,0,0,0,28.83,25.37,28.83
$GC,893,-0.83,-68.1,162.7,-16.4,132,900,0.00,2.20,0.00,0.000,4,0.000,0.049,2899,797,3078,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1001,-0.83,-68.1,181.3,-16.9,143,1009,0.15,2.22,0.00,0.000,6,0.174,0.050,2924,2209,3078,0,0,0,0,0,0,24.75,25.15,28.83
$GC,1309,-0.83,-68.1,226.7,-14.2,161,1315,0.00,2.30,0.00,0.000,4,0.000,0.049,2924,793,3078,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1337,-0.83,-68.1,229.5,-14.1,162,1341,0.00,2.30,0.00,0.000,6,0.000,0.050,2915,2204,3078,0,0,0,0,0,0,28.83,25.11,28.83
$GC,1641,-0.83,-68.1,275.0,-15.2,177,1645,0.00,2.28,0.00,0.000,4,0.000,0.049,2916,799,3078,0,0,0,0,0,0,28.83,25.09,28.83
$GC,1727,-0.83,-68.1,287.3,-15.3,181,1731,0.00,2.28,0.00,0.000,6,0.000,0.049,2905,2200,3078,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2029,-0.83,-68.1,334.0,-16.0,196,2035,0.00,2.28,0.00,0.000,4,0.000,0.048,2905,795,3078,0,0,0,0,0,0,28.83,25.08,28.83
$GC,2210,-0.83,-68.1,361.5,-15.6,205,2216,0.10,2.28,0.00,0.000,6,0.158,0.050,2922,2198,3078,0,0,0,0,0,0,24.68,25.08,28.83
$GC,2519,-0.83,-68.1,404.3,-13.5,220,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2198,3078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-0.83,-68.1,445.5,-13.6,230,2825,0.00,2.28,0.00,0.000,4,0.000,0.050,2922,798,3078,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2867,-0.83,-68.1,449.4,-13.5,231,2871,0.00,2.30,0.00,0.000,6,0.000,0.050,2914,2202,3078,0,0,0,0,0,0,28.83,25.02,28.83
$STATE,3107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3107,begin apogee
$GC,3114,-0.22,0.0,484.3,-13.3,239,3179,0.68,0.00,60.78,0.843,6,0.134,0.000,3119,2341,2795,0,0,0,0,0,0,24.33,28.83,23.59
$STATE,3180,end apogee,CONTROL_FINISHED_OK
$STATE,3180,begin climb
$GC,3184,0.83,68.1,489.5,0.0,241,3253,0.98,2.40,62.78,0.806,4,0.078,0.063,3456,3731,2515,0,0,0,0,0,0,24.82,24.78,23.38
$GC,3280,0.84,101.0,488.2,3.1,245,3318,0.00,2.33,31.33,0.787,6,0.000,0.045,3467,2320,2381,0,0,0,0,0,0,28.83,25.15,23.42
$GC,3632,0.84,101.0,453.2,9.9,257,3637,0.00,2.35,0.00,0.000,4,0.000,0.063,3467,3723,2374,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3701,0.84,101.0,446.3,10.8,259,3706,0.00,2.28,0.00,0.000,6,0.000,0.047,3479,2324,2373,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4022,0.84,101.0,409.9,11.5,270,4028,0.00,2.38,0.00,0.000,4,0.000,0.064,3479,3734,2372,0,0,0,0,0,0,28.83,25.15,28.83
$GC,4263,0.84,101.0,379.6,12.6,281,4267,0.00,2.25,0.00,0.000,6,0.000,0.047,3491,2332,2371,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4582,0.84,101.0,341.8,10.7,297,4587,0.00,2.35,0.00,0.000,4,0.000,0.063,3491,3732,2370,0,0,0,0,0,0,28.83,25.05,28.83
$GC,4641,0.84,101.0,335.1,10.9,300,4648,0.15,2.30,0.00,0.000,6,0.177,0.047,3466,2322,2370,0,0,0,0,0,0,24.90,25.34,28.83
$GC,4963,0.84,101.0,303.8,9.4,316,4967,0.00,2.38,0.00,0.000,4,0.000,0.064,3466,3726,2369,0,0,0,0,0,0,28.83,24.98,28.83
$GC,5001,0.84,101.0,299.5,9.9,318,5007,0.00,2.30,0.00,0.000,6,0.000,0.047,3475,2314,2369,0,0,0,0,0,0,28.83,25.31,28.83
$GC,5322,0.84,101.0,267.6,9.9,334,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2313,2369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,0.84,101.0,237.6,10.1,349,5627,0.00,2.38,0.00,0.000,4,0.000,0.064,3476,3719,2368,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5822,0.84,101.0,214.7,11.7,359,5828,0.00,2.25,0.00,0.000,6,0.000,0.046,3487,2325,2368,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6133,0.84,101.0,182.9,9.8,377,6140,0.00,2.35,0.00,0.000,4,0.000,0.063,3487,3720,2368,0,0,0,0,0,0,28.83,24.89,28.83
$GC,6192,0.84,101.0,176.7,10.6,383,6201,0.10,2.25,0.00,0.000,6,0.163,0.047,3470,2323,2367,0,0,0,0,0,0,24.81,25.25,28.83
$GC,6505,0.84,101.0,152.1,7.4,404,6512,0.00,2.33,0.00,0.000,4,0.000,0.065,3470,3728,2368,0,0,0,0,0,0,28.83,24.84,28.83
$GC,6623,0.84,101.0,142.4,7.6,416,6631,0.00,2.25,0.00,0.000,6,0.000,0.045,3479,2327,2367,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6933,0.84,107.8,121.4,6.2,437,6943,0.00,2.38,5.00,0.480,4,0.000,0.063,3478,3723,2354,0,0,0,0,0,0,28.83,25.15,24.08
$GC,6967,0.85,111.3,119.1,6.6,441,6981,0.00,2.20,4.82,0.469,6,0.000,0.047,3490,2322,2340,0,0,0,0,0,0,28.83,25.39,24.08
$GC,7291,0.85,114.1,95.6,6.7,503,7298,0.00,0.00,4.25,0.435,6,0.000,0.000,3490,2323,2328,0,0,0,0,0,0,28.83,28.83,24.13
$GC,7603,0.85,130.2,77.7,5.1,564,7628,0.00,2.35,15.85,0.575,4,0.000,0.063,3490,3719,2261,0,0,0,0,0,0,28.83,25.27,24.13
$GC,7858,0.86,142.6,60.0,5.5,613,7878,0.00,2.17,11.80,0.549,6,0.000,0.045,3501,2324,2211,0,0,0,0,0,0,28.83,25.40,24.10
$GC,8186,0.87,163.0,43.7,4.6,676,8211,0.00,2.30,18.80,0.560,4,0.000,0.061,3501,3728,2127,0,0,0,0,0,0,28.83,25.32,24.13
$GC,8442,0.87,163.0,25.8,7.4,725,8450,0.15,2.20,0.00,0.000,6,0.164,0.045,3474,2322,2124,0,0,0,0,0,0,25.04,25.41,28.83
$GC,8756,0.87,181.7,11.7,4.8,786,8781,0.00,2.30,16.52,0.535,4,0.000,0.053,3483,918,2051,0,0,0,0,0,0,28.83,25.39,24.17
$STATE,8953,end climb,SURFACE_DEPTH_REACHED
$STATE,8953,begin surface coast
$FINISH,2.3,1.024392
$STATE,8986,end surface coast,CONTROL_FINISHED_OK
$STATE,8986,begin surface
$SM_CCo,9008,74.80,0.473,3,0,1570,300.00
$SM_GC,2.17,9.18,2.08,74.80,0.054,0.050,0.473,137,2195,1570,-9.48,-1.05,300.00,0,0,0,0,3,0,25.69,25.30,23.93
$IRIDIUM_FIX,4729.30,-12535.98,180413,151558
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.42
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.4,115.002
$10V_AH,9.7,85.622
$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,22.725,86.875,231.925,74.800,0.000,56.579,132.451,191.622,0.250,0.000,33.579,2102.253,5175.612,468.378,1704.576,260.777,0.000,1163.126,0.000,1295.491,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,81.090,843.030,472.770,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.002,542.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296788
$DATA_FILE_SIZE,46912,830
$CAP_FILE_SIZE,94416,0
$CFSIZE,260165632,188817408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.114,119.0,1
$GPS,180413,181935,4749.158,-12515.335,39,1.6,40,18.7