version: 66.11
glider: 187
mission: 2
dive: 849
start: 4 21 113 19 18 49
data:
$ID,187
$MISSION,2
$DIVE,849
$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,-1590054
$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,40
$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
$GPS1,210413,191057,4749.442,-12515.277,11,2.9,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-77.8
$GPS2,210413,191815,4749.417,-12515.226,15,3.1,34,18.7
$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,304.9,340,-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,-36.8,0.0,0.0,0,63,0.00,0.00,-44.95,0.000,2,0.000,0.000,108,2207,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.87,-67.5,3.0,-3.0,8,99,11.23,2.22,-13.93,0.000,4,0.218,0.060,2908,798,3071,0,0,0,0,0,0,24.52,25.34,26.18
$GC,153,-0.87,-67.5,24.6,-27.5,23,159,0.00,2.20,0.00,0.000,6,0.000,0.048,2900,2201,3073,0,0,0,0,0,0,28.83,25.25,28.83
$GC,465,-0.87,-67.5,94.7,-19.1,84,472,0.00,2.20,0.00,0.000,4,0.000,0.047,2900,797,3073,0,0,0,0,0,0,28.83,25.12,28.83
$GC,500,-0.87,-67.5,101.5,-20.2,90,508,0.00,2.25,0.00,0.000,6,0.000,0.049,2889,2209,3074,0,0,0,0,0,0,28.83,25.10,28.83
$GC,811,-0.87,-67.5,159.1,-19.1,123,820,0.00,2.28,0.00,0.000,4,0.000,0.047,2889,793,3074,0,0,0,0,0,0,28.83,25.07,28.83
$GC,1002,-0.87,-67.5,195.4,-19.4,142,1011,0.10,2.25,0.00,0.000,6,0.155,0.049,2908,2186,3074,0,0,0,0,0,0,24.66,25.04,28.83
$GC,1326,-0.87,-67.5,251.0,-17.0,159,1332,0.00,2.25,0.00,0.000,4,0.000,0.048,2908,795,3074,0,0,0,0,0,0,28.83,25.02,28.83
$GC,1514,-0.87,-67.5,282.5,-17.5,168,1518,0.00,2.30,0.00,0.000,6,0.000,0.049,2899,2202,3074,0,0,0,0,0,0,28.83,25.00,28.83
$GC,1818,-0.87,-67.5,331.4,-15.6,183,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2202,3074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-0.87,-67.5,376.2,-15.1,198,2122,0.00,2.28,0.00,0.000,4,0.000,0.047,2899,798,3074,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2176,-0.87,-67.5,385.3,-15.1,201,2182,0.00,2.30,0.00,0.000,6,0.000,0.049,2889,2207,3074,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2487,-0.87,-67.5,430.8,-14.6,213,2491,0.00,2.25,0.00,0.000,4,0.000,0.049,2889,787,3074,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2594,-0.87,-67.5,444.7,-15.8,216,2599,0.15,2.33,0.00,0.000,6,0.164,0.050,2914,2204,3074,0,0,0,0,0,0,24.58,24.94,28.83
$STATE,2863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2863,begin apogee
$GC,2872,-0.22,0.0,482.1,-12.5,225,2935,0.65,0.00,60.12,0.847,6,0.129,0.000,3116,2345,2794,0,0,0,0,0,0,24.32,28.83,23.63
$STATE,2936,end apogee,CONTROL_FINISHED_OK
$STATE,2936,begin climb
$GC,2939,0.87,67.5,485.1,0.0,227,3006,1.02,0.00,62.30,0.804,6,0.075,0.000,3474,2345,2518,0,0,0,0,0,0,24.79,28.83,23.39
$GC,3306,0.87,67.5,456.9,9.0,240,3312,0.00,2.30,0.00,0.000,4,0.000,0.063,3474,3724,2510,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3549,0.87,67.5,432.8,9.3,248,3553,0.00,2.22,0.00,0.000,6,0.000,0.046,3485,2318,2508,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3866,0.87,67.5,409.6,7.1,259,3871,0.00,2.35,0.00,0.000,4,0.000,0.063,3485,3716,2508,0,0,0,0,0,0,28.83,25.06,28.83
$GC,4107,0.87,67.5,389.2,8.1,269,4112,0.00,2.25,0.00,0.000,6,0.000,0.046,3497,2326,2506,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4427,0.87,67.5,366.6,7.3,285,4431,0.00,2.30,0.00,0.000,4,0.000,0.063,3497,3719,2506,0,0,0,0,0,0,28.83,24.93,28.83
$GC,4667,0.87,67.5,344.6,9.5,297,4672,0.10,2.28,0.00,0.000,6,0.164,0.046,3479,2320,2506,0,0,0,0,0,0,24.82,25.27,28.83
$GC,4986,0.87,67.5,319.7,7.3,313,4991,0.00,2.35,0.00,0.000,4,0.000,0.063,3479,3712,2505,0,0,0,0,0,0,28.83,24.85,28.83
$GC,5227,0.87,67.5,301.2,7.4,325,5232,0.00,2.25,0.00,0.000,6,0.000,0.045,3488,2326,2505,0,0,0,0,0,0,28.83,25.23,28.83
$GC,5548,0.87,75.2,281.5,6.0,341,5558,0.00,2.33,5.75,0.577,4,0.000,0.052,3499,920,2488,0,0,0,0,0,0,28.83,25.31,24.07
$GC,5637,0.87,83.8,276.2,5.9,345,5656,0.00,2.25,9.77,0.653,6,0.000,0.053,3499,2307,2452,0,0,0,0,0,0,28.83,25.28,24.02
$GC,5958,0.87,83.8,251.0,8.7,361,5962,0.00,2.38,0.00,0.000,4,0.000,0.064,3499,3731,2450,0,0,0,0,0,0,28.83,25.02,28.83
$GC,6036,0.87,83.8,243.2,9.9,365,6043,0.15,2.30,0.00,0.000,6,0.180,0.047,3474,2323,2449,0,0,0,0,0,0,24.86,25.29,28.83
$GC,6359,0.87,83.8,215.6,8.9,381,6363,0.00,2.25,0.00,0.000,4,0.000,0.053,3483,918,2449,0,0,0,0,0,0,28.83,25.00,28.83
$GC,6446,0.87,83.8,207.6,8.9,385,6452,0.00,2.33,0.00,0.000,6,0.000,0.053,3483,2328,2449,0,0,0,0,0,0,28.83,25.00,28.83
$GC,6757,0.87,83.8,179.8,8.4,404,6765,0.00,2.38,0.00,0.000,4,0.000,0.063,3482,3737,2448,0,0,0,0,0,0,28.83,24.76,28.83
$GC,6788,0.87,83.8,177.2,8.6,407,6795,0.00,2.25,0.00,0.000,6,0.000,0.047,3494,2323,2449,0,0,0,0,0,0,28.83,25.18,28.83
$GC,7098,0.88,92.6,156.4,5.9,428,7116,0.00,2.40,9.18,0.588,4,0.000,0.064,3494,3737,2416,0,0,0,0,0,0,28.83,25.19,24.09
$GC,7238,0.88,92.6,145.5,8.3,442,7246,0.00,2.28,0.00,0.000,6,0.000,0.046,3506,2327,2415,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7547,0.88,92.6,119.4,8.0,463,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2327,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7859,0.88,114.3,97.5,4.2,524,7884,0.00,2.33,20.48,0.603,4,0.000,0.052,3517,921,2327,0,0,0,0,0,0,28.83,25.27,24.11
$GC,7914,0.89,135.7,95.4,4.2,533,7940,0.15,2.22,20.17,0.594,6,0.169,0.053,3480,2325,2240,0,0,0,0,0,0,24.99,25.29,23.94
$GC,8249,0.89,135.7,72.5,7.4,597,8256,0.00,2.33,0.00,0.000,4,0.000,0.064,3480,3740,2234,0,0,0,0,0,0,28.83,25.08,28.83
$GC,8471,0.89,138.3,54.8,6.7,640,8478,0.00,2.25,0.00,0.000,6,0.000,0.045,3489,2324,2233,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8784,0.90,158.2,39.9,4.4,701,8810,0.00,2.33,19.65,0.560,4,0.000,0.053,3500,917,2147,0,0,0,0,0,0,28.83,25.34,24.15
$GC,8880,0.90,158.2,33.1,8.0,718,8887,0.00,2.22,0.00,0.000,6,0.000,0.053,3500,2325,2145,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9194,0.92,210.3,12.7,0.2,779,9246,0.00,2.33,44.22,0.555,4,0.000,0.063,3500,3740,1934,0,0,0,0,0,0,28.83,25.20,24.06
$GC,9280,0.93,229.6,10.6,4.5,794,9306,0.00,2.25,17.35,0.526,6,0.000,0.045,3512,2322,1855,0,0,0,0,0,0,28.83,25.40,23.97
$STATE,9373,end climb,SURFACE_DEPTH_REACHED
$STATE,9373,begin surface coast
$FINISH,1.2,1.024207
$STATE,9420,end surface coast,CONTROL_FINISHED_OK
$STATE,9420,begin surface
$SM_CCo,9441,43.22,0.460,1,0,1570,300.00
$SM_GC,2.71,8.75,0.17,43.22,0.027,0.079,0.460,107,2196,1570,-9.47,1.30,300.00,0,0,0,0,1,0,25.72,25.72,24.00
$IRIDIUM_FIX,4732.49,-12514.75,210413,161626
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.01
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,23.4,117.115
$10V_AH,9.8,87.168
$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,22.300,87.150,269.000,43.225,0.000,28.315,42.060,206.934,0.500,0.000,36.168,2063.761,5516.601,456.352,1634.311,264.024,0.000,1176.180,0.000,1328.088,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,80.325,846.855,459.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.193,527.071,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,43543,820
$CAP_FILE_SIZE,95952,0
$CFSIZE,260165632,187359232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.109,143.6,1
$GPS,210413,215824,4749.374,-12515.683,44,1.7,45,18.7