version: 66.11
glider: 187
mission: 2
dive: 856
start: 4 22 113 15 4 46
data:
$ID,187
$MISSION,2
$DIVE,856
$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,-1590062.8
$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,41
$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
$GPS1,220413,145729,4749.877,-12515.705,52,1.4,52,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-77.8
$GPS2,220413,150413,4749.840,-12515.719,15,1.6,15,18.7
$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,94.6,733,-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,-50.15,0.000,2,0.000,0.000,103,2193,2671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.86,-65.6,3.4,-3.3,9,99,11.40,2.17,-8.30,0.000,4,0.223,0.057,2910,786,3063,0,0,0,0,0,0,24.52,25.40,26.15
$GC,330,-0.86,-65.6,64.1,-20.7,58,336,0.00,2.22,0.00,0.000,6,0.000,0.049,2901,2201,3066,0,0,0,0,0,0,28.83,25.15,28.83
$GC,643,-0.86,-65.6,123.4,-18.5,117,650,0.00,2.25,0.00,0.000,4,0.000,0.047,2901,802,3066,0,0,0,0,0,0,28.83,25.10,28.83
$GC,802,-0.86,-65.6,152.8,-18.2,133,810,0.00,2.28,0.00,0.000,6,0.000,0.048,2890,2202,3067,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1127,-0.86,-65.6,210.5,-17.1,154,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2202,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1429,-0.86,-65.6,261.8,-17.0,169,1433,0.00,2.22,0.00,0.000,4,0.000,0.048,2890,799,3067,0,0,0,0,0,0,28.83,25.02,28.83
$GC,1525,-0.86,-65.6,276.7,-16.6,173,1530,0.15,2.30,0.00,0.000,6,0.170,0.048,2915,2212,3066,0,0,0,0,0,0,24.62,25.01,28.83
$GC,1828,-0.86,-65.6,321.0,-14.5,188,1832,0.00,2.25,0.00,0.000,4,0.000,0.048,2915,792,3066,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1875,-0.86,-65.6,327.0,-14.7,190,1879,0.00,2.30,0.00,0.000,6,0.000,0.049,2907,2199,3067,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2177,-0.86,-65.6,374.7,-15.1,205,2182,0.00,2.35,0.00,0.000,4,0.000,0.060,2896,3607,3066,0,0,0,0,0,0,28.83,24.73,28.83
$GC,2225,-0.86,-65.6,381.1,-15.4,207,2229,0.00,2.28,0.00,0.000,6,0.000,0.042,2896,2201,3067,0,0,0,0,0,0,28.83,25.20,28.83
$GC,2528,-0.86,-65.6,429.7,-15.9,219,2533,0.00,2.25,0.00,0.000,4,0.000,0.049,2896,804,3066,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2655,-0.86,-65.6,447.7,-15.0,223,2660,0.12,2.30,0.00,0.000,6,0.176,0.049,2913,2209,3066,0,0,0,0,0,0,24.62,24.94,28.83
$STATE,2905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2905,begin apogee
$GC,2914,-0.22,0.0,484.4,-14.2,232,2976,0.65,0.00,58.58,0.847,6,0.129,0.000,3115,2339,2794,0,0,0,0,0,0,24.32,28.83,23.64
$STATE,2977,end apogee,CONTROL_FINISHED_OK
$STATE,2977,begin climb
$GC,2980,0.86,65.6,488.5,0.0,234,3048,1.00,2.40,60.60,0.805,4,0.073,0.063,3468,3718,2525,0,0,0,0,0,0,24.79,24.75,23.40
$GC,3171,0.86,65.6,477.4,7.7,241,3175,0.00,2.22,0.00,0.000,6,0.000,0.045,3479,2321,2520,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3488,0.87,70.1,456.4,6.4,252,3494,0.00,0.00,4.03,0.527,6,0.000,0.000,3480,2319,2508,0,0,0,0,0,0,28.83,28.83,24.05
$GC,3788,0.87,70.1,431.5,8.9,262,3794,0.00,2.38,0.00,0.000,4,0.000,0.063,3480,3733,2507,0,0,0,0,0,0,28.83,25.11,28.83
$GC,3897,0.87,70.1,422.1,10.2,265,3906,0.00,2.30,0.00,0.000,6,0.000,0.045,3492,2323,2505,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4208,0.87,83.4,401.3,5.3,276,4224,0.00,0.00,13.65,0.749,6,0.000,0.000,3492,2323,2454,0,0,0,0,0,0,28.83,28.83,24.01
$GC,4518,0.87,83.4,368.8,11.0,291,4523,0.00,2.35,0.00,0.000,4,0.000,0.063,3491,3717,2451,0,0,0,0,0,0,28.83,25.11,28.83
$GC,4759,0.87,83.4,341.3,11.1,303,4764,0.00,2.25,0.00,0.000,6,0.000,0.046,3502,2330,2449,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5079,0.87,83.4,309.6,9.4,319,5083,0.00,2.30,0.00,0.000,4,0.000,0.063,3503,3724,2449,0,0,0,0,0,0,28.83,24.88,28.83
$GC,5279,0.87,83.4,287.7,11.1,329,5284,0.12,2.28,0.00,0.000,6,0.163,0.046,3478,2328,2449,0,0,0,0,0,0,24.69,25.22,28.83
$GC,5599,0.87,83.4,258.6,8.8,345,5603,0.00,2.33,0.00,0.000,4,0.000,0.063,3477,3729,2448,0,0,0,0,0,0,28.83,24.78,28.83
$GC,5738,0.87,83.4,244.9,9.9,352,5743,0.00,2.30,0.00,0.000,6,0.000,0.046,3487,2318,2447,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6059,0.87,83.4,219.4,7.8,368,6063,0.00,2.33,0.00,0.000,4,0.000,0.063,3487,3718,2447,0,0,0,0,0,0,28.83,24.73,28.83
$GC,6178,0.87,83.4,209.5,8.6,374,6183,0.00,2.30,0.00,0.000,6,0.000,0.045,3499,2316,2447,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6499,0.87,83.4,186.4,7.1,393,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2315,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6798,0.87,84.7,165.8,6.8,413,6806,0.00,2.38,0.00,0.000,4,0.000,0.063,3499,3721,2447,0,0,0,0,0,0,28.83,24.68,28.83
$GC,6998,0.87,84.7,148.3,8.6,433,7007,0.15,2.30,0.00,0.000,6,0.181,0.045,3475,2317,2447,0,0,0,0,0,0,24.63,25.12,28.83
$GC,7311,0.88,93.2,126.5,5.9,454,7328,0.00,2.33,9.55,0.578,4,0.000,0.062,3475,3719,2413,0,0,0,0,0,0,28.83,25.08,24.09
$GC,7410,0.88,93.2,119.6,7.3,464,7416,0.00,2.22,0.00,0.000,6,0.000,0.046,3483,2319,2412,0,0,0,0,0,0,28.83,25.38,28.83
$GC,7723,0.88,105.6,99.5,5.4,525,7743,0.00,2.40,12.48,0.584,4,0.000,0.063,3483,3729,2362,0,0,0,0,0,0,28.83,25.20,24.10
$GC,7973,0.88,105.6,80.0,8.7,573,7980,0.00,2.22,0.00,0.000,6,0.000,0.046,3495,2322,2360,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8288,0.89,127.6,61.9,4.1,634,8314,0.00,2.40,20.20,0.584,4,0.000,0.063,3495,3723,2273,0,0,0,0,0,0,28.83,25.22,24.12
$GC,8502,0.90,147.1,49.2,4.5,674,8527,0.00,2.22,17.83,0.565,6,0.000,0.045,3507,2314,2193,0,0,0,0,0,0,28.83,25.40,24.08
$GC,8834,0.91,167.5,30.0,4.3,738,8859,0.00,0.00,18.30,0.554,6,0.000,0.000,3507,2314,2112,0,0,0,0,0,0,28.83,28.83,24.13
$GC,9166,0.93,216.2,14.1,0.6,802,9214,0.00,2.33,41.42,0.552,4,0.000,0.052,3518,915,1910,0,0,0,0,0,0,28.83,25.25,24.06
$STATE,9376,end climb,SURFACE_DEPTH_REACHED
$STATE,9376,begin surface coast
$FINISH,1.2,1.013611
$STATE,9449,end surface coast,CONTROL_FINISHED_OK
$STATE,9449,begin surface
$SM_CCo,9473,55.70,0.454,3,0,1570,300.00
$SM_GC,2.57,8.82,2.08,55.70,0.030,0.050,0.454,105,2188,1570,-9.47,-1.16,300.00,0,0,0,0,3,0,25.76,25.25,24.01
$IRIDIUM_FIX,4732.49,-12512.13,220413,111100
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.97
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.10
$XPDR_PINGS,4
$24V_AH,23.4,117.668
$10V_AH,9.8,87.579
$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,22.425,77.950,256.625,55.700,0.000,28.684,47.278,190.263,1.000,0.000,16.335,2139.955,5480.067,451.016,1627.585,254.586,0.000,1167.248,0.000,1349.964,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,86.445,846.855,454.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,586.921,558.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,46843,856
$CAP_FILE_SIZE,93230,0
$CFSIZE,260165632,186970112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.065, 92.3,1
$GPS,220413,174533,4749.755,-12514.108,42,3.8,62,18.7