version: 66.11
glider: 192
mission: 2
dive: 12
start: 9 19 113 18 22 55
data:
$ID,192
$MISSION,2
$DIVE,12
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,110
$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,150
$T_MISSION,170
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033904
$HD_B,0.0092102997
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1044.4772
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2535
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.7798
$PRESSURE_SLOPE,0.0001164018
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062881736
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,190913,181624,6626.945,-6046.499,55,1.3,55,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.2
$GPS2,190913,182210,6626.773,-6046.522,5,1.3,5,-33.6
$SPEED_LIMITS,0.173,0.269
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,57.3,184853,-17.4,-10.000,-20.41,2219
$D_GRID,400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.94,-146.0,120,2340,987,913,0.0,0.0,0,117,0.00,0.00,-93.93,0.000,16386,0.000,0.000,118,2340,2780,2844,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.94,-146.0,118,2340,2845,2718,3.8,-7.9,16,156,10.35,2.70,-11.40,0.000,18692,0.450,0.177,2217,3762,3393,3568,3219,0,0,0,0,0,0,14.21,14.31,14.58
$GC,192,-0.73,-146.0,1360,3762,3562,3216,27.9,-28.9,27,200,0.32,2.47,0.00,0.000,3078,0.318,0.106,2293,2349,3394,3570,3219,0,0,0,0,0,0,14.26,14.37,28.83
$GC,511,-0.67,-146.0,2293,2349,3570,3219,88.7,-13.7,88,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2349,3394,3570,3219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,825,-0.62,-146.0,2293,2349,3570,3219,132.8,-14.3,126,834,0.12,2.62,0.00,0.000,2308,0.306,0.163,2316,3764,3394,3570,3218,0,0,0,0,0,0,14.42,14.45,28.83
$GC,871,-0.62,-146.0,2316,3764,3570,3219,139.1,-13.7,130,879,0.00,2.45,0.00,0.000,1030,0.000,0.109,2316,2347,3394,3570,3218,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1181,-0.62,-146.0,2317,2347,3570,3218,182.6,-14.7,161,1191,0.00,2.62,0.00,0.000,260,0.000,0.163,2307,3761,3394,3570,3218,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1278,-0.62,-146.0,2307,3761,3570,3218,196.6,-14.5,170,1286,0.00,2.45,0.00,0.000,1030,0.000,0.109,2306,2345,3394,3570,3218,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1588,-0.62,-146.0,2307,2345,3570,3218,239.6,-12.8,201,1597,0.00,2.62,0.00,0.000,260,0.000,0.164,2297,3762,3393,3570,3217,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1624,-0.62,-146.0,2297,3762,3570,3217,244.5,-13.3,204,1632,0.00,2.42,0.00,0.000,1030,0.000,0.109,2296,2349,3393,3570,3217,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1934,-0.62,-146.0,2296,2348,3570,3217,282.8,-11.3,235,1943,0.12,2.62,0.00,0.000,2308,0.308,0.164,2319,3764,3393,3570,3217,0,0,0,0,0,0,14.50,14.54,28.83
$GC,2022,-0.66,-146.0,2319,3764,3570,3217,291.6,-10.0,243,2031,0.00,2.42,0.00,0.000,1030,0.000,0.109,2318,2349,3393,3570,3217,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2334,-0.69,-146.0,2319,2349,3570,3217,320.2,-8.6,274,2343,0.00,2.62,0.00,0.000,260,0.000,0.166,2309,3764,3393,3570,3217,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2424,-0.72,-146.0,1424,3763,3564,3213,328.8,-10.1,282,2430,0.00,2.45,0.00,0.000,1030,0.000,0.109,2308,2346,3393,3570,3217,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2732,-0.74,-146.0,2308,2346,3570,3217,362.3,-10.7,313,2742,0.00,2.60,0.00,0.000,260,0.000,0.164,2298,3758,3393,3570,3216,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2792,-0.74,-146.0,2298,3758,3570,3216,368.6,-11.1,318,2798,0.00,2.42,0.00,0.000,1030,0.000,0.109,2298,2350,3393,3570,3216,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,3059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3059,begin apogee
$GC,3072,-0.22,0.0,2298,2401,3570,3216,401.0,-12.3,345,3232,0.57,0.00,148.88,2.212,10246,0.254,0.000,2459,2401,2794,2918,2670,0,0,0,0,0,0,14.54,28.83,12.87
$STATE,3233,end apogee,CONTROL_FINISHED_OK
$STATE,3234,begin climb
$GC,3240,0.94,146.0,2459,2401,2918,2670,410.0,0.0,362,3405,1.27,0.00,155.43,2.124,10758,0.181,0.000,2828,2401,2198,2283,2113,0,0,0,0,0,0,13.66,28.83,12.76
$GC,3713,0.82,155.5,2828,2401,2283,2100,379.4,9.6,410,3730,0.00,2.70,9.73,1.920,8452,0.000,0.157,2828,3810,2159,2253,2066,0,0,0,0,0,0,28.83,14.00,13.30
$GC,3949,0.63,155.5,2828,3810,2252,2065,349.6,12.8,433,3960,0.35,2.53,0.00,0.000,5126,0.282,0.112,2748,2401,2158,2252,2065,0,0,0,0,0,0,14.08,14.17,28.83
$GC,4262,0.67,189.1,2748,2401,2252,2064,322.4,8.4,464,4308,0.00,2.80,35.67,2.052,8452,0.000,0.160,2748,3807,2023,2121,1925,0,0,0,0,0,0,28.83,13.91,13.27
$GC,4438,0.67,209.1,2748,3807,2119,1925,306.3,9.1,481,4466,0.00,2.53,22.08,2.002,9222,0.000,0.109,2757,2397,1940,2039,1842,0,0,0,0,0,0,28.83,14.12,13.24
$GC,4778,0.75,275.8,2757,2396,2039,1838,281.1,6.9,515,4854,0.00,2.90,69.62,2.023,8452,0.000,0.160,2756,3810,1669,1760,1578,0,0,0,0,0,0,28.83,13.65,13.02
$GC,4897,0.81,303.6,2757,3810,1757,1579,272.9,8.7,526,4938,0.00,2.60,30.67,1.957,9222,0.000,0.109,2767,2399,1557,1643,1471,0,0,0,0,0,0,28.83,13.85,13.00
$GC,5241,0.92,351.8,2767,2399,1639,1464,244.0,7.8,561,5300,0.17,2.90,50.25,1.994,10500,0.156,0.161,2828,3815,1361,1446,1276,0,0,0,0,0,0,14.16,13.68,13.00
$GC,5375,0.88,351.8,2828,3814,1440,1275,227.6,14.3,574,5383,0.00,2.58,0.00,0.000,1030,0.000,0.109,2839,2399,1357,1440,1275,0,0,0,0,0,0,28.83,13.91,28.83
$GC,5685,0.86,351.8,2839,2398,1437,1272,187.1,12.9,605,5695,0.00,2.60,0.00,0.000,516,0.000,0.136,2849,990,1354,1437,1272,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5711,0.86,351.8,2849,989,1437,1272,183.6,13.4,607,5721,0.10,2.62,0.00,0.000,5126,0.243,0.142,2820,2396,1354,1437,1271,0,0,0,0,0,0,14.14,14.17,28.83
$GC,6023,0.86,351.8,2820,2396,1436,1271,148.8,10.9,638,6032,0.00,2.62,0.00,0.000,260,0.000,0.161,2820,3804,1353,1436,1271,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6109,0.86,351.8,2820,3804,1434,1271,137.9,13.2,646,6117,0.00,2.50,0.00,0.000,1030,0.000,0.112,2829,2400,1352,1434,1271,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6420,0.86,351.8,2829,2399,1435,1271,100.8,11.5,677,6429,0.00,2.62,0.00,0.000,260,0.000,0.164,2829,3809,1352,1434,1271,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6451,0.86,351.8,2829,3809,1434,1269,97.0,12.3,681,6458,0.00,2.50,0.00,0.000,1030,0.000,0.112,2839,2392,1352,1434,1270,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6771,0.86,351.8,2839,2392,1434,1270,59.2,10.9,742,6778,0.00,2.65,0.00,0.000,260,0.000,0.162,2839,3812,1352,1434,1270,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6870,0.86,351.8,2839,3812,1433,1270,46.5,13.9,760,6877,0.15,2.50,0.00,0.000,5126,0.288,0.114,2815,2392,1352,1434,1270,0,0,0,0,0,0,14.39,14.46,28.83
$GC,7195,1.07,459.2,2815,2391,1433,1268,17.4,5.0,821,7263,0.17,2.55,59.35,0.231,10756,0.164,0.137,2887,991,919,992,847,0,0,0,0,0,0,14.47,14.38,14.33
$STATE,7318,end climb,SURFACE_DEPTH_REACHED
$STATE,7318,begin surface coast
$FINISH,0.4,1.024863
$STATE,7340,end surface coast,CONTROL_FINISHED_OK
$STATE,7341,begin surface
$SM_CCo,7432,0.00,0.000,0,0,915,461.16
$SM_GC,1.12,8.18,2.58,0.00,0.104,0.145,0.000,147,2352,915,-7.42,-0.42,461.16,0,0,0,0,0,0,14.43,14.41,28.83
$RAFOS_CLK,354
$RAFOS,2,1379621823,20.299999,20.284166,72,66,61,52,49,48,680,188,219,154,115,124
$RAFOS,1,1379621343,20.166666,20.150833,58,54,51,51,51,50,204,190,152,174,217,135
$RAFOS,0,1379620861,20.033333,20.016945,66,60,58,58,52,44,220,140,195,121,162,1419
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6604.29,-6049.40,190913,161643
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.32
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,63
$24V_AH,12.8,8.931
$10V_AH,12.9,0.000
$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,21.900,82.925,581.675,0.000,0.000,0.000,0.000,196.100,15.750,0.000,5.817,1997.381,3057.626,647.306,1602.819,477.316,0.000,1697.363,0.000,1430.969,1440.000,0.536,0.000
$DEVICE_MAMPS,449.820,218.025,2212.380,0.000,0.000,0.000,0.000,138.465,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150772
$DATA_FILE_SIZE,36743,846
$CAP_FILE_SIZE,93230,0
$CFSIZE,259252224,249929728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.8
$CURRENT,0.410,202.2,1
$GPS,190913,202929,6626.031,-6047.238,106,0.8,106,-33.5