version: 66.11
glider: 192
mission: 2
dive: 22
start: 9 20 113 13 29 53
data:
$ID,192
$MISSION,2
$DIVE,22
$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,120
$T_MISSION,150
$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,190
$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,-1057.0167
$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,15
$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
$GPS1,200913,132328,6626.083,-6041.775,38,1.0,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-61.1
$GPS2,200913,132909,6626.062,-6041.832,5,1.0,5,-33.5
$SPEED_LIMITS,0.217,0.322
$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,146.4,182191,-18.6,-12.500,-21.21,2254
$D_GRID,418
$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,21,-1.04,-184.9,121,2344,992,915,0.0,0.0,0,111,0.00,0.00,-87.95,0.000,16386,0.000,0.000,117,2344,2704,2768,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-1.04,-184.9,117,2344,2771,2640,4.0,-8.5,15,151,10.23,2.62,-15.93,0.000,18948,0.451,0.146,2191,931,3552,3761,3344,0,0,0,0,0,0,14.19,14.31,14.55
$GC,333,-0.94,-184.9,2191,931,3763,3344,64.3,-22.4,54,340,0.17,2.62,0.00,0.000,3078,0.315,0.139,2225,2355,3553,3763,3344,0,0,0,0,0,0,14.30,14.38,28.83
$GC,651,-0.86,-184.9,2225,2355,3763,3344,136.3,-22.2,99,661,0.12,2.58,0.00,0.000,2308,0.330,0.155,2248,3758,3553,3763,3344,0,0,0,0,0,0,14.39,14.42,28.83
$GC,690,-0.79,-184.9,1408,3757,3760,3341,144.1,-21.3,102,698,0.12,2.47,0.00,0.000,3078,0.305,0.109,2273,2347,3553,3763,3344,0,0,0,0,0,0,14.39,14.46,28.83
$GC,1000,-0.76,-184.9,2274,2346,3763,3344,197.3,-16.9,133,1009,0.00,2.62,0.00,0.000,260,0.000,0.161,2265,3764,3553,3763,3343,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1046,-0.76,-184.9,2266,3763,3763,3343,205.4,-17.5,137,1055,0.00,2.45,0.00,0.000,1030,0.000,0.109,2265,2351,3553,3763,3344,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1356,-0.76,-184.9,2266,2351,3763,3343,262.2,-17.7,168,1366,0.00,2.62,0.00,0.000,260,0.000,0.164,2256,3764,3553,3763,3343,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1445,-0.76,-184.9,1408,3763,3760,3340,278.0,-18.3,176,1452,0.12,2.47,0.00,0.000,3078,0.310,0.109,2282,2343,3552,3763,3342,0,0,0,0,0,0,14.47,14.54,28.83
$GC,1754,-0.76,-184.9,2282,2343,3762,3342,323.3,-13.6,207,1763,0.00,2.47,0.00,0.000,516,0.000,0.133,2282,944,3552,3763,3342,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1812,-0.81,-184.9,1416,944,3759,3339,330.6,-13.0,212,1819,0.00,2.58,0.00,0.000,1030,0.000,0.145,2275,2350,3552,3763,3342,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2120,-0.81,-184.9,2276,2350,3763,3341,371.8,-12.8,243,2129,0.00,2.58,0.00,0.000,260,0.000,0.161,2266,3759,3552,3763,3341,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2208,-0.81,-184.9,2266,3759,3763,3341,383.9,-14.3,251,2215,0.00,2.45,0.00,0.000,1030,0.000,0.109,2266,2349,3552,3763,3341,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,2440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2440,begin apogee
$GC,2459,-0.22,0.0,2266,2402,3763,3341,419.0,-15.5,275,2656,0.68,0.00,188.95,2.271,10246,0.254,0.000,2454,2402,2793,2919,2668,0,0,0,0,0,0,14.52,28.83,12.84
$STATE,2657,end apogee,CONTROL_FINISHED_OK
$STATE,2657,begin climb
$GC,2663,1.04,184.9,2454,2402,2920,2668,430.4,0.0,296,2875,1.42,2.78,198.05,2.183,10756,0.189,0.132,2869,991,2040,2122,1958,0,0,0,0,0,0,13.57,13.22,12.56
$GC,3085,0.91,184.9,2869,991,2121,1944,392.9,14.1,338,3095,0.12,2.70,0.00,0.000,5126,0.275,0.140,2837,2397,2032,2121,1943,0,0,0,0,0,0,13.74,13.78,28.83
$GC,3397,0.84,205.7,2837,2397,2120,1940,351.6,11.6,369,3426,0.12,2.83,21.25,2.079,12548,0.313,0.158,2805,3818,1955,2053,1858,0,0,0,0,0,0,14.00,13.83,13.21
$GC,3510,0.75,205.7,2806,3817,2051,1857,337.3,13.1,380,3519,0.12,2.58,0.00,0.000,5126,0.266,0.111,2783,2403,1954,2051,1857,0,0,0,0,0,0,13.89,13.96,28.83
$GC,3821,0.79,239.9,2783,2402,2050,1856,305.1,10.9,411,3867,0.00,2.70,36.83,2.082,8708,0.000,0.135,2791,988,1814,1913,1716,0,0,0,0,0,0,28.83,13.80,13.18
$GC,3907,0.84,281.2,2791,988,1911,1714,296.5,10.6,419,3960,0.00,2.72,44.97,2.102,9222,0.000,0.139,2791,2411,1647,1738,1557,0,0,0,0,0,0,28.83,13.88,12.95
$GC,4264,0.91,335.4,2792,2411,1734,1553,256.5,10.0,455,4332,0.12,2.80,58.00,2.080,10500,0.178,0.157,2837,3809,1427,1513,1341,0,0,0,0,0,0,14.08,13.57,12.95
$GC,4354,0.88,335.4,2836,3809,1511,1341,246.0,13.6,463,4364,0.10,2.62,0.00,0.000,5126,0.269,0.111,2821,2399,1426,1511,1341,0,0,0,0,0,0,13.64,13.69,28.83
$GC,4666,0.90,335.4,2822,2399,1506,1337,204.5,13.3,494,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2399,1421,1506,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4983,0.93,338.8,2821,2399,1505,1335,165.3,12.3,525,4992,0.00,2.67,0.00,0.000,260,0.000,0.161,2821,3807,1420,1505,1335,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5059,0.93,338.8,2821,3808,1504,1335,154.2,13.6,532,5067,0.00,2.53,0.00,0.000,1030,0.000,0.112,2830,2393,1419,1504,1335,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5369,0.96,348.7,2830,2393,1503,1334,116.5,12.0,563,5387,0.00,2.70,7.43,1.801,8452,0.000,0.163,2829,3813,1372,1454,1290,0,0,0,0,0,0,28.83,14.23,13.65
$GC,5404,0.97,355.5,2830,3813,1454,1289,112.1,12.2,566,5414,0.00,2.53,4.62,1.473,9222,0.000,0.112,2840,2399,1343,1425,1262,0,0,0,0,0,0,28.83,14.27,13.60
$GC,5722,1.00,363.5,2840,2399,1425,1262,74.0,12.1,618,5735,0.00,2.70,4.57,0.441,8452,0.000,0.164,2840,3810,1312,1392,1232,0,0,0,0,0,0,28.83,14.31,14.20
$GC,5762,1.00,363.5,2840,3810,1391,1232,68.8,14.0,624,5769,0.00,2.53,0.00,0.000,1030,0.000,0.113,2850,2394,1311,1391,1232,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6081,1.13,443.5,2851,2393,1391,1230,29.0,8.9,685,6137,0.12,2.60,46.12,0.266,10756,0.185,0.142,2905,985,983,1057,910,0,0,0,0,0,0,14.40,14.32,14.27
$GC,6204,1.16,466.1,1872,985,1045,907,14.7,11.5,705,6224,0.00,2.60,12.00,0.228,9222,0.000,0.135,2905,2400,891,962,821,0,0,0,0,0,0,28.83,14.35,14.29
$STATE,6268,end climb,SURFACE_DEPTH_REACHED
$STATE,6269,begin surface coast
$FINISH,0.7,1.024923
$STATE,6291,end surface coast,CONTROL_FINISHED_OK
$STATE,6291,begin surface
$SM_CCo,6380,0.00,0.000,0,0,887,467.79
$SM_GC,1.29,8.30,0.12,0.00,0.105,0.176,0.000,147,2344,887,-7.42,0.40,467.79,0,0,0,0,0,0,14.37,14.37,28.83
$RAFOS_CLK,298
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6558.99,-6047.32,200913,111156
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.65
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.20
$XPDR_PINGS,30
$24V_AH,12.6,12.921
$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,21.900,73.375,622.800,0.000,0.000,0.000,0.000,193.025,7.500,0.000,5.883,1689.151,2555.417,639.159,1402.285,440.444,0.000,1609.343,0.000,1236.359,0.000,0.535,0.000
$DEVICE_MAMPS,450.585,210.375,2271.285,0.000,0.000,0.000,0.000,138.465,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150796
$DATA_FILE_SIZE,30078,720
$CAP_FILE_SIZE,83887,0
$CFSIZE,259252224,249446400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.3
$CURRENT,0.225,344.3,1
$GPS,200913,151758,6626.348,-6040.022,44,1.5,49,-33.5