version: 66.11
glider: 192
mission: 2
dive: 36
start: 9 21 113 23 27 17
data:
$ID,192
$MISSION,2
$DIVE,36
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1090
$D_NO_BLEED,200
$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,180
$T_MISSION,200
$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,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,0
$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,-1112.1378
$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,2450
$C_ROLL_CLIMB,2430
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,14
$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,5
$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
$GPS1,210913,232005,6621.765,-6016.686,32,1.0,32,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.8
$GPS2,210913,232630,6621.718,-6016.667,4,1.2,5,-33.4
$SPEED_LIMITS,0.144,0.265
$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,96.5,168974,-13.8,-8.333,-17.43,2997
$D_GRID,461
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,20,-0.80,-165.5,141,2431,991,905,0.0,0.0,0,116,0.00,0.00,-93.43,0.000,16386,0.000,0.000,140,2431,2786,2852,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.80,-165.5,140,2431,2852,2722,3.7,-7.9,17,154,10.20,2.50,-13.35,0.000,18948,0.435,0.138,2267,1039,3470,3666,3275,0,0,0,0,0,0,14.21,14.33,14.57
$GC,270,-0.68,-165.5,2267,1038,3668,3275,43.6,-20.9,43,278,0.20,2.60,0.00,0.000,3078,0.293,0.136,2305,2454,3471,3668,3275,0,0,0,0,0,0,14.31,14.36,28.83
$GC,588,-0.58,-165.5,1416,2451,3665,3271,96.4,-16.1,104,595,0.12,2.60,0.00,0.000,2308,0.311,0.152,2330,3860,3471,3669,3274,0,0,0,0,0,0,14.36,14.42,28.83
$GC,620,-0.51,-165.5,2330,3860,3669,3274,100.9,-15.1,108,628,0.15,2.45,0.00,0.000,3078,0.279,0.102,2364,2450,3471,3669,3274,0,0,0,0,0,0,14.39,14.46,28.83
$GC,929,-0.51,-165.5,2364,2450,3670,3274,134.4,-10.3,139,938,0.00,2.53,0.00,0.000,516,0.000,0.125,2364,1037,3472,3670,3274,0,0,0,0,0,0,28.83,14.47,28.83
$GC,985,-0.53,-165.5,2364,1037,3670,3274,139.8,-9.7,144,993,0.00,2.58,0.00,0.000,1030,0.000,0.139,2364,2451,3471,3669,3274,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1295,-0.53,-165.5,2364,2451,3669,3273,166.2,-8.0,175,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2451,3471,3669,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1611,-0.53,-165.5,2364,2451,3669,3273,192.2,-9.4,206,1620,0.00,2.60,0.00,0.000,260,0.000,0.163,2364,3862,3471,3669,3273,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1667,-0.57,-165.5,2364,3861,3669,3273,198.3,-9.7,211,1676,0.00,2.42,0.00,0.000,1030,0.000,0.106,2364,2451,3471,3669,3273,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1977,-0.59,-165.5,2364,2451,3669,3273,230.8,-10.9,242,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2451,3471,3670,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2294,-0.63,-165.5,2364,2451,3670,3272,263.9,-9.7,273,2303,0.00,2.60,0.00,0.000,260,0.000,0.160,2365,3864,3470,3669,3272,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2403,-0.68,-165.5,2364,3864,3670,3272,275.1,-9.9,283,2411,0.15,2.45,0.00,0.000,5126,0.172,0.107,2316,2450,3470,3669,3272,0,0,0,0,0,0,14.61,14.61,28.83
$GC,2713,-0.64,-165.5,2316,2450,3670,3272,312.8,-12.3,314,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2450,3470,3670,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,-0.61,-165.5,2316,2450,3669,3271,348.6,-11.4,345,3031,0.00,2.58,0.00,0.000,260,0.000,0.159,2306,3860,3470,3670,3271,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3058,-0.57,-165.5,2306,3860,3670,3271,352.7,-11.6,348,3067,0.12,2.42,0.00,0.000,3078,0.255,0.104,2342,2445,3470,3670,3271,0,0,0,0,0,0,14.54,14.61,28.83
$GC,3370,-0.57,-165.5,2341,2446,3670,3271,381.3,-9.2,379,3378,0.00,2.60,0.00,0.000,260,0.000,0.158,2342,3864,3470,3669,3271,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3408,-0.57,-165.5,1472,3864,3665,3268,384.6,-8.9,382,3415,0.00,2.45,0.00,0.000,1030,0.000,0.104,2342,2440,3470,3669,3271,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3716,-0.57,-165.5,2343,2440,3670,3271,412.1,-8.6,413,3725,0.00,2.60,0.00,0.000,260,0.000,0.161,2342,3856,3470,3669,3271,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3743,-0.57,-165.5,1472,3855,3665,3268,414.5,-9.4,415,3750,0.00,2.42,0.00,0.000,1030,0.000,0.103,2342,2445,3470,3669,3271,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4052,-0.57,-165.5,2342,2445,3670,3271,442.1,-8.8,446,4060,0.00,2.58,0.00,0.000,260,0.000,0.158,2342,3858,3470,3669,3271,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4080,-0.59,-165.5,1472,3857,3665,3269,444.2,-8.9,448,4086,0.00,2.42,0.00,0.000,1030,0.000,0.103,2342,2445,3470,3669,3272,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,4142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4142,begin apogee
$GC,4155,-0.22,0.0,2342,2445,3670,3272,450.5,-8.9,455,4340,0.40,0.00,171.77,2.354,10246,0.234,0.000,2456,2444,2793,2921,2666,0,0,0,0,0,0,14.57,28.83,12.81
$STATE,4341,end apogee,CONTROL_FINISHED_OK
$STATE,4341,begin climb
$GC,4347,0.80,165.5,2456,2445,2920,2666,461.1,0.0,474,4541,1.15,2.85,180.25,2.217,10756,0.177,0.125,2797,1030,2118,2206,2031,0,0,0,0,0,0,13.62,13.18,12.50
$GC,4755,0.67,165.5,1824,1029,2158,2013,436.2,10.3,514,4762,0.20,2.70,0.00,0.000,5126,0.278,0.135,2754,2429,2111,2205,2017,0,0,0,0,0,0,13.74,13.78,28.83
$GC,5064,0.58,165.5,2753,2429,2205,2014,407.7,9.2,545,5074,0.12,2.70,0.00,0.000,4356,0.293,0.154,2723,3840,2109,2204,2014,0,0,0,0,0,0,14.00,14.01,28.83
$GC,5160,0.50,165.5,2723,3840,2205,2014,398.3,9.9,554,5170,0.10,2.50,0.00,0.000,5126,0.261,0.105,2704,2434,2109,2205,2014,0,0,0,0,0,0,14.04,14.12,28.83
$GC,5472,0.55,202.1,2704,2434,2205,2013,375.5,7.1,585,5518,0.00,2.75,37.78,2.205,8452,0.000,0.155,2704,3840,1969,2071,1868,0,0,0,0,0,0,28.83,13.83,13.17
$GC,5548,0.56,207.2,2704,3840,2070,1868,369.9,8.2,592,5563,0.00,2.58,6.93,1.840,9222,0.000,0.104,2712,2428,1949,2049,1849,0,0,0,0,0,0,28.83,13.93,13.17
$GC,5865,0.58,226.9,2712,2427,2049,1845,344.9,7.7,624,5891,0.00,0.00,22.05,2.127,8454,0.000,0.000,2711,2427,1867,1970,1765,0,0,0,0,0,0,28.83,28.83,13.28
$GC,6195,0.63,269.3,2712,2427,1970,1762,321.4,6.9,657,6251,0.00,2.83,45.22,2.153,8452,0.000,0.154,2712,3834,1695,1790,1601,0,0,0,0,0,0,28.83,13.74,13.11
$GC,6286,0.66,272.2,2712,3834,1788,1601,315.3,8.2,665,6297,0.00,2.58,4.60,1.592,9222,0.000,0.104,2721,2423,1684,1774,1594,0,0,0,0,0,0,28.83,13.90,13.16
$GC,6609,0.72,305.1,2721,2423,1772,1592,290.1,7.2,697,6655,0.12,2.70,36.12,2.112,10756,0.190,0.129,2773,1023,1549,1636,1463,0,0,0,0,0,0,14.19,13.82,13.18
$GC,6692,0.72,305.1,2773,1021,1635,1463,282.2,9.9,705,6701,0.00,2.65,0.00,0.000,1030,0.000,0.135,2773,2424,1549,1636,1462,0,0,0,0,0,0,28.83,13.91,28.83
$GC,7003,0.67,305.1,2773,2424,1635,1458,250.6,9.8,736,7012,0.00,2.70,0.00,0.000,260,0.000,0.155,2773,3850,1547,1635,1459,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7059,0.61,305.1,2773,3850,1633,1459,244.5,11.5,741,7069,0.17,2.50,0.00,0.000,5126,0.245,0.106,2736,2436,1546,1633,1459,0,0,0,0,0,0,14.17,14.22,28.83
$GC,7371,0.70,358.8,2737,2435,1633,1458,223.3,6.5,772,7437,0.00,2.75,56.03,2.085,8708,0.000,0.130,2737,990,1332,1417,1248,0,0,0,0,0,0,28.83,13.81,13.16
$GC,7469,0.83,401.5,2736,990,1417,1247,217.2,6.9,781,7523,0.17,2.72,47.12,2.028,11270,0.113,0.131,2798,2437,1156,1236,1077,0,0,0,0,0,0,13.94,13.90,13.00
$GC,7829,0.81,401.5,2798,2437,1230,1073,179.3,10.0,817,7838,0.00,2.65,0.00,0.000,260,0.000,0.153,2798,3835,1151,1229,1073,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7885,0.78,401.5,2797,3835,1228,1073,172.9,12.0,822,7894,0.00,2.50,0.00,0.000,1030,0.000,0.108,2808,2434,1150,1228,1073,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8196,0.75,401.5,2808,2433,1226,1072,137.5,11.5,853,8205,0.12,2.58,0.00,0.000,4612,0.291,0.129,2785,1018,1149,1226,1072,0,0,0,0,0,0,14.25,14.28,28.83
$GC,8265,0.79,401.5,1808,1018,1210,1070,130.9,9.8,859,8272,0.00,2.60,0.00,0.000,1030,0.000,0.133,2785,2432,1148,1225,1072,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8574,0.82,401.5,2785,2431,1225,1070,99.1,10.2,890,8580,0.00,2.62,0.00,0.000,260,0.000,0.155,2785,3840,1147,1224,1071,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8611,0.82,401.5,1792,3839,1210,1069,94.9,11.9,896,8618,0.00,2.50,0.00,0.000,1030,0.000,0.109,2794,2421,1147,1224,1071,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8930,0.82,401.5,2794,2420,1225,1070,64.2,9.6,957,8937,0.00,2.53,0.00,0.000,516,0.000,0.132,2804,1018,1147,1224,1070,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8968,0.85,401.5,1808,1018,1209,1068,60.5,9.7,963,8975,0.00,2.58,0.00,0.000,1030,0.000,0.135,2804,2430,1145,1222,1069,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9286,0.89,401.5,2804,2429,1223,1069,29.7,8.5,1024,9293,0.00,2.62,0.00,0.000,260,0.000,0.158,2805,3847,1146,1223,1069,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9330,0.91,401.5,2804,3847,1222,1069,25.7,10.0,1031,9337,0.00,2.47,0.00,0.000,1030,0.000,0.107,2813,2427,1145,1222,1069,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,9591,end climb,SURFACE_DEPTH_REACHED
$STATE,9592,begin surface coast
$FINISH,0.7,1.024836
$STATE,9628,end surface coast,CONTROL_FINISHED_OK
$STATE,9628,begin surface
$SM_CCo,9658,25.73,0.187,0,0,957,450.13
$SM_GC,1.33,8.05,0.05,25.73,0.111,0.278,0.187,141,2448,957,-7.44,-0.59,450.13,0,0,0,0,0,0,14.52,14.51,14.45
$RAFOS_CLK,467
$RAFOS,6,1379810945,0.833333,0.818056,70,63,61,60,51,50,947,212,179,191,221,137
$RAFOS,5,1379810463,0.700000,0.684167,72,64,61,54,52,49,1016,199,215,171,138,116
$RAFOS,4,1379809982,0.566667,0.550556,77,55,55,54,53,52,804,222,182,206,139,249
$RAFOS,3,1379809507,0.433333,0.418611,63,62,57,55,55,55,184,695,167,200,214,224
$RAFOS,2,1379809023,0.300000,0.284167,80,69,61,59,49,48,599,201,145,215,116,178
$RAFOS,1,1379808543,0.166667,0.150833,124,65,63,57,56,54,694,206,147,220,189,122
$RAFOS,0,1379808068,0.033333,0.018889,68,66,57,55,54,52,211,648,137,170,126,152
$RAFOS_FIX,6622.556152,-6011.850586,220913,000034,5,85,1.00
$IRIDIUM_FIX,6553.70,-6002.00,210913,202009
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.14
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,66
$24V_AH,12.5,19.181
$10V_AH,12.8,0.000
$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,21.575,108.600,607.875,25.725,0.000,0.000,0.000,228.200,16.500,0.000,11.275,2514.624,4256.830,714.703,2006.969,598.116,0.000,2009.893,0.000,1796.332,2520.000,0.536,0.000
$DEVICE_MAMPS,434.520,277.695,2353.905,187.425,0.000,0.000,0.000,145.350,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150736
$DATA_FILE_SIZE,46673,1089
$CAP_FILE_SIZE,121476,0
$CFSIZE,259252224,248569856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.0
$GPS,220913,021035,6623.081,-6013.762,35,1.1,35,-33.4