version: 66.11
glider: 192
mission: 2
dive: 61
start: 9 24 113 19 7 44
data:
$ID,192
$MISSION,2
$DIVE,61
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,380
$T_MISSION,410
$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,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$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,400
$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,-1172.7743
$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,2525
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,23
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,240913,190205,6635.407,-5928.414,32,0.9,32,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.3
$GPS2,240913,190701,6635.428,-5928.452,4,0.9,4,-33.6
$SPEED_LIMITS,0.150,0.251
$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,74.0,126623,-16.2,-8.684,-19.07,2590
$D_GRID,832
$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,19,-1.04,-146.0,143,2431,521,458,0.0,0.0,0,134,0.00,0.00,-111.88,0.000,16386,0.000,0.000,141,2430,2735,2781,2689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-1.04,-146.0,140,2430,2782,2690,3.3,-4.5,19,174,10.05,2.72,-12.93,0.000,18692,0.433,0.167,2171,3866,3339,3500,3179,0,0,0,0,0,0,13.97,14.09,14.34
$GC,399,-1.04,-146.0,2171,3866,3502,3179,76.5,-25.8,67,406,0.00,2.50,0.00,0.000,1030,0.000,0.102,2171,2455,3340,3502,3179,0,0,0,0,0,0,28.83,14.25,28.83
$GC,713,-1.04,-146.0,2171,2454,3504,3179,152.1,-22.8,106,722,0.00,2.62,0.00,0.000,260,0.000,0.149,2161,3864,3341,3504,3179,0,0,0,0,0,0,28.83,14.31,28.83
$GC,752,-1.04,-146.0,2160,3864,3504,3179,160.6,-23.6,109,760,0.00,2.47,0.00,0.000,1030,0.000,0.099,2160,2447,3341,3504,3179,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1060,-1.04,-146.0,1328,2445,3496,3175,236.8,-23.6,140,1069,0.00,2.47,0.00,0.000,516,0.000,0.120,2161,1046,3341,3504,3178,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1138,-1.04,-146.0,1344,1045,3496,3174,254.3,-22.6,147,1146,0.17,2.58,0.00,0.000,3078,0.331,0.132,2186,2460,3341,3504,3178,0,0,0,0,0,0,14.35,14.42,28.83
$GC,1448,-1.04,-146.0,2186,2460,3504,3177,315.7,-18.9,178,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2459,3340,3504,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1764,-1.04,-146.0,2186,2460,3504,3177,373.2,-18.5,209,1773,0.00,2.53,0.00,0.000,260,0.000,0.146,2178,3857,3340,3504,3176,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1790,-1.04,-146.0,2178,3857,3504,3176,379.3,-18.9,211,1799,0.00,2.42,0.00,0.000,1030,0.000,0.101,2178,2449,3339,3503,3176,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2101,-1.04,-146.0,2178,2449,3504,3176,439.1,-19.8,242,2109,0.00,2.47,0.00,0.000,516,0.000,0.120,2178,1043,3340,3504,3176,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2146,-1.04,-146.0,2178,1043,3504,3176,448.2,-20.2,246,2155,0.00,2.50,0.00,0.000,1030,0.000,0.129,2167,2444,3340,3504,3176,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2456,-1.04,-146.0,2167,2444,3504,3176,510.4,-20.0,277,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2444,3340,3504,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2773,-1.04,-146.0,2167,2444,3504,3176,572.6,-19.5,308,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2444,3338,3501,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3091,-1.04,-146.0,2167,2444,3505,3176,636.1,-19.5,328,3096,0.00,2.45,0.00,0.000,516,0.000,0.118,2167,1038,3340,3505,3176,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3117,-1.04,-146.0,2167,1039,3505,3176,636.1,-19.5,328,3125,0.12,2.53,0.00,0.000,3078,0.339,0.130,2181,2454,3340,3505,3176,0,0,0,0,0,0,14.54,14.61,28.83
$GC,3423,-1.04,-146.0,2180,2454,3506,3177,696.5,-17.8,339,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2454,3340,3505,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-1.04,-146.0,2181,2454,3506,3176,748.9,-17.4,349,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2454,3341,3506,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-1.04,-146.0,2181,2454,3505,3176,801.9,-17.5,359,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2454,3341,3506,3176,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4196,begin apogee
$GC,4210,-0.21,0.0,2181,2454,3506,3177,832.9,-17.1,365,4384,1.00,0.00,162.20,2.701,10246,0.282,0.000,2454,2454,2741,2850,2632,0,0,0,0,0,0,14.59,28.83,12.73
$STATE,4385,end apogee,CONTROL_FINISHED_OK
$STATE,4386,begin climb
$GC,4392,1.04,146.0,2453,2454,2850,2632,841.1,0.0,371,4582,1.38,2.90,175.05,2.635,11012,0.170,0.123,2862,1029,2144,2231,2058,0,0,0,0,0,0,13.62,12.94,12.17
$GC,4629,1.04,146.0,2863,1029,2231,2054,820.8,12.7,379,4634,0.00,2.78,0.00,0.000,1030,0.000,0.131,2862,2426,2142,2231,2054,0,0,0,0,0,0,28.83,13.32,28.83
$GC,4962,1.04,146.0,2862,2425,2231,2046,769.6,15.5,390,4967,0.00,2.70,0.00,0.000,260,0.000,0.149,2863,3846,2138,2231,2046,0,0,0,0,0,0,28.83,13.91,28.83
$GC,5042,1.04,146.0,2863,3846,2230,2046,759.1,15.9,392,5050,0.00,2.55,0.00,0.000,1030,0.000,0.103,2874,2429,2138,2230,2046,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5354,1.04,146.0,2874,2428,2230,2044,705.5,16.0,403,5359,0.00,2.67,0.00,0.000,260,0.000,0.151,2873,3844,2136,2229,2044,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5388,1.04,146.0,1896,3844,2183,2040,699.9,16.2,404,5394,0.00,2.50,0.00,0.000,1030,0.000,0.105,2884,2434,2137,2229,2045,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5716,1.04,146.0,2884,2433,2229,2043,646.4,16.3,415,5721,0.00,2.62,0.00,0.000,260,0.000,0.151,2884,3843,2136,2229,2044,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5766,1.04,146.0,2885,3843,2228,2044,641.0,16.3,416,5775,0.10,2.47,0.00,0.000,5126,0.321,0.105,2870,2430,2135,2228,2043,0,0,0,0,0,0,14.26,14.34,28.83
$GC,6079,1.04,146.0,2869,2429,2228,2043,589.8,15.2,431,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2429,2135,2228,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6394,1.04,146.0,2870,2429,2228,2042,543.2,14.7,462,6403,0.00,2.62,0.00,0.000,260,0.000,0.153,2869,3842,2135,2228,2043,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6469,1.04,146.0,2870,3842,2228,2043,529.8,17.2,469,6479,0.00,2.45,0.00,0.000,1030,0.000,0.106,2880,2427,2135,2228,2042,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6780,1.04,146.0,2880,2427,2228,2043,481.3,15.3,500,6789,0.00,2.60,0.00,0.000,260,0.000,0.152,2880,3847,2135,2228,2042,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6846,1.04,146.0,2880,3847,2228,2043,470.2,17.5,506,6855,0.10,2.45,0.00,0.000,5126,0.312,0.105,2865,2435,2135,2228,2042,0,0,0,0,0,0,14.44,14.54,28.83
$GC,7157,1.04,146.0,2865,2434,2228,2042,424.9,14.0,537,7167,0.00,2.60,0.00,0.000,260,0.000,0.153,2865,3850,2135,2228,2043,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7193,1.04,146.0,2865,3850,2228,2042,419.4,14.7,540,7201,0.00,2.45,0.00,0.000,1030,0.000,0.104,2875,2423,2135,2228,2042,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7503,1.04,146.0,2875,2422,2228,2042,374.6,14.3,571,7512,0.00,2.62,0.00,0.000,260,0.000,0.155,2875,3843,2135,2228,2042,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7602,1.04,146.0,2875,3845,2228,2042,359.6,16.0,580,7608,0.00,2.45,0.00,0.000,1030,0.000,0.105,2886,2426,2135,2228,2042,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7910,1.04,146.0,2886,2426,2228,2042,315.0,14.5,611,7919,0.00,2.62,0.00,0.000,260,0.000,0.152,2886,3847,2135,2228,2042,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7988,1.04,146.0,1920,3847,2181,2037,302.8,16.7,618,7995,0.15,2.45,0.00,0.000,5126,0.334,0.103,2865,2424,2135,2228,2042,0,0,0,0,0,0,14.52,14.62,28.83
$GC,8297,1.04,146.0,2866,2424,2228,2042,261.3,13.0,649,8306,0.00,2.60,0.00,0.000,260,0.000,0.154,2865,3847,2135,2228,2042,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8375,1.04,146.0,1888,3847,2183,2037,250.5,14.4,656,8382,0.00,2.45,0.00,0.000,1030,0.000,0.103,2875,2422,2134,2227,2042,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8683,1.04,146.0,2875,2421,2227,2042,210.1,12.5,687,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2421,2134,2227,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9001,1.04,146.0,2875,2421,2228,2042,172.2,11.7,718,9010,0.00,2.60,0.00,0.000,260,0.000,0.152,2875,3849,2134,2227,2042,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9108,1.04,146.0,1904,3848,2183,2037,157.6,12.6,728,9115,0.00,2.45,0.00,0.000,1030,0.000,0.104,2886,2422,2134,2227,2042,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9416,1.04,146.0,2886,2422,2227,2042,126.8,9.2,759,9425,0.00,2.60,0.00,0.000,260,0.000,0.153,2886,3843,2134,2227,2042,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9501,1.04,146.0,2886,3843,2227,2042,118.0,10.6,767,9511,0.10,2.42,0.00,0.000,5126,0.309,0.105,2870,2428,2135,2228,2042,0,0,0,0,0,0,14.56,14.65,28.83
$GC,9818,1.06,153.6,2870,2428,2227,2042,90.0,8.4,809,9825,0.00,0.00,3.03,0.490,8198,0.000,0.000,2870,2428,2112,2206,2018,0,0,0,0,0,0,28.83,28.83,14.49
$GC,10136,1.15,190.9,2870,2429,2206,2017,66.1,7.2,870,10167,0.00,2.65,20.67,0.390,8452,0.000,0.152,2870,3843,1960,2056,1865,0,0,0,0,0,0,28.83,14.56,14.47
$GC,10190,1.15,190.9,2870,3843,2055,1865,61.9,9.6,878,10196,0.00,2.45,0.00,0.000,1030,0.000,0.105,2880,2424,1959,2054,1865,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10507,1.23,219.9,1872,2422,2009,1855,32.1,7.5,939,10528,0.12,2.58,15.10,0.276,10756,0.193,0.128,2934,1013,1842,1937,1747,0,0,0,0,0,0,14.60,14.57,14.50
$GC,10604,1.23,219.9,2935,1012,1936,1744,24.7,9.6,955,10611,0.00,2.58,0.00,0.000,1030,0.000,0.134,2935,2438,1840,1936,1744,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,10801,end climb,SURFACE_DEPTH_REACHED
$STATE,10801,begin surface coast
$FINISH,0.7,1.001814
$STATE,10828,end surface coast,CONTROL_FINISHED_OK
$STATE,10828,begin surface
$SM_CCo,10856,96.32,0.179,0,0,1109,400.08
$SM_GC,1.82,8.40,0.00,96.32,0.117,0.000,0.179,144,2438,1109,-7.39,-0.34,400.08,0,0,0,0,0,0,14.60,28.83,14.46
$RAFOS_CLK,531
$RAFOS,6,1380055748,20.833334,20.818890,76,64,63,58,57,53,780,207,193,131,153,174
$RAFOS,5,1380055284,20.700001,20.690001,65,64,61,55,53,53,212,197,144,154,229,735
$RAFOS,4,1380054801,20.566668,20.555834,62,60,54,52,49,48,171,210,195,220,137,113
$RAFOS,3,1380054302,20.433332,20.417223,65,62,57,55,53,53,662,201,153,191,119,675
$RAFOS,2,1380053831,20.299999,20.286388,62,58,53,52,50,49,166,217,180,202,140,111
$RAFOS,1,1380053350,20.166666,20.152779,72,64,57,57,56,54,613,214,147,193,204,131
$RAFOS,0,1380052870,20.033333,20.019444,70,62,60,59,52,52,218,209,165,192,152,235
$RAFOS_FIX,6636.485840,-5925.833496,240913,202013,3,71,0.55
$IRIDIUM_FIX,6609.62,-5930.97,240913,181802
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.27
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.40
$XPDR_PINGS,49
$24V_AH,12.2,27.949
$10V_AH,12.5,0.000
$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,21.700,104.775,376.050,96.325,0.000,0.000,0.000,166.950,12.250,0.000,5.977,2497.950,5715.528,642.914,1855.516,571.696,0.000,1796.413,0.000,1707.139,2520.000,0.536,0.000
$DEVICE_MAMPS,432.990,166.770,2701.215,179.010,0.000,0.000,0.000,123.165,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150840
$DATA_FILE_SIZE,43412,998
$CAP_FILE_SIZE,113982,0
$CFSIZE,259252224,247132160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.8
$CURRENT,0.134,185.9,1
$GPS,240913,221206,6635.846,-5926.470,36,1.2,36,-33.6