version: 66.11
glider: 192
mission: 2
dive: 572
start: 1 1 114 12 51 9
data:
$ID,192
$MISSION,2
$DIVE,572
$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,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,90
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12247.958
$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,2510
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,15
$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,0.0015
$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,10
$MINV_10V,9.5
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062281737
$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
$GPS1,010114,124405,6409.615,-5943.240,41,1.0,42,-30.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-26.1
$GPS2,010114,125027,6409.503,-5943.622,4,1.3,4,-30.9
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6409.503,-5918.847
$TGT_RADIUS,1852.000
$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,75.9,20000,-15.5,-8.250,-18.49,2720
$D_GRID,348
$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,-0.89,-146.0,142,2507,1164,1029,0.0,0.0,0,161,0.00,0.00,-135.95,0.000,16390,0.000,0.000,142,2507,3337,3505,3169,0,0,0,0,0,0,28.83,28.83,14.54
$GC,168,-0.89,-146.0,142,2507,3506,3169,1.1,-0.1,4,181,8.25,1.55,0.00,0.000,2564,0.280,0.090,2215,1650,3337,3506,3169,0,0,0,0,0,0,13.62,13.97,28.83
$GC,416,-0.89,-146.0,2215,1650,3507,3169,1.0,-0.0,13,419,0.00,1.62,0.00,0.000,1030,0.000,0.119,2211,2500,3338,3507,3169,0,0,0,0,0,0,28.83,13.76,28.83
$GC,1056,-0.79,-146.0,2210,2500,3507,3169,1.0,0.0,34,1061,0.15,1.55,0.00,0.000,2564,0.323,0.088,2245,1654,3338,3507,3169,0,0,0,0,0,0,13.54,13.77,28.83
$GC,1294,-0.79,-146.0,2245,1654,3506,3169,1.0,0.2,41,1297,0.00,1.62,0.00,0.000,1030,0.000,0.119,2240,2504,3337,3506,3169,0,0,0,0,0,0,28.83,13.64,28.83
$GC,1915,-0.68,-146.0,2240,2505,3507,3169,0.9,0.1,62,1920,0.17,1.62,0.00,0.000,2564,0.314,0.088,2281,1653,3338,3507,3169,0,0,0,0,0,0,13.43,13.64,28.83
$GC,2153,-0.57,-146.0,2281,1653,3507,3169,1.0,0.1,69,2157,0.17,1.67,0.00,0.000,3078,0.271,0.119,2318,2497,3337,3506,3169,0,0,0,0,0,0,13.31,13.53,28.83
$GC,2775,-0.45,-146.0,2318,2497,3506,3169,1.0,0.1,90,2779,0.15,1.55,0.00,0.000,2564,0.332,0.085,2353,1651,3338,3507,3169,0,0,0,0,0,0,13.46,13.74,28.83
$GC,3014,-0.33,-146.0,2353,1651,3507,3169,1.0,0.1,97,3022,0.22,1.65,0.00,0.000,3078,0.303,0.121,2393,2508,3338,3507,3169,0,0,0,0,0,0,13.28,13.57,28.83
$GC,3624,-0.33,-146.0,2394,2508,3506,3169,1.0,0.0,118,3628,0.00,1.60,0.00,0.000,516,0.000,0.090,2394,1647,3337,3506,3169,0,0,0,0,0,0,28.83,13.65,28.83
$GC,3862,-0.19,-146.0,2394,1647,3506,3169,1.0,0.1,125,3866,0.20,1.70,0.00,0.000,3078,0.298,0.123,2442,2503,3337,3506,3169,0,0,0,0,0,0,13.31,13.49,28.83
$GC,4478,-0.19,-146.0,2442,2503,3507,3169,1.0,0.0,146,4482,0.00,1.55,0.00,0.000,516,0.000,0.088,2443,1654,3337,3506,3169,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4715,-0.04,-146.0,2443,1654,3506,3169,1.1,0.0,153,4723,0.25,1.65,0.00,0.000,3078,0.333,0.125,2485,2501,3337,3506,3169,0,0,0,0,0,0,13.24,13.54,28.83
$GC,5326,-0.04,-146.0,2486,2501,3506,3169,1.2,0.0,174,5330,0.00,1.60,0.00,0.000,516,0.000,0.087,2486,1645,3338,3507,3169,0,0,0,0,0,0,28.83,13.68,28.83
$GC,5564,0.16,-146.0,2486,1646,3507,3169,1.3,-0.1,181,5568,0.28,1.73,0.00,0.000,3078,0.342,0.130,2550,2496,3338,3507,3169,0,0,0,0,0,0,13.28,13.47,28.83
$GC,6179,0.16,-146.0,2550,2496,3506,3169,1.2,0.1,202,6183,0.00,1.55,0.00,0.000,516,0.000,0.090,2551,1644,3338,3507,3169,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6416,0.16,-146.0,2551,1644,3507,3169,1.2,0.0,209,6419,0.00,1.73,0.00,0.000,1030,0.000,0.144,2546,2502,3337,3506,3169,0,0,0,0,0,0,28.83,13.52,28.83
$GC,7030,0.16,-146.0,2546,2503,3507,3169,1.2,0.1,230,7034,0.00,1.60,0.00,0.000,516,0.000,0.093,2546,1652,3338,3507,3169,0,0,0,0,0,0,28.83,13.65,28.83
$GC,7267,0.16,-146.0,2546,1651,3506,3169,1.2,0.0,237,7271,0.00,1.73,0.00,0.000,1030,0.000,0.140,2540,2496,3337,3506,3169,0,0,0,0,0,0,28.83,13.47,28.83
$GC,7882,0.16,-146.0,2539,2499,3506,3169,1.2,-0.0,258,7886,0.00,1.55,0.00,0.000,516,0.000,0.093,2539,1645,3338,3507,3169,0,0,0,0,0,0,28.83,13.71,28.83
$GC,8118,0.16,-146.0,2539,1644,3506,3169,1.2,0.3,265,8121,0.00,1.70,0.00,0.000,1030,0.000,0.141,2532,2500,3337,3506,3169,0,0,0,0,0,0,28.83,13.52,28.83
$GC,8739,0.39,-146.0,2529,2502,3506,3169,1.2,0.0,286,8744,0.47,1.58,0.00,0.000,2564,0.375,0.090,2624,1645,3337,3506,3168,0,0,0,0,0,0,12.78,13.85,28.83
$GC,8977,0.39,-146.0,2624,1645,3506,3169,1.2,-0.1,293,8981,0.00,1.75,0.00,0.000,1030,0.000,0.144,2619,2502,3338,3507,3169,0,0,0,0,0,0,28.83,13.47,28.83
$GC,9598,0.64,-146.0,2619,2502,3507,3169,1.2,0.1,314,9604,0.43,1.58,0.00,0.000,2564,0.387,0.091,2706,1634,3338,3507,3169,0,0,0,0,0,0,12.89,13.82,28.83
$GC,9837,0.64,-146.0,2706,1633,3506,3169,1.2,0.1,321,9843,0.00,1.75,0.00,0.000,1030,0.000,0.145,2699,2507,3337,3506,3169,0,0,0,0,0,0,28.83,13.54,28.83
$GC,10450,0.88,-146.0,2699,2509,3506,3169,1.2,-0.0,342,10455,0.43,1.60,0.00,0.000,2564,0.387,0.093,2779,1644,3337,3506,3169,0,0,0,0,0,0,12.88,13.85,28.83
$GC,10688,0.88,-146.0,2779,1644,3506,3169,1.3,0.0,349,10692,0.00,1.70,0.00,0.000,1030,0.000,0.142,2773,2500,3338,3507,3169,0,0,0,0,0,0,28.83,13.54,28.83
$GC,11310,1.12,-146.0,2772,2503,3506,3170,1.3,-0.0,370,11314,0.43,1.58,0.00,0.000,2564,0.381,0.091,2859,1651,3338,3507,3169,0,0,0,0,0,0,12.90,13.86,28.83
$GC,11551,1.36,-146.0,2860,1651,3507,3169,1.2,0.1,377,11559,0.38,1.70,0.00,0.000,3078,0.379,0.142,2926,2506,3337,3506,3169,0,0,0,0,0,0,13.16,13.54,28.83
$GC,12161,1.36,-146.0,2926,2508,3506,3169,1.2,0.0,398,12165,0.00,1.55,0.00,0.000,516,0.000,0.096,2927,1654,3337,3506,3169,0,0,0,0,0,0,28.83,13.68,28.83
$GC,12399,1.61,-146.0,2927,1654,3506,3169,1.2,-0.0,405,12408,0.45,1.67,0.00,0.000,3078,0.374,0.140,3008,2501,3337,3506,3169,0,0,0,0,0,0,13.28,13.54,28.83
$STATE,12920,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12920,begin apogee
$FREEZE,1.14,-39.928,-0.001,2,1,0
$GC,12933,-0.22,0.0,3008,2503,3506,3169,1.1,0.1,423,12940,1.80,0.00,3.33,0.179,12290,0.100,0.000,2439,2503,3308,3472,3144,0,0,0,0,0,0,13.66,28.83,28.83
$STATE,12941,end apogee,SURFACE_DEPTH_REACHED
$STATE,12942,begin surface coast
$FREEZE,1.14,-39.928,-0.001,2,1,0
$FREEZE,1.14,-39.928,-0.001,2,1,0
$FREEZE,1.14,-39.928,-0.001,2,1,0
$FREEZE,1.14,-39.928,-0.001,2,1,0
$FREEZE,1.27,-39.928,-0.001,2,1,0
$FREEZE,1.18,-39.928,-0.001,2,1,0
$FREEZE,1.30,-39.928,-0.001,2,1,0
$FINISH,1.3,0.972744
$STATE,13031,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13032,begin surface
$SM_CCo,13059,281.52,0.164,0,0,1109,400.08
$SM_GC,1.34,7.07,0.00,281.52,0.086,0.000,0.164,143,2504,1109,-7.35,0.11,400.08,0,0,0,0,0,0,13.88,28.83,13.83
$RAFOS_CLK,712
$RAFOS,2,1388593022,16.299999,16.283890,63,60,58,56,52,52,186,130,204,159,120,218
$RAFOS,1,1388592553,16.166666,16.153610,62,56,55,55,52,51,216,140,191,181,162,201
$RAFOS,0,1388592064,16.033333,16.017778,64,64,56,55,52,48,191,213,141,156,165,109
$RAFOS,4,1388579611,12.566667,12.558611,69,60,50,48,48,48,245,196,92,156,113,143
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5933.57,010114,080848
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.14
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.60
$XPDR_PINGS,52
$ALTIM_TOP_PING,1.1,999.0
$24V_AH,12.8,236.648
$10V_AH,12.3,0.000
$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,21.300,48.975,3.325,281.525,0.000,0.000,0.000,227.700,13.250,0.000,5.444,1173.536,9887.376,425.101,1741.796,507.448,0.000,1430.389,0.000,1514.161,1440.000,2.815,0.000
$DEVICE_MAMPS,387.090,144.585,179.010,163.710,0.000,0.000,0.000,126.990,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238512
$DATA_FILE_SIZE,16851,426
$CAP_FILE_SIZE,96429,0
$CFSIZE,259252224,206680064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.813,231.6,1
$GPS,010114,163505,6405.844,-5954.192,29,1.3,30,-30.9