version: 66.11
glider: 192
mission: 2
dive: 584
start: 1 2 114 18 10 5
data:
$ID,192
$MISSION,2
$DIVE,584
$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,10
$SURFACE_URGENCY_FORCE,20
$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,0
$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,549.71729
$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,-12444.111
$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,23
$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
$GPS1,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.51
$_SM_ANGLEo,1.8
$GPS2,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6359.083,-5942.916
$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,120.8,20000,-15.5,-8.250,-18.49,2720
$D_GRID,372
$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,-0.89,-146.0,2536,2501,2670,2490,0.0,0.0,0,30,0.00,0.00,-7.68,0.000,16386,0.000,0.000,2536,2501,2824,2911,2737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-0.89,-146.0,2536,2501,2918,2735,6.6,0.0,1,62,0.93,1.52,-15.73,0.000,20996,0.100,0.126,2220,1653,3339,3508,3171,0,0,0,0,0,0,14.28,14.24,14.75
$GC,227,-0.80,-146.0,2220,1652,3511,3170,36.9,-20.3,19,234,0.15,1.55,0.00,0.000,3078,0.299,0.112,2244,2507,3340,3511,3170,0,0,0,0,0,0,13.94,14.21,28.83
$GC,536,-0.73,-146.0,2244,2507,3511,3169,93.5,-17.1,50,540,0.12,1.52,0.00,0.000,2564,0.317,0.091,2276,1660,3340,3511,3169,0,0,0,0,0,0,14.04,14.19,28.83
$GC,591,-0.67,-146.0,2276,1659,3511,3170,101.2,-16.2,54,595,0.00,1.52,0.00,0.000,1030,0.000,0.111,2272,2506,3340,3510,3170,0,0,0,0,0,0,28.83,14.19,28.83
$GC,907,-0.62,-146.0,2271,2506,3511,3169,153.1,-16.0,65,911,0.12,1.50,0.00,0.000,2564,0.300,0.091,2303,1653,3340,3511,3169,0,0,0,0,0,0,14.09,14.23,28.83
$GC,974,-0.58,-146.0,2302,1653,3511,3169,162.7,-15.4,67,977,0.00,1.55,0.00,0.000,1030,0.000,0.114,2298,2503,3340,3511,3169,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1309,-0.56,-146.0,2298,2503,3511,3168,208.9,-13.1,78,1313,0.00,1.55,0.00,0.000,260,0.000,0.129,2292,3351,3339,3511,3168,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1338,-0.54,-146.0,2292,3350,3511,3168,208.9,-13.1,78,1345,0.17,1.50,0.00,0.000,3078,0.263,0.083,2331,2485,3340,3512,3168,0,0,0,0,0,0,13.92,14.26,28.83
$GC,1646,-0.55,-146.0,2331,2485,3511,3167,242.9,-9.8,89,1649,0.00,1.50,0.00,0.000,516,0.000,0.097,2331,1653,3339,3511,3167,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1714,-0.57,-146.0,1472,1652,3503,3163,249.4,-9.8,91,1717,0.00,1.55,0.00,0.000,1030,0.000,0.116,2326,2502,3338,3511,3166,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2045,-0.57,-146.0,2327,2502,3511,3166,281.5,-8.9,102,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2502,3338,3511,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-0.57,-146.0,2326,2501,3511,3166,306.8,-8.4,112,2347,0.00,1.50,0.00,0.000,516,0.000,0.095,2326,1647,3338,3511,3166,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2379,-0.58,-146.0,2327,1646,3512,3166,310.0,-8.5,113,2383,0.00,1.58,0.00,0.000,1030,0.000,0.117,2322,2507,3338,3511,3166,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2715,-0.58,-146.0,2323,2507,3512,3166,340.1,-9.1,124,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2507,3339,3513,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3014,-0.58,-146.0,2323,2507,3513,3166,366.0,-8.6,134,3018,0.00,1.55,0.00,0.000,516,0.000,0.096,2323,1654,3339,3513,3166,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3080,-0.59,-146.0,2323,1654,3514,3166,371.7,-8.8,136,3083,0.00,1.55,0.00,0.000,1030,0.000,0.115,2318,2504,3340,3514,3167,0,0,0,0,0,0,28.83,14.11,28.83
$STATE,3110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3110,begin apogee
$GC,3124,-0.22,0.0,2318,2504,3514,3166,374.9,-8.8,137,3289,0.43,0.00,154.15,2.305,10246,0.220,0.000,2433,2504,2741,2862,2620,0,0,0,0,0,0,13.89,28.83,12.31
$STATE,3290,end apogee,CONTROL_FINISHED_OK
$STATE,3290,begin climb
$GC,3296,0.89,146.0,2433,2503,2862,2620,381.9,0.0,142,3469,1.27,0.00,168.55,2.173,10246,0.168,0.000,2793,2504,2145,2242,2048,0,0,0,0,0,0,13.50,28.83,11.69
$GC,3776,0.86,146.0,2793,2504,2241,2038,352.8,8.4,158,3780,0.00,1.52,0.00,0.000,516,0.000,0.100,2799,1671,2139,2241,2038,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3860,0.83,146.0,2799,1671,2241,2035,347.0,8.3,160,3864,0.00,1.52,0.00,0.000,1030,0.000,0.118,2799,2509,2138,2241,2035,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4177,0.79,146.0,2799,2508,2241,2034,318.7,8.7,171,4178,0.15,0.00,0.00,0.000,4102,0.255,0.000,2765,2508,2137,2241,2034,0,0,0,0,0,0,14.19,28.83,28.83
$GC,4475,0.87,197.8,2765,2509,2241,2033,298.4,6.3,181,4532,0.00,0.00,54.25,2.166,8198,0.000,0.000,2765,2509,1934,2040,1828,0,0,0,0,0,0,28.83,28.83,12.95
$GC,4836,0.92,230.7,2765,2508,2037,1822,273.2,7.0,193,4879,0.12,1.62,34.97,2.102,10500,0.157,0.131,2816,3357,1800,1901,1699,0,0,0,0,0,0,14.45,14.20,13.05
$GC,4931,0.90,230.7,2816,3357,1898,1699,264.4,8.9,196,4935,0.00,1.50,0.00,0.000,1030,0.000,0.089,2822,2515,1797,1897,1698,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5268,0.86,230.7,2823,2514,1893,1698,226.3,11.6,207,5272,0.12,1.50,0.00,0.000,4612,0.271,0.097,2795,1652,1795,1894,1697,0,0,0,0,0,0,14.21,14.34,28.83
$GC,5337,0.84,230.7,1824,1651,1857,1693,219.2,11.4,209,5341,0.00,1.58,0.00,0.000,1030,0.000,0.116,2794,2505,1795,1894,1696,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5668,0.84,230.7,2795,2505,1893,1696,190.0,8.6,220,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2505,1794,1893,1696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5969,0.87,249.3,2795,2504,1893,1696,166.7,7.5,230,5995,0.00,1.62,19.58,2.027,8452,0.000,0.132,2794,3362,1723,1818,1629,0,0,0,0,0,0,28.83,14.33,13.22
$GC,6039,0.87,249.3,2795,3362,1818,1629,160.8,8.8,232,6043,0.00,1.50,0.00,0.000,1030,0.000,0.089,2801,2492,1723,1818,1629,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6364,0.87,249.3,2801,2492,1817,1628,133.0,9.1,243,6368,0.00,1.48,0.00,0.000,516,0.000,0.103,2807,1671,1722,1817,1628,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6494,0.87,249.3,2806,1670,1817,1627,121.6,9.1,247,6497,0.00,1.52,0.00,0.000,1030,0.000,0.116,2807,2515,1722,1817,1627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6804,0.87,249.3,2807,2515,1816,1627,94.5,8.9,260,6808,0.00,1.60,0.00,0.000,260,0.000,0.132,2807,3361,1721,1816,1627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6890,0.86,249.3,2807,3361,1816,1627,86.2,9.9,268,6894,0.00,1.50,0.00,0.000,1030,0.000,0.090,2813,2499,1721,1816,1627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7206,0.86,249.3,2812,2499,1816,1627,55.0,10.0,299,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2499,1721,1816,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7524,0.87,256.1,2813,2499,1815,1626,29.5,8.0,330,7533,0.00,1.48,3.05,0.274,8708,0.000,0.099,2819,1669,1697,1790,1604,0,0,0,0,0,0,28.83,14.24,13.85
$GC,7562,0.87,256.1,1856,1668,1758,1602,25.1,9.8,333,7569,0.00,1.55,0.00,0.000,1030,0.000,0.117,2819,2513,1697,1790,1604,0,0,0,0,0,0,28.83,14.20,28.83
$FREEZE,8.88,-1.696,-1.825,2,8,0
$FREEZE,7.90,-1.699,-1.824,2,8,0
$FREEZE,7.32,-1.705,-1.824,2,8,0
$FREEZE,6.45,-1.700,-1.823,2,8,0
$FREEZE,5.06,-1.697,-1.822,2,8,0
$FREEZE,4.01,-1.707,-1.821,2,8,0
$FREEZE,3.10,-1.712,-1.821,2,8,0
$FREEZE,2.28,-1.721,-1.820,2,8,0
$STATE,7776,end climb,FINISH_DEPTH_REACHED
$STATE,7776,begin subsurface finish
$FINISH1,2.3,1.026702,39
$GC,7790,0.06,39.3,2819,2514,1790,1604,2.3,10.0,355,7847,0.93,1.58,-45.92,0.000,20996,0.154,0.136,2533,1662,2581,2670,2493,0,0,0,0,0,0,14.09,14.25,14.74
$FINISH2,2.5
$STATE,7848,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7848,begin surface
$RAFOS_CLK,431
$RAFOS,1,1388693344,20.166666,20.151112,65,59,56,55,50,50,177,207,218,191,118,142
$RAFOS,0,1388692873,20.033333,20.020277,61,58,56,54,53,51,170,141,208,221,194,119
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6332.30,-6008.62,020114,050535
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.22
$INTERNAL_PRESSURE,8.79133
$TCM_TEMP,12.00
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.3,18.8
$24V_AH,11.7,240.535
$10V_AH,12.0,0.000
$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,4.525,46.125,434.550,0.000,0.000,0.000,0.000,0.000,5.500,0.000,0.000,1014.036,5301.042,443.669,855.808,303.287,0.000,969.609,0.000,846.135,1080.000,6.162,0.000
$DEVICE_MAMPS,316.710,136.170,2304.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238568
$DATA_FILE_SIZE,16814,362
$CAP_FILE_SIZE,70411,0
$CFSIZE,259252224,206254080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$GPS,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8