version: 66.11
glider: 192
mission: 2
dive: 694
start: 1 23 114 21 28 11
data:
$ID,192
$MISSION,2
$DIVE,694
$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,-5
$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,-1
$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,-15539.779
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2580
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,18
$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
$GPS1,230114,212106,6411.306,-5342.042,30,1.4,30,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-65.2
$GPS2,230114,212723,6411.300,-5342.150,4,1.4,6,-29.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_3
$TGT_LATLONG,6405.000,-5320.000
$TGT_RADIUS,5000.000
$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,158.3,21391,-15.5,-8.250,-18.49,2720
$D_GRID,216
$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,14,begin dive
$GC,20,-0.89,-146.0,123,2593,1112,1077,0.0,0.0,0,120,0.00,0.00,-96.68,0.000,16386,0.000,0.000,120,2594,3002,3069,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-0.89,-146.0,120,2594,3068,2936,4.0,-4.1,10,154,10.40,1.48,-6.93,0.000,18948,0.423,0.116,2211,1728,3339,3485,3193,0,0,0,0,0,0,13.85,14.23,14.72
$GC,384,-0.84,-146.0,2211,1728,3490,3188,58.3,-18.6,35,389,0.12,1.55,0.00,0.000,3078,0.290,0.111,2231,2578,3339,3490,3188,0,0,0,0,0,0,13.87,14.06,28.83
$GC,721,-0.80,-146.0,2231,2578,3493,3184,116.5,-17.0,62,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2578,3338,3492,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1021,-0.76,-146.0,2231,2578,3493,3183,164.2,-15.5,72,1023,0.12,0.00,0.00,0.000,2054,0.298,0.000,2258,2579,3337,3492,3183,0,0,0,0,0,0,13.98,28.83,28.83
$GC,1321,-0.74,-146.0,2258,2579,3492,3182,205.2,-13.7,82,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2579,3338,3493,3183,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1404,begin apogee
$GC,1418,-0.22,0.0,2259,2472,3493,3183,217.0,-13.2,85,1574,0.62,0.00,145.57,2.087,10246,0.219,0.000,2428,2472,2741,2853,2629,0,0,0,0,0,0,13.57,28.83,12.86
$STATE,1574,end apogee,CONTROL_FINISHED_OK
$STATE,1575,begin climb
$GC,1582,0.89,146.0,2428,2472,2853,2630,226.1,0.0,90,1748,1.23,0.00,154.38,2.017,10758,0.164,0.000,2788,2471,2145,2247,2044,0,0,0,0,0,0,13.73,28.83,12.38
$GC,2041,0.87,146.1,2788,2471,2246,2035,198.0,8.2,106,2044,0.00,1.48,0.00,0.000,516,0.000,0.099,2793,1643,2140,2246,2035,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2138,0.86,152.7,2793,1642,2246,2033,190.5,8.0,109,2149,0.00,1.50,7.00,1.725,9222,0.000,0.113,2793,2481,2118,2225,2011,0,0,0,0,0,0,28.83,14.24,13.36
$GC,2467,0.84,152.7,2793,2482,2225,2012,163.7,8.7,120,2471,0.00,1.58,0.00,0.000,260,0.000,0.129,2793,3325,2118,2225,2012,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2522,0.82,152.7,2793,3325,2225,2012,160.2,8.9,121,2525,0.00,1.50,0.00,0.000,1030,0.000,0.086,2800,2486,2118,2225,2012,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2838,0.79,152.7,2799,2486,2225,2012,128.1,9.5,132,2840,0.15,0.00,0.00,0.000,4102,0.248,0.000,2765,2486,2118,2224,2012,0,0,0,0,0,0,14.09,28.83,28.83
$GC,3137,0.86,195.1,2765,2486,2225,2012,106.6,6.6,142,3170,0.00,1.58,26.17,0.500,8708,0.000,0.096,2769,1625,1944,2051,1838,0,0,0,0,0,0,28.83,14.31,13.84
$GC,3266,0.89,219.2,1760,1624,2007,1830,97.9,7.3,146,3289,0.00,1.55,14.60,0.469,9222,0.000,0.112,2770,2482,1846,1953,1740,0,0,0,0,0,0,28.83,14.18,13.79
$GC,3592,0.97,264.0,2769,2482,1950,1735,72.8,6.6,179,3628,0.12,1.55,26.33,0.380,10756,0.151,0.099,2830,1637,1663,1757,1569,0,0,0,0,0,0,14.37,14.22,13.92
$GC,3655,0.96,264.0,2830,1637,1757,1569,67.5,9.3,185,3659,0.00,1.52,0.00,0.000,1030,0.000,0.113,2829,2483,1663,1758,1569,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3971,0.95,264.0,2830,2483,1753,1566,37.3,9.7,216,3975,0.00,1.58,0.00,0.000,516,0.000,0.100,2836,1630,1659,1752,1566,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4019,0.95,264.0,1872,1628,1720,1562,33.2,9.2,220,4026,0.00,1.58,0.00,0.000,1030,0.000,0.113,2836,2488,1658,1752,1565,0,0,0,0,0,0,28.83,14.06,28.83
$FREEZE,8.68,0.551,-1.839,0,1,0
$FREEZE,7.58,0.565,-1.838,0,1,0
$FREEZE,6.16,0.554,-1.837,0,1,0
$FREEZE,4.85,0.546,-1.836,0,1,0
$FREEZE,3.69,0.550,-1.835,0,1,0
$FREEZE,2.71,0.562,-1.835,0,1,0
$STATE,4313,end climb,SURFACE_DEPTH_REACHED
$STATE,4313,begin surface coast
$FREEZE,1.76,0.559,-1.834,0,1,0
$FREEZE,1.26,0.544,-1.834,0,1,0
$FINISH,1.3,1.026814
$STATE,4335,end surface coast,CONTROL_FINISHED_OK
$STATE,4335,begin surface
$SM_CCo,4365,73.65,0.162,0,0,1109,400.08
$SM_GC,1.97,8.27,0.17,73.65,0.097,0.151,0.162,144,2584,1109,-7.35,-0.62,400.08,0,0,0,0,0,0,14.15,14.21,14.12
$RAFOS_CLK,190
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5339.45,230114,191918
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.37
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.50
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.4,18.0
$24V_AH,12.4,283.619
$10V_AH,12.4,0.000
$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,21.050,18.800,374.050,73.650,0.000,0.000,0.000,216.800,5.000,0.000,6.728,722.654,2573.632,440.928,769.388,326.752,0.000,1067.032,0.000,592.854,0.000,2.622,0.000
$DEVICE_MAMPS,423.045,151.470,2086.920,162.180,0.000,0.000,0.000,120.105,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,174.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227508
$DATA_FILE_SIZE,10184,252
$CAP_FILE_SIZE,49100,0
$CFSIZE,259252224,200003584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.3
$CURRENT,0.247,317.8,1
$GPS,230114,224404,6411.344,-5342.174,52,0.9,52,-29.8