version: 66.11
glider: 193
mission: 2
dive: 32
start: 9 13 112 22 30 25
data:
$ID,193
$MISSION,2
$DIVE,32
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,100
$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,370
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,310
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-790.92615
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,149
$PITCH_MAX,3928
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,260
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,1
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2772
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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,-48.048229
$PRESSURE_SLOPE,0.0001163556
$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,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$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,0.0043053469
$SEABIRD_T_H,0.00061871461
$SEABIRD_T_I,2.1533233e-05
$SEABIRD_T_J,2.1546668e-06
$SEABIRD_C_G,-9.8788214
$SEABIRD_C_H,1.1391871
$SEABIRD_C_I,-0.0018439521
$SEABIRD_C_J,0.00022276744
$GPS1,130912,222334,6702.926,-5652.266,34,1.0,34,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-68.0
$GPS2,130912,222941,6702.942,-5652.377,5,0.8,5,-33.5
$SPEED_LIMITS,0.075,0.246
$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,120.0,3163,-17.3,-8.919,-19.96
$D_GRID,555
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,-1.50,-136.9,0.0,0.0,0,85,0.00,0.00,-63.62,0.000,2,0.000,0.000,130,2117,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.50,-136.9,3.2,-3.8,11,129,10.82,2.65,-16.08,0.000,4,0.451,0.162,2349,716,3332,0,0,0,0,0,0,14.43,14.54,14.78
$GC,181,-1.50,-136.9,19.9,-20.9,26,188,0.00,2.62,0.00,0.000,6,0.000,0.147,2341,2122,3333,0,0,0,0,0,0,28.83,14.55,28.83
$GC,498,-1.50,-136.9,69.0,-11.6,87,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,818,-1.50,-136.9,109.0,-12.7,142,827,0.00,2.62,0.00,0.000,4,0.000,0.158,2330,3527,3334,0,0,0,0,0,0,28.83,14.66,28.83
$GC,843,-1.50,-136.9,112.3,-13.2,144,852,0.08,2.47,0.00,0.000,6,0.278,0.103,2349,2122,3333,0,0,0,0,0,0,14.62,14.69,28.83
$GC,1153,-1.50,-136.9,150.3,-11.9,175,1161,0.00,2.53,0.00,0.000,4,0.000,0.141,2350,716,3334,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1191,-1.50,-136.9,154.6,-12.6,178,1198,0.00,2.60,0.00,0.000,6,0.000,0.143,2342,2131,3334,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1498,-1.50,-136.9,191.8,-12.3,209,1508,0.00,2.60,0.00,0.000,4,0.000,0.155,2331,3525,3333,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1554,-1.50,-136.9,198.7,-12.6,214,1563,0.05,2.47,0.00,0.000,6,0.288,0.102,2344,2110,3334,0,0,0,0,0,0,14.68,14.76,28.83
$GC,1864,-1.50,-136.9,237.7,-12.7,245,1874,0.00,2.67,0.00,0.000,4,0.000,0.157,2335,3529,3333,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1929,-1.50,-136.9,246.1,-12.9,251,1938,0.00,2.45,0.00,0.000,6,0.000,0.103,2335,2122,3332,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2240,-1.50,-136.9,283.4,-11.5,282,2249,0.00,2.55,0.00,0.000,4,0.000,0.138,2335,705,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2277,-1.50,-136.9,287.7,-12.3,285,2285,0.12,2.60,0.00,0.000,6,0.311,0.142,2351,2128,3332,0,0,0,0,0,0,14.71,14.78,28.83
$GC,2586,-1.50,-136.9,321.9,-11.1,316,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2128,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,-1.50,-136.9,355.0,-10.5,347,2910,0.00,2.60,0.00,0.000,4,0.000,0.155,2342,3526,3331,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2938,-1.50,-136.9,359.2,-10.7,350,2945,0.00,2.47,0.00,0.000,6,0.000,0.102,2342,2115,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3246,-1.50,-136.9,391.4,-10.3,381,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2115,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3577,-1.50,-136.9,425.9,-10.6,398,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2115,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3876,-1.50,-136.9,457.4,-10.5,408,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2115,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4176,-1.50,-136.9,488.9,-10.4,418,4182,0.00,2.65,0.00,0.000,4,0.000,0.158,2332,3534,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4216,-1.50,-136.9,492.4,-10.5,419,4221,0.00,2.47,0.00,0.000,6,0.000,0.106,2332,2116,3331,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4538,-1.50,-136.9,527.5,-10.9,430,4544,0.10,2.65,0.00,0.000,4,0.316,0.160,2342,3530,3332,0,0,0,0,0,0,14.81,14.84,28.83
$GC,4615,-1.50,-136.9,531.2,-8.8,432,4620,0.00,2.45,0.00,0.000,6,0.000,0.106,2342,2123,3332,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,4806,end dive,NO_VERTICAL_VELOCITY
$STATE,4806,begin apogee
$GC,4818,-0.38,0.0,531.2,0.0,439,4958,0.80,0.00,134.48,2.193,6,0.168,0.000,2598,2205,2772,0,0,0,0,0,0,14.85,28.83,13.21
$STATE,4964,end apogee,CONTROL_FINISHED_OK
$STATE,4964,begin climb
$GC,4969,1.50,136.9,531.2,0.0,444,5126,1.38,2.83,143.20,2.157,4,0.158,0.144,3021,793,2213,0,0,0,0,0,0,13.93,13.69,13.06
$GC,5150,1.50,136.9,517.3,9.5,450,5156,0.00,2.70,0.00,0.000,6,0.000,0.130,3021,2197,2210,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5472,1.50,136.9,474.4,13.3,461,5478,0.00,2.70,0.00,0.000,4,0.000,0.146,3021,3618,2204,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5547,1.50,136.9,465.7,13.7,463,5553,0.08,2.58,0.00,0.000,6,0.279,0.103,3012,2200,2204,0,0,0,0,0,0,14.33,14.42,28.83
$GC,5864,1.50,136.9,423.6,12.5,474,5870,0.00,2.55,0.00,0.000,4,0.000,0.137,3021,795,2203,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5903,1.50,136.9,419.5,12.6,475,5909,0.00,2.55,0.00,0.000,6,0.000,0.126,3021,2204,2202,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6220,1.50,136.9,377.5,13.0,497,6230,0.00,2.60,0.00,0.000,4,0.000,0.145,3021,3612,2202,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6285,1.50,136.9,367.7,14.3,503,6295,0.08,2.47,0.00,0.000,6,0.289,0.103,3012,2192,2202,0,0,0,0,0,0,14.56,14.65,28.83
$GC,6596,1.50,136.9,327.9,13.0,534,6605,0.00,2.53,0.00,0.000,4,0.000,0.136,3021,787,2201,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6650,1.50,136.9,320.8,13.3,539,6659,0.00,2.53,0.00,0.000,6,0.000,0.125,3021,2200,2201,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6961,1.50,136.9,281.3,12.5,570,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2201,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7277,1.50,136.9,241.6,12.4,601,7287,0.00,2.60,0.00,0.000,4,0.000,0.148,3021,3614,2201,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7353,1.50,136.9,230.7,13.6,608,7358,0.08,2.50,0.00,0.000,6,0.291,0.104,3011,2196,2201,0,0,0,0,0,0,14.67,14.76,28.83
$GC,7669,1.50,136.9,195.7,10.7,639,7678,0.00,2.53,0.00,0.000,4,0.000,0.138,3020,791,2200,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7706,1.50,136.9,191.8,10.7,642,7713,0.00,2.55,0.00,0.000,6,0.000,0.129,3020,2204,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8014,1.50,136.9,157.1,11.1,673,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2205,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8330,1.50,136.9,125.2,9.6,704,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2205,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8641,1.50,139.7,95.3,8.8,739,8648,0.00,2.62,0.00,0.000,4,0.000,0.151,3020,3622,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8693,1.50,139.7,90.3,9.8,748,8701,0.12,2.53,0.00,0.000,6,0.310,0.106,3004,2195,2199,0,0,0,0,0,0,14.73,14.81,28.83
$GC,9016,1.53,164.2,63.8,7.9,809,9036,0.00,2.53,13.20,0.369,4,0.000,0.138,3013,791,2101,0,0,0,0,0,0,28.83,14.75,14.66
$GC,9271,1.54,171.6,40.3,8.6,857,9280,0.00,2.55,3.30,0.346,6,0.000,0.133,3013,2201,2070,0,0,0,0,0,0,28.83,14.76,14.68
$GC,9590,1.69,294.1,21.1,3.6,918,9664,0.12,2.60,64.50,0.236,4,0.164,0.141,3075,791,1569,0,0,0,0,0,0,14.78,14.66,14.62
$GC,9729,1.69,294.1,10.4,9.9,941,9737,0.12,2.58,0.00,0.000,6,0.280,0.132,3047,2204,1561,0,0,0,0,0,0,14.62,14.66,28.83
$STATE,9802,end climb,SURFACE_DEPTH_REACHED
$STATE,9802,begin surface coast
$FINISH,1.2,1.025008
$STATE,9839,end surface coast,CONTROL_FINISHED_OK
$STATE,9839,begin surface
$SM_CCo,9867,5.62,0.195,0,0,1506,310.06
$SM_GC,2.92,8.80,0.20,5.62,0.131,0.146,0.195,137,2112,1506,-11.61,0.37,310.06,0,0,0,0,0,0,14.72,14.71,14.66
$RAFOS_CLK,392
$RAFOS,6,1347583748,0.833333,0.818889,86,60,60,57,54,54,775,198,139,96,213,162
$RAFOS,5,1347583263,0.700000,0.684167,77,56,54,53,53,52,664,207,193,166,147,183
$RAFOS,4,1347582781,0.566667,0.550278,74,60,59,57,56,48,874,135,225,207,150,183
$RAFOS,3,1347582310,0.433333,0.419444,62,60,58,56,54,52,208,170,187,225,144,131
$RAFOS,2,1347581825,0.300000,0.284722,85,69,57,57,55,55,965,203,228,214,108,160
$RAFOS,1,1347581345,0.166667,0.151389,57,57,53,53,53,51,128,187,146,197,996,158
$RAFOS,0,1347580862,0.033333,0.017222,72,67,62,62,54,48,221,194,204,173,124,140
$RAFOS_FIX,6649.043457,-5714.099609,140912,000048,4,80,3.97
$IRIDIUM_FIX,6620.33,-5642.79,130912,191906
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.73
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,13.80
$XPDR_PINGS,8
$24V_AH,13.1,14.318
$10V_AH,13.4,0.000
$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,22.750,98.125,358.675,5.625,0.000,0.000,0.000,217.150,2.000,0.000,6.003,2435.963,5032.056,497.643,1781.866,519.267,0.000,1623.190,0.000,1600.092,2520.000,0.539,0.000
$DEVICE_MAMPS,451.350,188.190,2193.255,195.075,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.631,658.078,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188700
$DATA_FILE_SIZE,43525,961
$CAP_FILE_SIZE,105516,0
$CFSIZE,259252224,248324096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.8
$CURRENT,0.117,310.3,1
$GPS,140912,011629,6703.382,-5650.343,12,0.8,12,-33.5