version: 66.11
glider: 193
mission: 2
dive: 130
start: 10 1 112 16 55 36
data:
$ID,193
$MISSION,2
$DIVE,130
$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,290
$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,-1000.0195
$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,17
$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
$GPS1,011012,164828,6702.441,-5703.332,36,0.7,36,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-68.3
$GPS2,011012,165453,6702.423,-5703.515,5,0.7,5,-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,149.5,11255,-17.3,-8.919,-19.96
$D_GRID,688
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-1.50,-136.9,0.0,0.0,0,50,0.00,0.00,-28.48,0.000,2,0.000,0.000,133,2106,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-1.50,-136.9,3.0,-1.4,5,143,11.02,2.58,-65.38,0.000,4,0.459,0.158,2347,710,3331,0,0,0,0,0,0,14.40,14.54,14.80
$GC,377,-1.50,-136.9,43.7,-13.9,64,383,0.00,2.65,0.00,0.000,6,0.000,0.137,2339,2126,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,695,-1.50,-136.9,86.2,-13.2,125,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2126,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1007,-1.50,-136.9,128.6,-13.9,165,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2126,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1322,-1.50,-136.9,170.3,-13.6,196,1331,0.00,2.65,0.00,0.000,4,0.000,0.157,2328,3525,3332,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1369,-1.50,-136.9,176.8,-13.2,200,1376,0.12,2.50,0.00,0.000,6,0.307,0.103,2353,2119,3332,0,0,0,0,0,0,14.64,14.76,28.83
$GC,1677,-1.50,-136.9,214.1,-11.3,231,1686,0.00,2.70,0.00,0.000,4,0.000,0.154,2344,3528,3331,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1714,-1.50,-136.9,218.2,-11.8,234,1721,0.00,2.50,0.00,0.000,6,0.000,0.100,2344,2118,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2022,-1.50,-136.9,255.8,-12.5,265,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2337,-1.50,-136.9,291.8,-11.2,296,2345,0.00,2.53,0.00,0.000,4,0.000,0.132,2344,706,3330,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2411,-1.50,-136.9,301.2,-11.8,303,2420,0.00,2.60,0.00,0.000,6,0.000,0.137,2336,2123,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2722,-1.50,-136.9,337.7,-11.8,334,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3036,-1.50,-136.9,372.7,-11.2,365,3046,0.00,2.62,0.00,0.000,4,0.000,0.151,2325,3525,3330,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3065,-1.50,-136.9,376.3,-11.7,367,3072,0.12,2.50,0.00,0.000,6,0.308,0.102,2351,2115,3330,0,0,0,0,0,0,14.69,14.81,28.83
$GC,3378,-1.50,-136.9,409.9,-10.6,392,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2115,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,-1.50,-136.9,441.4,-10.4,402,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3973,-1.50,-136.9,471.8,-10.2,412,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4274,-1.50,-136.9,501.5,-10.1,422,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4573,-1.50,-136.9,531.2,-9.6,432,4578,0.00,2.50,0.00,0.000,4,0.000,0.134,2351,709,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4607,-1.50,-136.9,534.4,-9.8,433,4612,0.00,2.58,0.00,0.000,6,0.000,0.139,2345,2117,3332,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4934,-1.50,-136.9,567.2,-9.7,444,4940,0.00,2.65,0.00,0.000,4,0.000,0.154,2334,3535,3331,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4974,-1.50,-136.9,570.5,-9.8,445,4979,0.00,2.47,0.00,0.000,6,0.000,0.103,2333,2120,3331,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5296,-1.50,-136.9,603.8,-10.0,456,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5597,-1.50,-136.9,634.1,-10.1,466,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2120,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5896,-1.50,-136.9,664.8,-10.2,476,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2120,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6131,begin apogee
$GC,6143,-0.38,0.0,690.6,-10.9,484,6290,0.93,0.00,136.70,2.387,6,0.265,0.000,2592,2202,2773,0,0,0,0,0,0,14.78,28.83,13.17
$STATE,6291,end apogee,CONTROL_FINISHED_OK
$STATE,6291,begin climb
$GC,6297,1.50,136.9,695.4,0.0,489,6454,1.38,2.97,147.57,2.336,4,0.161,0.145,3007,3611,2215,0,0,0,0,0,0,13.96,13.42,12.74
$GC,6478,1.50,136.9,681.8,9.3,495,6484,0.00,2.75,0.00,0.000,6,0.000,0.104,3018,2201,2212,0,0,0,0,0,0,28.83,13.60,28.83
$GC,6800,1.50,136.9,638.9,12.8,506,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2201,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7100,1.50,136.9,599.7,13.3,516,7105,0.00,2.60,0.00,0.000,4,0.000,0.132,3028,784,2203,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7131,1.50,136.9,595.6,13.3,517,7137,0.08,2.60,0.00,0.000,6,0.272,0.122,3008,2193,2203,0,0,0,0,0,0,14.36,14.42,28.83
$GC,7463,1.50,136.9,554.0,12.2,528,7469,0.00,2.67,0.00,0.000,4,0.000,0.142,3008,3613,2203,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7524,1.50,136.9,545.7,12.8,530,7530,0.00,2.53,0.00,0.000,6,0.000,0.103,3017,2199,2202,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7856,1.50,136.9,504.1,12.3,541,7861,0.00,2.55,0.00,0.000,4,0.000,0.129,3028,790,2202,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7887,1.50,136.9,500.0,12.5,542,7894,0.08,2.58,0.00,0.000,6,0.275,0.118,3007,2204,2200,0,0,0,0,0,0,14.59,14.66,28.83
$GC,8219,1.50,136.9,459.2,12.5,553,8225,0.00,2.62,0.00,0.000,4,0.000,0.139,3007,3618,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8244,1.50,136.9,459.2,12.5,553,8251,0.00,2.53,0.00,0.000,6,0.000,0.099,3017,2198,2201,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8551,1.50,136.9,415.5,13.4,564,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8851,1.50,136.9,375.1,13.6,586,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9166,1.50,136.9,332.6,13.7,617,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2198,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9479,1.50,136.9,289.2,14.1,648,9487,0.00,2.65,0.00,0.000,4,0.000,0.142,3017,3613,2201,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9514,1.50,136.9,283.3,14.1,651,9522,0.00,2.50,0.00,0.000,6,0.000,0.104,3027,2195,2201,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9823,1.50,136.9,241.1,13.3,682,9833,0.00,2.50,0.00,0.000,4,0.000,0.129,3037,791,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9922,1.50,136.9,228.8,12.6,691,9929,0.15,2.55,0.00,0.000,6,0.286,0.119,3003,2211,2199,0,0,0,0,0,0,14.72,14.79,28.83
$GC,10230,1.50,136.9,195.5,10.3,722,10239,0.00,2.58,0.00,0.000,4,0.000,0.138,3003,3609,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10247,1.50,136.9,194.5,10.1,723,10254,0.00,2.50,0.00,0.000,6,0.000,0.101,3013,2195,2200,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10555,1.50,136.9,163.0,9.5,754,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2195,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10871,1.50,136.9,134.7,9.2,785,10880,0.00,2.65,0.00,0.000,4,0.000,0.145,3013,3607,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10936,1.50,136.9,127.7,10.2,791,10945,0.00,2.47,0.00,0.000,6,0.000,0.104,3022,2203,2200,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11246,1.50,136.9,99.7,9.6,822,11254,0.00,2.55,0.00,0.000,4,0.000,0.132,3033,781,2199,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11310,1.50,136.9,93.7,9.4,833,11318,0.12,2.55,0.00,0.000,6,0.291,0.122,3006,2202,2199,0,0,0,0,0,0,14.73,14.80,28.83
$GC,11634,1.52,157.4,67.3,8.0,894,11648,0.00,0.00,9.45,0.386,6,0.000,0.000,3006,2201,2129,0,0,0,0,0,0,28.83,28.83,14.63
$GC,11958,1.54,173.4,37.3,8.2,956,11978,0.00,2.70,8.55,0.300,4,0.000,0.145,3006,3613,2063,0,0,0,0,0,0,28.83,14.71,14.66
$GC,12212,1.61,230.1,20.1,6.5,1004,12249,0.00,2.53,30.38,0.236,6,0.000,0.105,3014,2197,1831,0,0,0,0,0,0,28.83,14.78,14.65
$STATE,12439,end climb,SURFACE_DEPTH_REACHED
$STATE,12439,begin surface coast
$FINISH,2.0,1.011931
$STATE,12475,end surface coast,CONTROL_FINISHED_OK
$STATE,12480,begin surface
$SM_CCo,12507,29.35,0.176,0,0,1587,290.19
$SM_GC,3.34,8.38,0.15,29.35,0.097,0.167,0.176,138,2116,1587,-11.60,0.51,290.19,0,0,0,0,0,0,14.77,14.74,14.66
$RAFOS_CLK,526
$RAFOS,2,1349122622,20.299999,20.283890,67,62,61,58,55,52,136,948,209,195,220,179
$RAFOS,1,1349122143,20.166666,20.150833,114,72,65,58,57,56,985,212,161,187,133,171
$RAFOS,0,1349121666,20.033333,20.018333,61,60,55,55,54,52,220,204,195,238,138,169
$RAFOS,5,1349109671,16.700001,16.686388,112,61,60,59,57,57,566,211,224,147,190,170
$RAFOS_FIX,6709.082520,-5740.970215,011012,161618,5,99,0.00
$IRIDIUM_FIX,6631.12,-5708.95,011012,131336
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.96
$INTERNAL_PRESSURE,8.76233
$TCM_TEMP,13.10
$XPDR_PINGS,6
$24V_AH,12.7,43.974
$10V_AH,13.1,0.000
$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,22.375,93.475,332.650,29.350,0.000,0.000,0.000,230.150,1.500,0.000,5.629,2669.220,7285.903,522.431,1909.268,563.122,0.000,1711.536,0.000,1717.725,1080.000,0.539,0.000
$DEVICE_MAMPS,459.000,186.660,2386.800,175.950,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.697,729.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188704
$DATA_FILE_SIZE,50023,1054
$CAP_FILE_SIZE,113871,0
$CFSIZE,259252224,241549312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1461.1
$CURRENT,0.091,165.7,1
$GPS,011012,202634,6701.187,-5659.174,38,0.9,38,-33.5