version: 66.11
glider: 193
mission: 2
dive: 133
start: 10 2 112 3 9 45
data:
$ID,193
$MISSION,2
$DIVE,133
$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,-1003.9824
$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
$GPS1,021012,030304,6703.477,-5651.979,38,0.8,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-68.3
$GPS2,021012,030901,6703.477,-5652.047,4,0.8,4,-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,163.0,3053,-17.3,-8.919,-19.96
$D_GRID,535
$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,14,begin dive
$GC,19,-1.50,-136.9,0.0,0.0,0,50,0.00,0.00,-28.42,0.000,2,0.000,0.000,137,2115,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.50,-136.9,3.0,-1.5,5,138,10.90,2.85,-63.35,0.000,4,0.454,0.178,2340,3535,3331,0,0,0,0,0,0,14.43,14.54,14.82
$GC,208,-1.50,-136.9,16.6,-19.8,30,215,0.00,2.55,0.00,0.000,6,0.000,0.105,2340,2120,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,525,-1.50,-136.9,65.8,-12.8,91,532,0.00,2.55,0.00,0.000,4,0.000,0.132,2339,705,3332,0,0,0,0,0,0,28.83,14.65,28.83
$GC,638,-1.50,-136.9,80.8,-13.5,112,645,0.10,2.62,0.00,0.000,6,0.321,0.133,2348,2125,3332,0,0,0,0,0,0,14.58,14.66,28.83
$GC,955,-1.50,-136.9,120.3,-12.3,157,964,0.00,2.62,0.00,0.000,4,0.000,0.146,2339,3535,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,973,-1.50,-136.9,121.9,-12.6,158,980,0.00,2.50,0.00,0.000,6,0.000,0.096,2339,2118,3332,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1281,-1.50,-136.9,161.3,-12.2,189,1290,0.00,2.50,0.00,0.000,4,0.000,0.126,2339,713,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1327,-1.50,-136.9,167.3,-12.9,193,1338,0.08,2.55,0.00,0.000,6,0.290,0.129,2349,2121,3332,0,0,0,0,0,0,14.62,14.69,28.83
$GC,1638,-1.50,-136.9,205.2,-11.8,224,1647,0.00,2.62,0.00,0.000,4,0.000,0.147,2341,3534,3331,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1683,-1.50,-136.9,210.6,-11.8,228,1692,0.00,2.47,0.00,0.000,6,0.000,0.099,2341,2124,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1993,-1.50,-136.9,247.6,-12.3,259,2002,0.00,2.53,0.00,0.000,4,0.000,0.129,2341,706,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2038,-1.50,-136.9,253.1,-12.5,263,2047,0.00,2.58,0.00,0.000,6,0.000,0.130,2333,2127,3330,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2348,-1.50,-136.9,290.8,-11.6,294,2358,0.10,2.60,0.00,0.000,4,0.330,0.145,2342,3523,3330,0,0,0,0,0,0,14.70,14.74,28.83
$GC,2394,-1.50,-136.9,296.0,-11.5,298,2403,0.00,2.45,0.00,0.000,6,0.000,0.096,2342,2118,3330,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2704,-1.50,-136.9,328.9,-10.7,329,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,-1.50,-136.9,360.7,-10.1,360,3029,0.00,2.50,0.00,0.000,4,0.000,0.126,2342,706,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3075,-1.50,-136.9,367.2,-10.7,365,3080,0.00,2.55,0.00,0.000,6,0.000,0.127,2333,2121,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3392,-1.50,-136.9,399.7,-10.3,396,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3700,-1.50,-136.9,431.3,-10.1,407,3706,0.00,2.53,0.00,0.000,4,0.000,0.129,2333,709,3330,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3749,-1.50,-136.9,434.7,-10.3,408,3758,0.08,2.58,0.00,0.000,6,0.293,0.131,2345,2125,3330,0,0,0,0,0,0,14.71,14.78,28.83
$GC,4065,-1.50,-136.9,467.3,-9.7,419,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2125,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4361,-1.50,-136.9,496.3,-9.6,429,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2125,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4661,-1.50,-136.9,526.1,-10.2,439,4667,0.00,2.60,0.00,0.000,4,0.000,0.153,2336,3526,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4693,-1.50,-136.9,529.2,-10.2,440,4698,0.00,2.47,0.00,0.000,6,0.000,0.103,2336,2112,3331,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,4958,end dive,NO_VERTICAL_VELOCITY
$STATE,4959,begin apogee
$GC,4971,-0.38,0.0,531.2,0.0,449,5111,0.82,0.00,132.88,2.219,6,0.187,0.000,2593,2205,2773,0,0,0,0,0,0,14.82,28.83,13.26
$STATE,5117,end apogee,CONTROL_FINISHED_OK
$STATE,5117,begin climb
$GC,5122,1.50,136.9,531.2,0.0,454,5278,1.35,3.00,141.02,2.181,4,0.161,0.152,3003,3610,2214,0,0,0,0,0,0,14.00,13.56,12.93
$GC,5459,1.50,136.9,495.6,13.9,465,5465,0.00,2.65,0.00,0.000,6,0.000,0.103,3012,2197,2208,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5781,1.50,136.9,452.5,12.9,476,5787,0.00,2.60,0.00,0.000,4,0.000,0.132,3024,789,2205,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5816,1.50,136.9,448.5,13.0,477,5821,0.00,2.60,0.00,0.000,6,0.000,0.121,3024,2199,2204,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6143,1.50,136.9,405.8,12.7,488,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2199,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6447,1.50,136.9,367.5,12.4,514,6456,0.00,2.58,0.00,0.000,4,0.000,0.129,3034,791,2203,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6492,1.50,136.9,361.5,11.9,518,6501,0.10,2.58,0.00,0.000,6,0.268,0.119,3006,2211,2202,0,0,0,0,0,0,14.57,14.62,28.83
$GC,6802,1.50,136.9,327.1,10.8,549,6811,0.00,2.60,0.00,0.000,4,0.000,0.138,3006,3613,2203,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6849,1.50,136.9,321.7,12.2,553,6856,0.00,2.53,0.00,0.000,6,0.000,0.099,3016,2192,2202,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7157,1.50,136.9,285.4,11.8,584,7166,0.00,2.50,0.00,0.000,4,0.000,0.125,3026,792,2202,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7182,1.50,136.9,282.3,11.9,586,7191,0.00,2.53,0.00,0.000,6,0.000,0.116,3026,2204,2202,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7492,1.50,136.9,246.2,11.7,617,7501,0.00,2.60,0.00,0.000,4,0.000,0.138,3026,3613,2202,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7569,1.50,136.9,236.6,13.3,624,7577,0.15,2.50,0.00,0.000,6,0.285,0.099,3003,2199,2203,0,0,0,0,0,0,14.69,14.78,28.83
$GC,7878,1.50,136.9,203.5,10.0,655,7887,0.00,2.50,0.00,0.000,4,0.000,0.125,3012,791,2201,0,0,0,0,0,0,28.83,14.75,28.83
$GC,7953,1.50,136.9,195.5,10.9,662,7962,0.00,2.50,0.00,0.000,6,0.000,0.115,3012,2198,2201,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8263,1.50,136.9,160.9,10.9,693,8272,0.00,2.60,0.00,0.000,4,0.000,0.139,3012,3611,2202,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8348,1.50,136.9,150.2,12.8,701,8357,0.00,2.47,0.00,0.000,6,0.000,0.099,3023,2202,2202,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8658,1.50,136.9,115.9,10.1,732,8667,0.00,2.62,0.00,0.000,4,0.000,0.142,3023,3610,2202,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8683,1.50,136.9,113.4,10.2,734,8692,0.08,2.47,0.00,0.000,6,0.269,0.101,3011,2201,2202,0,0,0,0,0,0,14.71,14.80,28.83
$GC,8998,1.50,140.8,82.5,8.7,783,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2201,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9315,1.54,166.8,57.8,7.8,844,9341,0.00,2.58,14.65,0.350,4,0.000,0.126,3021,788,2091,0,0,0,0,0,0,28.83,14.73,14.64
$GC,9377,1.56,183.7,52.9,8.2,854,9391,0.00,2.55,9.07,0.337,6,0.000,0.116,3020,2209,2022,0,0,0,0,0,0,28.83,14.76,14.63
$GC,9703,1.60,215.7,25.2,7.5,916,9728,0.00,2.60,16.77,0.252,4,0.000,0.129,3030,784,1890,0,0,0,0,0,0,28.83,14.72,14.66
$GC,9810,1.60,215.8,16.6,8.9,935,9817,0.00,2.58,0.00,0.000,6,0.000,0.122,3030,2206,1886,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,9972,end climb,SURFACE_DEPTH_REACHED
$STATE,9972,begin surface coast
$FINISH,1.9,1.025547
$STATE,10008,end surface coast,CONTROL_FINISHED_OK
$STATE,10008,begin surface
$SM_CCo,10036,37.00,0.172,0,0,1588,290.19
$SM_GC,3.19,8.43,0.20,37.00,0.098,0.142,0.172,130,2113,1588,-11.62,0.42,290.19,0,0,0,0,0,0,14.79,14.76,14.68
$RAFOS_CLK,399
$RAFOS,6,1349153342,4.833333,4.817222,80,57,56,55,54,53,805,214,188,166,152,113
$RAFOS,5,1349152891,4.700000,4.691945,100,70,61,54,52,49,501,217,153,165,174,187
$RAFOS,4,1349152382,4.566667,4.550556,63,61,59,58,52,52,150,189,164,200,134,220
$RAFOS,3,1349151921,4.433333,4.422500,86,63,60,60,59,54,892,153,198,166,117,220
$RAFOS,2,1349151441,4.300000,4.289166,135,63,57,56,49,47,868,219,209,193,142,112
$RAFOS,1,1349150960,4.166667,4.155556,93,59,59,54,51,51,910,214,167,125,149,178
$RAFOS,0,1349150463,4.033333,4.017500,69,60,60,54,52,51,213,135,230,198,170,152
$RAFOS_FIX,6707.712891,-5720.210449,021012,040430,5,99,4.45
$IRIDIUM_FIX,6636.54,-5655.33,021012,000043
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.25
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,13.80
$XPDR_PINGS,5
$24V_AH,12.9,44.723
$10V_AH,13.2,0.000
$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,22.175,108.350,314.400,37.000,0.000,0.000,0.000,208.750,1.250,0.000,5.540,2520.399,5074.552,513.823,1832.507,527.375,0.000,1664.383,0.000,1653.172,2520.000,0.539,0.000
$DEVICE_MAMPS,453.645,179.010,2219.265,172.125,0.000,0.000,0.000,148.410,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,713.365,665.564,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188764
$DATA_FILE_SIZE,46787,973
$CAP_FILE_SIZE,109095,0
$CFSIZE,259252224,241373184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.0
$CURRENT,0.078,245.1,1
$GPS,021012,055929,6702.535,-5650.457,20,0.7,20,-33.5