version: 66.11
glider: 193
mission: 2
dive: 235
start: 10 20 112 6 47 53
data:
$ID,193
$MISSION,2
$DIVE,235
$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,-1247.0879
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,12
$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
$GPS1,201012,064034,6703.478,-5656.260,32,0.8,32,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-67.6
$GPS2,201012,064710,6703.505,-5656.445,5,0.8,5,-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,160.6,6170,-17.3,-8.919,-19.96
$D_GRID,564
$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,-136.9,0.0,0.0,0,44,0.00,0.00,-22.85,0.000,2,0.000,0.000,130,2133,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.50,-136.9,3.0,-0.6,4,148,11.02,2.62,-78.93,0.000,4,0.445,0.147,2349,709,3329,0,0,0,0,0,0,14.28,14.50,14.81
$GC,383,-1.50,-136.9,42.5,-16.6,65,390,0.00,2.67,0.00,0.000,6,0.000,0.134,2341,2126,3330,0,0,0,0,0,0,28.83,14.52,28.83
$GC,701,-1.50,-136.9,91.4,-14.4,126,708,0.00,2.70,0.00,0.000,4,0.000,0.154,2331,3528,3330,0,0,0,0,0,0,28.83,14.54,28.83
$GC,781,-1.50,-136.9,101.9,-13.7,139,789,0.10,2.53,0.00,0.000,6,0.304,0.102,2349,2120,3331,0,0,0,0,0,0,14.45,14.64,28.83
$GC,1090,-1.50,-136.9,139.8,-12.0,170,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2120,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1405,-1.50,-136.9,175.4,-11.8,201,1415,0.00,2.55,0.00,0.000,4,0.000,0.132,2348,710,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1434,-1.50,-136.9,179.0,-11.9,203,1441,0.00,2.65,0.00,0.000,6,0.000,0.135,2341,2127,3330,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1742,-1.50,-136.9,214.5,-11.4,234,1750,0.00,2.58,0.00,0.000,4,0.000,0.129,2341,703,3330,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1766,-1.50,-136.9,217.4,-11.9,236,1775,0.00,2.62,0.00,0.000,6,0.000,0.129,2334,2115,3329,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2076,-1.50,-136.9,254.5,-12.1,267,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2393,-1.50,-136.9,290.4,-11.4,298,2402,0.00,2.70,0.00,0.000,4,0.000,0.149,2323,3532,3330,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2431,-1.50,-136.9,295.2,-11.6,301,2439,0.12,2.53,0.00,0.000,6,0.298,0.098,2348,2110,3330,0,0,0,0,0,0,14.51,14.71,28.83
$GC,2740,-1.50,-136.9,326.7,-9.5,332,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2110,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3056,-1.50,-136.9,358.7,-10.5,363,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2110,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3368,-1.50,-136.9,390.3,-10.6,394,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2110,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,-1.50,-136.9,423.0,-10.6,411,3680,0.00,2.75,0.00,0.000,4,0.000,0.155,2339,3526,3330,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3706,-1.50,-136.9,426.4,-10.6,412,3712,0.00,2.50,0.00,0.000,6,0.000,0.105,2339,2116,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4038,-1.50,-136.9,460.0,-9.9,423,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2116,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4337,-1.50,-136.9,490.8,-10.1,433,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4637,-1.50,-136.9,521.2,-10.0,443,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4938,-1.50,-136.9,552.2,-10.0,453,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5053,begin apogee
$GC,5066,-0.38,0.0,564.7,-10.5,457,5212,0.90,0.00,136.15,2.388,6,0.256,0.000,2589,2153,2771,0,0,0,0,0,0,14.55,28.83,13.16
$STATE,5213,end apogee,CONTROL_FINISHED_OK
$STATE,5213,begin climb
$GC,5219,1.50,136.9,569.4,0.0,462,5372,1.38,0.00,148.62,2.344,6,0.161,0.000,3003,2153,2214,0,0,0,0,0,0,13.94,28.83,12.64
$GC,5657,1.50,136.9,526.0,12.0,477,5663,0.00,2.85,0.00,0.000,4,0.000,0.155,3004,3562,2207,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5707,1.50,136.9,521.9,12.3,478,5715,0.00,2.65,0.00,0.000,6,0.000,0.113,3014,2148,2207,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6019,1.50,136.9,480.3,12.6,489,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2148,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6322,1.50,136.9,444.3,11.9,499,6327,0.00,2.75,0.00,0.000,4,0.000,0.155,3014,3557,2204,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6371,1.50,136.9,440.0,12.1,500,6379,0.00,2.55,0.00,0.000,6,0.000,0.110,3025,2147,2204,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6683,1.50,136.9,399.1,12.3,511,6693,0.00,2.67,0.00,0.000,4,0.000,0.147,3025,3565,2204,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6728,1.50,136.9,392.9,13.6,515,6738,0.10,2.53,0.00,0.000,6,0.270,0.106,3008,2149,2204,0,0,0,0,0,0,14.50,14.62,28.83
$GC,7039,1.50,136.9,355.1,12.3,546,7047,0.00,2.55,0.00,0.000,4,0.000,0.129,3017,736,2202,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7066,1.50,136.9,352.0,12.4,548,7072,0.00,2.58,0.00,0.000,6,0.000,0.118,3017,2151,2201,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7373,1.50,136.9,312.0,12.8,579,7382,0.00,2.65,0.00,0.000,4,0.000,0.143,3017,3556,2202,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7450,1.50,136.9,301.8,14.2,586,7457,0.00,2.53,0.00,0.000,6,0.000,0.103,3027,2145,2202,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7758,1.50,136.9,259.8,13.5,617,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2145,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8072,1.50,136.9,219.1,12.7,648,8081,0.00,2.70,0.00,0.000,4,0.000,0.144,3028,3562,2202,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8148,1.50,136.9,208.3,13.7,655,8157,0.10,2.50,0.00,0.000,6,0.262,0.105,3010,2154,2202,0,0,0,0,0,0,14.54,14.68,28.83
$GC,8458,1.50,136.9,173.1,10.7,686,8467,0.00,2.50,0.00,0.000,4,0.000,0.126,3019,744,2201,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8485,1.50,136.9,170.4,10.8,688,8492,0.00,2.58,0.00,0.000,6,0.000,0.114,3018,2161,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8792,1.50,136.9,139.2,10.5,719,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2161,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9109,1.50,136.9,108.6,9.1,750,9118,0.00,2.62,0.00,0.000,4,0.000,0.142,3019,3561,2201,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9164,1.50,136.9,102.3,10.7,755,9173,0.08,2.50,0.00,0.000,6,0.266,0.102,3008,2148,2202,0,0,0,0,0,0,14.54,14.69,28.83
$GC,9479,1.50,136.9,74.1,9.0,814,9486,0.00,2.53,0.00,0.000,4,0.000,0.125,3017,736,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9552,1.53,161.2,68.1,7.9,827,9571,0.00,2.58,11.85,0.380,6,0.000,0.114,3017,2159,2114,0,0,0,0,0,0,28.83,14.69,14.48
$GC,9881,1.53,161.2,41.0,8.9,890,9888,0.00,2.67,0.00,0.000,4,0.000,0.142,3017,3570,2111,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10068,1.53,161.2,24.2,9.0,925,10076,0.00,2.55,0.00,0.000,6,0.000,0.102,3028,2144,2111,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,10346,end climb,SURFACE_DEPTH_REACHED
$STATE,10346,begin surface coast
$FINISH,2.1,1.013686
$STATE,10408,end surface coast,CONTROL_FINISHED_OK
$STATE,10408,begin surface
$SM_CCo,10435,66.43,0.175,0,0,1588,290.19
$SM_GC,3.15,8.38,0.00,66.43,0.092,0.000,0.175,134,2144,1588,-11.60,0.68,290.19,0,0,0,0,0,0,14.77,28.83,14.56
$RAFOS_CLK,422
$RAFOS,6,1350722951,8.833333,8.819722,65,63,60,57,55,54,732,187,170,214,200,747
$RAFOS,5,1350722466,8.700000,8.685000,81,61,60,56,54,53,608,219,205,183,193,142
$RAFOS,4,1350721986,8.566667,8.551666,74,66,55,54,52,52,845,189,129,223,166,211
$RAFOS,3,1350721507,8.433333,8.418612,71,62,61,54,51,51,950,189,170,200,239,145
$RAFOS,2,1350721025,8.300000,8.284722,100,67,62,53,53,52,929,191,204,152,138,126
$RAFOS,1,1350720545,8.166667,8.151389,73,64,53,52,51,50,963,210,135,192,227,170
$RAFOS,0,1350720065,8.033334,8.018056,62,60,56,55,53,47,222,182,208,146,130,162
$RAFOS_FIX,6706.465332,-5724.635742,201012,080817,6,77,3.37
$IRIDIUM_FIX,6636.54,-5650.71,201012,030315
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.78
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,14.10
$XPDR_PINGS,2
$24V_AH,12.6,76.023
$10V_AH,13.0,0.000
$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,22.175,83.525,296.625,66.425,0.000,0.000,0.000,245.325,0.500,0.000,11.217,2528.367,5564.553,543.530,1776.192,523.260,0.000,1657.181,0.000,1572.780,2520.000,0.541,0.000
$DEVICE_MAMPS,445.230,218.790,2388.330,175.185,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.554,679.502,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188724
$DATA_FILE_SIZE,46741,990
$CAP_FILE_SIZE,101681,0
$CFSIZE,259252224,234401792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.6
$CURRENT,0.133,253.3,1
$GPS,201012,094447,6702.536,-5655.396,19,0.7,19,-33.5