version: 66.11
glider: 193
mission: 2
dive: 239
start: 10 20 112 18 55 0
data:
$ID,193
$MISSION,2
$DIVE,239
$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,-1266.1915
$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,16
$R_STBD_OVSHOOT,15
$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
$GPS1,201012,184759,6704.139,-5651.872,37,0.8,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-66.4
$GPS2,201012,185421,6704.178,-5652.105,5,1.1,5,-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,172.8,3680,-17.3,-8.919,-19.96
$D_GRID,491
$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,-136.9,0.0,0.0,0,38,0.00,0.00,-17.12,0.000,2,0.000,0.000,134,2114,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.50,-136.9,3.1,-3.6,3,146,10.88,2.67,-82.93,0.000,4,0.441,0.156,2348,702,3330,0,0,0,0,0,0,14.32,14.49,14.81
$GC,380,-1.50,-136.9,43.3,-17.7,65,388,0.00,2.70,0.00,0.000,6,0.000,0.139,2340,2124,3331,0,0,0,0,0,0,28.83,14.52,28.83
$GC,699,-1.50,-136.9,91.2,-14.5,126,706,0.00,2.75,0.00,0.000,4,0.000,0.157,2329,3533,3332,0,0,0,0,0,0,28.83,14.53,28.83
$GC,770,-1.50,-136.9,101.1,-14.5,138,778,0.12,2.55,0.00,0.000,6,0.298,0.103,2354,2112,3331,0,0,0,0,0,0,14.45,14.64,28.83
$GC,1078,-1.50,-136.9,141.8,-12.4,169,1088,0.00,2.53,0.00,0.000,4,0.000,0.129,2354,706,3331,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1166,-1.50,-136.9,152.8,-13.2,177,1174,0.00,2.65,0.00,0.000,6,0.000,0.132,2346,2123,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1474,-1.50,-136.9,189.1,-11.0,208,1483,0.00,2.67,0.00,0.000,4,0.000,0.151,2336,3523,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1501,-1.50,-136.9,191.7,-10.6,210,1508,0.00,2.50,0.00,0.000,6,0.000,0.099,2336,2119,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1808,-1.50,-136.9,222.6,-9.3,241,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,-1.50,-136.9,252.8,-10.2,272,2133,0.00,2.72,0.00,0.000,4,0.000,0.155,2326,3533,3330,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2162,-1.50,-136.9,257.0,-10.4,275,2170,0.12,2.53,0.00,0.000,6,0.298,0.099,2351,2112,3330,0,0,0,0,0,0,14.50,14.71,28.83
$GC,2471,-1.50,-136.9,289.4,-10.7,306,2480,0.00,2.50,0.00,0.000,4,0.000,0.125,2351,711,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2516,-1.50,-136.9,294.6,-11.5,310,2524,0.00,2.60,0.00,0.000,6,0.000,0.133,2344,2126,3330,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2825,-1.50,-136.9,329.7,-11.9,341,2835,0.00,2.65,0.00,0.000,4,0.000,0.149,2334,3524,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2881,-1.50,-136.9,336.3,-11.9,346,2890,0.00,2.47,0.00,0.000,6,0.000,0.099,2334,2123,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3191,-1.50,-136.9,370.9,-10.5,377,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-1.50,-136.9,406.9,-10.9,406,3527,0.00,2.53,0.00,0.000,4,0.000,0.127,2334,709,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3556,-1.50,-136.9,410.5,-11.0,407,3563,0.08,2.60,0.00,0.000,6,0.283,0.132,2346,2118,3331,0,0,0,0,0,0,14.49,14.62,28.83
$GC,3884,-1.50,-136.9,443.7,-9.8,418,3890,0.00,2.67,0.00,0.000,4,0.000,0.153,2337,3525,3331,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3908,-1.50,-136.9,443.7,-9.8,418,3915,0.00,2.50,0.00,0.000,6,0.000,0.100,2337,2117,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4216,-1.50,-136.9,477.4,-10.3,429,4222,0.00,2.72,0.00,0.000,4,0.000,0.157,2326,3532,3331,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4256,-1.50,-136.9,481.0,-10.4,430,4262,0.08,2.50,0.00,0.000,6,0.271,0.103,2347,2121,3331,0,0,0,0,0,0,14.51,14.70,28.83
$STATE,4364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4364,begin apogee
$GC,4377,-0.38,0.0,492.1,-9.2,434,4522,0.88,0.00,135.48,2.345,6,0.259,0.000,2590,2148,2772,0,0,0,0,0,0,14.52,28.83,13.19
$STATE,4523,end apogee,CONTROL_FINISHED_OK
$STATE,4523,begin climb
$GC,4528,1.50,136.9,495.8,0.0,439,4690,1.38,3.03,147.73,2.282,4,0.162,0.151,3005,3566,2213,0,0,0,0,0,0,13.94,13.34,12.66
$GC,4699,1.50,136.9,482.8,8.9,445,4704,0.00,2.75,0.00,0.000,6,0.000,0.103,3016,2156,2212,0,0,0,0,0,0,28.83,13.51,28.83
$GC,5026,1.50,136.9,440.2,12.9,456,5031,0.00,2.78,0.00,0.000,4,0.000,0.147,3016,3559,2206,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5065,1.50,136.9,436.1,13.0,457,5070,0.00,2.58,0.00,0.000,6,0.000,0.101,3026,2149,2206,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5377,1.50,136.9,394.3,12.8,469,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2149,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5691,1.50,136.9,354.0,12.6,500,5700,0.00,2.72,0.00,0.000,4,0.000,0.142,3026,3565,2204,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5726,1.50,136.9,348.8,13.2,503,5735,0.10,2.55,0.00,0.000,6,0.273,0.104,3009,2147,2204,0,0,0,0,0,0,14.45,14.57,28.83
$GC,6036,1.50,136.9,310.6,11.8,534,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2147,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6352,1.50,136.9,273.1,11.8,565,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2146,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6664,1.50,136.9,237.2,11.1,596,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2147,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,1.50,136.9,204.4,11.0,627,6979,0.00,2.70,0.00,0.000,4,0.000,0.142,3009,3559,2203,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7058,1.50,136.9,194.1,12.6,635,7065,0.00,2.55,0.00,0.000,6,0.000,0.109,3018,2142,2203,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7366,1.50,136.9,158.0,11.3,666,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2142,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7681,1.50,136.9,123.8,10.7,697,7690,0.00,2.53,0.00,0.000,4,0.000,0.132,3029,736,2202,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7786,1.50,136.9,110.9,12.1,707,7795,0.08,2.58,0.00,0.000,6,0.263,0.119,3008,2154,2201,0,0,0,0,0,0,14.55,14.66,28.83
$GC,8101,1.50,136.9,81.4,9.6,758,8108,0.00,2.70,0.00,0.000,4,0.000,0.147,3008,3572,2202,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8174,1.50,136.9,74.2,10.1,771,8181,0.00,2.55,0.00,0.000,6,0.000,0.103,3017,2141,2202,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8492,1.59,209.9,48.8,5.7,832,8541,0.00,2.58,38.72,0.317,4,0.000,0.128,3027,745,1913,0,0,0,0,0,0,28.83,14.60,14.48
$GC,8587,1.59,209.9,41.9,9.1,848,8593,0.00,2.58,0.00,0.000,6,0.000,0.118,3028,2151,1908,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8904,1.59,209.9,12.2,9.7,909,8912,0.00,2.72,0.00,0.000,4,0.000,0.148,3027,3564,1904,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,8987,end climb,SURFACE_DEPTH_REACHED
$STATE,8987,begin surface coast
$FINISH,2.1,1.004219
$STATE,9019,end surface coast,CONTROL_FINISHED_OK
$STATE,9019,begin surface
$SM_CCo,9049,40.10,0.178,0,0,1587,290.19
$SM_GC,3.01,8.48,2.65,40.10,0.099,0.104,0.178,132,2123,1587,-11.62,0.74,290.19,0,0,0,0,0,0,14.73,14.69,14.56
$RAFOS_CLK,354
$RAFOS,6,1350766145,20.833334,20.818056,81,67,62,55,54,53,775,194,158,117,207,216
$RAFOS,5,1350765663,20.700001,20.684166,94,65,61,60,54,53,631,211,151,137,198,179
$RAFOS,4,1350765190,20.566668,20.552778,60,60,56,55,54,53,195,838,183,170,204,157
$RAFOS,3,1350764701,20.433332,20.416945,61,56,56,53,52,48,986,202,166,213,149,184
$RAFOS,2,1350764230,20.299999,20.286112,59,56,55,53,53,53,223,198,908,141,174,188
$RAFOS,1,1350763746,20.166666,20.151667,69,66,60,60,54,53,210,233,147,180,195,159
$RAFOS,0,1350763270,20.033333,20.019444,68,67,57,55,50,49,200,158,217,170,121,110
$RAFOS_FIX,6708.268555,-5715.671387,201012,202053,3,79,2.91
$IRIDIUM_FIX,6636.54,-5647.69,201012,151520
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.74
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,14.00
$XPDR_PINGS,5
$24V_AH,12.7,77.059
$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,22.175,94.625,321.925,40.100,0.000,0.000,0.000,231.825,1.250,0.000,11.185,2326.720,4426.061,540.220,1703.242,490.919,0.000,1619.468,0.000,1509.884,2520.000,0.539,0.000
$DEVICE_MAMPS,440.640,234.090,2345.490,178.245,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.239,635.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188728
$DATA_FILE_SIZE,43364,930
$CAP_FILE_SIZE,98166,0
$CFSIZE,259252224,234176512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.5
$CURRENT,0.108,297.0,1
$GPS,201012,212759,6703.568,-5651.305,15,0.8,15,-33.5