version: 66.11
glider: 193
mission: 2
dive: 241
start: 10 21 112 0 26 0
data:
$ID,193
$MISSION,2
$DIVE,241
$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,-1273.5142
$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,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
$GPS1,211012,001852,6702.795,-5648.052,41,0.9,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-67.9
$GPS2,211012,002516,6702.756,-5647.910,5,0.9,5,-33.5
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,305.3,163284,-17.3,-8.919,-19.96
$D_GRID,515
$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,-17.33,0.000,2,0.000,0.000,136,2119,1922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.50,-136.9,3.0,-0.6,3,149,10.82,2.88,-82.95,0.000,4,0.438,0.181,2339,3532,3331,0,0,0,0,0,0,14.28,14.40,14.81
$GC,233,-1.50,-136.9,17.0,-17.8,35,239,0.00,2.58,0.00,0.000,6,0.000,0.103,2339,2108,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,550,-1.50,-136.9,70.1,-16.6,96,557,0.00,2.83,0.00,0.000,4,0.000,0.158,2329,3540,3332,0,0,0,0,0,0,28.83,14.51,28.83
$GC,592,-1.50,-136.9,77.3,-17.3,103,600,0.12,2.55,0.00,0.000,6,0.295,0.099,2353,2113,3332,0,0,0,0,0,0,14.42,14.62,28.83
$GC,918,-1.50,-136.9,118.4,-10.3,149,927,0.00,2.75,0.00,0.000,4,0.000,0.151,2344,3533,3332,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1003,-1.50,-136.9,127.3,-9.9,157,1012,0.00,2.50,0.00,0.000,6,0.000,0.097,2344,2122,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1314,-1.50,-136.9,160.8,-10.4,188,1323,0.00,2.55,0.00,0.000,4,0.000,0.127,2344,703,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1412,-1.50,-136.9,172.2,-11.8,197,1420,0.00,2.65,0.00,0.000,6,0.000,0.127,2337,2126,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1720,-1.50,-136.9,208.9,-12.4,228,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2127,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2037,-1.50,-136.9,246.5,-11.8,259,2045,0.00,2.67,0.00,0.000,4,0.000,0.146,2326,3534,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2114,-1.50,-136.9,256.5,-12.3,266,2122,0.12,2.53,0.00,0.000,6,0.299,0.099,2350,2112,3331,0,0,0,0,0,0,14.49,14.71,28.83
$GC,2423,-1.50,-136.9,289.5,-10.2,297,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2112,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,-1.50,-136.9,319.6,-9.5,328,2747,0.00,2.53,0.00,0.000,4,0.000,0.127,2351,700,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2776,-1.50,-136.9,323.5,-9.8,331,2783,0.00,2.65,0.00,0.000,6,0.000,0.131,2345,2121,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3084,-1.50,-136.9,354.3,-10.4,362,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3398,-1.50,-136.9,385.9,-10.1,393,3408,0.00,2.70,0.00,0.000,4,0.000,0.149,2334,3528,3331,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3435,-1.50,-136.9,390.1,-10.3,396,3444,0.00,2.50,0.00,0.000,6,0.000,0.103,2334,2120,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3744,-1.50,-136.9,422.7,-10.5,413,3750,0.00,2.53,0.00,0.000,4,0.000,0.132,2334,712,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3789,-1.50,-136.9,426.2,-10.7,414,3795,0.08,2.62,0.00,0.000,6,0.287,0.136,2346,2120,3331,0,0,0,0,0,0,14.49,14.65,28.83
$GC,4106,-1.50,-136.9,460.0,-10.2,425,4112,0.00,2.67,0.00,0.000,4,0.000,0.155,2338,3525,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4176,-1.50,-136.9,466.4,-10.2,427,4182,0.00,2.47,0.00,0.000,6,0.000,0.102,2338,2123,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4499,-1.50,-136.9,500.6,-10.0,438,4505,0.00,2.55,0.00,0.000,4,0.000,0.130,2337,703,3332,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4554,-1.50,-136.9,504.1,-10.3,439,4561,0.10,2.65,0.00,0.000,6,0.323,0.133,2348,2125,3332,0,0,0,0,0,0,14.53,14.66,28.83
$STATE,4645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4645,begin apogee
$GC,4657,-0.38,0.0,516.3,-10.1,443,4805,0.77,0.00,136.55,2.371,6,0.178,0.000,2591,2148,2773,0,0,0,0,0,0,14.63,28.83,13.16
$STATE,4806,end apogee,CONTROL_FINISHED_OK
$STATE,4806,begin climb
$GC,4811,1.50,136.9,516.9,0.0,448,4974,1.35,3.08,147.95,2.323,4,0.158,0.145,3001,3559,2214,0,0,0,0,0,0,13.94,13.33,12.64
$GC,5004,1.50,136.9,503.8,9.0,454,5013,0.00,2.72,0.00,0.000,6,0.000,0.103,3012,2152,2211,0,0,0,0,0,0,28.83,13.62,28.83
$GC,5315,1.50,136.9,461.1,12.8,465,5321,0.00,2.62,0.00,0.000,4,0.000,0.130,3022,740,2207,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5335,1.50,136.9,461.1,12.8,465,5344,0.00,2.67,0.00,0.000,6,0.000,0.120,3022,2153,2205,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5647,1.50,136.9,418.5,12.8,476,5652,0.00,2.70,0.00,0.000,4,0.000,0.147,3022,3557,2205,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5717,1.50,136.9,409.8,13.6,478,5723,0.08,2.53,0.00,0.000,6,0.271,0.102,3013,2148,2205,0,0,0,0,0,0,14.38,14.52,28.83
$GC,6030,1.50,136.9,368.6,13.0,504,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2148,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6344,1.50,136.9,328.5,12.8,535,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2148,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6656,1.50,136.9,289.6,12.4,566,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2148,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6969,1.50,136.9,252.8,11.7,597,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2148,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7282,1.50,136.9,214.9,12.3,628,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2148,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7593,1.50,136.9,179.3,11.2,659,7602,0.00,2.70,0.00,0.000,4,0.000,0.143,3012,3559,2204,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7651,1.50,136.9,171.9,12.6,664,7658,0.00,2.55,0.00,0.000,6,0.000,0.109,3021,2142,2204,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7958,1.50,136.9,132.7,12.5,695,7967,0.00,2.53,0.00,0.000,4,0.000,0.132,3032,741,2203,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8047,1.50,136.9,122.1,12.5,703,8055,0.12,2.58,0.00,0.000,6,0.285,0.119,3005,2151,2202,0,0,0,0,0,0,14.57,14.70,28.83
$GC,8359,1.51,146.9,91.1,8.5,743,8372,0.00,2.72,4.20,0.476,4,0.000,0.144,3004,3559,2173,0,0,0,0,0,0,28.83,14.64,14.40
$GC,8448,1.51,146.9,82.8,9.4,759,8455,0.00,2.53,0.00,0.000,6,0.000,0.103,3013,2142,2173,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8765,1.51,146.9,56.7,9.2,820,8772,0.00,2.53,0.00,0.000,4,0.000,0.128,3024,737,2172,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8818,1.51,146.9,51.5,9.7,829,8826,0.00,2.58,0.00,0.000,6,0.000,0.116,3024,2151,2171,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9136,1.61,226.7,26.6,5.4,890,9186,0.00,2.78,43.72,0.249,4,0.000,0.144,3024,3563,1846,0,0,0,0,0,0,28.83,14.60,14.52
$GC,9221,1.61,226.7,20.1,9.9,904,9228,0.00,2.55,0.00,0.000,6,0.000,0.104,3034,2142,1842,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,9399,end climb,SURFACE_DEPTH_REACHED
$STATE,9400,begin surface coast
$FINISH,2.0,1.025919
$STATE,9431,end surface coast,CONTROL_FINISHED_OK
$STATE,9431,begin surface
$SM_CCo,9458,31.60,0.182,0,0,1588,290.19
$SM_GC,3.44,8.48,0.00,31.60,0.098,0.000,0.182,133,2141,1588,-11.61,0.59,290.19,0,0,0,0,0,0,14.72,28.83,14.55
$RAFOS_CLK,375
$RAFOS,6,1350780543,0.833333,0.817500,71,71,56,54,52,50,207,791,126,177,159,111
$RAFOS,5,1350780069,0.700000,0.685833,158,60,60,58,58,53,612,213,147,113,175,138
$RAFOS,4,1350779584,0.566667,0.551111,64,60,60,57,54,54,186,217,896,202,115,150
$RAFOS_FIX,6711.400879,-5719.106934,211012,000040,2,112,362.27
$IRIDIUM_FIX,6636.54,-5650.71,201012,212134
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.86
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,14.10
$XPDR_PINGS,8
$24V_AH,12.6,77.572
$10V_AH,12.9,0.000
$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,22.050,94.750,332.425,31.600,0.000,0.000,0.000,232.175,2.000,0.000,11.365,2409.185,4671.176,519.087,1781.056,514.426,0.000,1650.876,0.000,1585.569,1080.000,0.539,0.000
$DEVICE_MAMPS,437.580,284.580,2370.735,182.070,0.000,0.000,0.000,145.350,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.756,645.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188756
$DATA_FILE_SIZE,43515,944
$CAP_FILE_SIZE,101419,0
$CFSIZE,259252224,234057728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.3
$CURRENT,0.043, 37.1,1
$GPS,211012,030604,6702.961,-5650.704,40,0.8,40,-33.5