version: 66.11
glider: 193
mission: 2
dive: 293
start: 10 30 112 14 22 42
data:
$ID,193
$MISSION,2
$DIVE,293
$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,-2
$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,-1452.0453
$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,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
$GPS1,301012,141534,6644.777,-6013.197,37,0.8,37,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.37
$_SM_ANGLEo,-67.6
$GPS2,301012,142158,6644.765,-6013.324,4,1.0,5,-33.9
$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,156.1,152071,-17.3,-8.919,-19.96
$D_GRID,560
$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,-136.9,0.0,0.0,0,26,0.00,0.00,-5.53,0.000,2,0.000,0.000,135,2133,1684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.5,0.0,1,153,11.57,2.72,-102.15,0.000,4,0.464,0.154,2351,712,3330,0,0,0,0,0,0,14.19,14.39,14.75
$GC,297,-1.50,-136.9,30.5,-19.6,48,304,0.00,2.72,0.00,0.000,6,0.000,0.138,2343,2129,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,615,-1.50,-136.9,82.7,-14.6,109,622,0.00,2.65,0.00,0.000,4,0.000,0.134,2343,706,3331,0,0,0,0,0,0,28.83,14.42,28.83
$GC,728,-1.50,-136.9,100.2,-15.4,130,735,0.00,2.72,0.00,0.000,6,0.000,0.137,2334,2124,3331,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1041,-1.50,-136.9,145.9,-14.6,161,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1354,-1.50,-136.9,190.3,-14.3,192,1362,0.00,2.60,0.00,0.000,4,0.000,0.132,2334,710,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1389,-1.50,-136.9,196.5,-14.8,195,1399,0.10,2.67,0.00,0.000,6,0.299,0.134,2350,2120,3331,0,0,0,0,0,0,14.23,14.42,28.83
$GC,1699,-1.50,-136.9,239.1,-12.7,226,1709,0.00,2.58,0.00,0.000,4,0.000,0.133,2351,713,3331,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1735,-1.50,-136.9,243.7,-12.7,229,1744,0.00,2.67,0.00,0.000,6,0.000,0.135,2343,2127,3331,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2045,-1.50,-136.9,280.6,-11.8,260,2053,0.00,2.60,0.00,0.000,4,0.000,0.130,2343,708,3330,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2080,-1.50,-136.9,284.7,-11.8,263,2088,0.00,2.65,0.00,0.000,6,0.000,0.133,2336,2124,3330,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2389,-1.50,-136.9,325.1,-13.5,294,2399,0.00,2.60,0.00,0.000,4,0.000,0.130,2336,710,3330,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2532,-1.50,-136.9,344.5,-14.4,307,2540,0.12,2.65,0.00,0.000,6,0.329,0.132,2352,2125,3330,0,0,0,0,0,0,14.27,14.47,28.83
$GC,2841,-1.50,-136.9,383.6,-11.7,338,2850,0.00,2.72,0.00,0.000,4,0.000,0.155,2343,3527,3330,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2907,-1.50,-136.9,391.5,-12.1,344,2916,0.00,2.53,0.00,0.000,6,0.000,0.099,2343,2123,3330,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3227,-1.50,-136.9,428.4,-11.2,360,3233,0.00,2.55,0.00,0.000,4,0.000,0.129,2343,712,3330,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3291,-1.50,-136.9,435.4,-11.1,362,3297,0.00,2.62,0.00,0.000,6,0.000,0.134,2336,2115,3330,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3619,-1.50,-136.9,471.8,-11.1,373,3625,0.00,2.58,0.00,0.000,4,0.000,0.129,2336,704,3330,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3668,-1.50,-136.9,475.5,-11.2,374,3678,0.08,2.65,0.00,0.000,6,0.309,0.133,2347,2122,3330,0,0,0,0,0,0,14.26,14.43,28.83
$GC,3980,-1.50,-136.9,511.6,-10.7,385,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4281,-1.50,-136.9,543.4,-10.4,395,4287,0.00,2.72,0.00,0.000,4,0.000,0.156,2338,3523,3331,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4405,-1.50,-136.9,557.3,-11.4,399,4411,0.00,2.53,0.00,0.000,6,0.000,0.103,2338,2122,3331,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,4427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4427,begin apogee
$GC,4440,-0.38,0.0,560.4,-11.4,400,4589,0.95,0.00,138.05,2.396,6,0.268,0.000,2591,2144,2772,0,0,0,0,0,0,14.32,28.83,12.92
$STATE,4589,end apogee,CONTROL_FINISHED_OK
$STATE,4590,begin climb
$GC,4595,1.50,136.9,566.2,0.0,405,4762,1.42,3.12,150.70,2.336,4,0.182,0.148,3001,3569,2214,0,0,0,0,0,0,13.71,13.19,12.45
$GC,4822,1.52,151.1,553.6,8.3,412,4844,0.00,2.80,16.38,2.146,6,0.000,0.104,3011,2142,2156,0,0,0,0,0,0,28.83,13.60,12.75
$GC,5154,1.52,151.1,511.4,11.8,424,5160,0.00,2.90,0.00,0.000,4,0.000,0.146,3011,3564,2150,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5219,1.52,151.1,504.0,11.7,426,5225,0.00,2.62,0.00,0.000,6,0.000,0.103,3021,2152,2150,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5546,1.52,151.1,464.7,12.0,437,5552,0.00,2.78,0.00,0.000,4,0.000,0.144,3021,3560,2149,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5596,1.52,151.1,460.8,12.2,438,5605,0.00,2.58,0.00,0.000,6,0.000,0.103,3031,2148,2149,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5911,1.52,151.1,419.6,12.5,449,5917,0.10,2.58,0.00,0.000,4,0.319,0.128,3022,736,2147,0,0,0,0,0,0,14.35,14.42,28.83
$GC,5997,1.52,151.1,412.0,11.9,451,6004,0.00,2.65,0.00,0.000,6,0.000,0.115,3022,2160,2146,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6309,1.52,151.1,374.6,11.0,476,6319,0.00,2.67,0.00,0.000,4,0.000,0.142,3022,3560,2146,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6416,1.52,151.1,360.9,12.5,486,6425,0.08,2.55,0.00,0.000,6,0.281,0.103,3012,2142,2147,0,0,0,0,0,0,14.33,14.50,28.83
$GC,6726,1.52,151.1,327.1,10.8,517,6735,0.00,2.55,0.00,0.000,4,0.000,0.130,3022,736,2146,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6761,1.52,151.1,323.2,11.0,520,6770,0.00,2.60,0.00,0.000,6,0.000,0.115,3022,2149,2146,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7071,1.52,151.1,288.2,11.1,551,7080,0.00,2.60,0.00,0.000,4,0.000,0.131,3031,741,2146,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7149,1.52,151.1,279.8,11.2,558,7157,0.00,2.65,0.00,0.000,6,0.000,0.119,3032,2151,2146,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7457,1.52,151.1,246.1,9.7,589,7466,0.00,2.72,0.00,0.000,4,0.000,0.145,3031,3565,2146,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7534,1.52,151.1,238.2,10.4,596,7541,0.15,2.58,0.00,0.000,6,0.295,0.103,3009,2141,2147,0,0,0,0,0,0,14.36,14.57,28.83
$GC,7843,1.53,162.1,210.8,8.4,627,7860,0.00,2.55,10.20,1.884,4,0.000,0.129,3018,730,2112,0,0,0,0,0,0,28.83,14.62,13.81
$GC,7909,1.53,162.1,205.2,9.3,633,7915,0.00,2.65,0.00,0.000,6,0.000,0.117,3018,2161,2111,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8217,1.56,183.3,178.9,8.0,664,8246,0.00,2.80,23.05,1.944,4,0.000,0.145,3018,3563,2024,0,0,0,0,0,0,28.83,14.44,13.74
$GC,8348,1.56,183.3,167.2,9.7,676,8355,0.00,2.58,0.00,0.000,6,0.000,0.102,3028,2150,2023,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8656,1.56,186.4,138.7,8.8,707,8665,0.00,2.58,0.00,0.000,4,0.000,0.130,3038,737,2020,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8730,1.56,186.4,131.5,10.0,714,8740,0.00,2.60,0.00,0.000,6,0.000,0.120,3038,2143,2019,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9041,1.56,186.4,101.0,10.2,745,9049,0.00,2.72,0.00,0.000,4,0.000,0.148,3038,3556,2019,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9124,1.56,186.4,91.8,10.6,760,9131,0.12,2.55,0.00,0.000,6,0.302,0.103,3022,2150,2019,0,0,0,0,0,0,14.35,14.55,28.83
$GC,9447,1.59,214.1,64.7,7.7,821,9472,0.00,2.58,16.85,0.383,4,0.000,0.129,3031,741,1898,0,0,0,0,0,0,28.83,14.54,14.32
$GC,9575,1.60,220.4,53.8,8.6,843,9588,0.00,2.62,3.00,0.392,6,0.000,0.117,3031,2158,1873,0,0,0,0,0,0,28.83,14.51,14.31
$GC,9898,1.62,238.4,26.3,8.1,905,9918,0.00,2.80,9.93,0.269,4,0.000,0.157,3031,3557,1799,0,0,0,0,0,0,28.83,14.42,14.37
$GC,10058,1.62,238.4,13.0,9.7,934,10066,0.00,2.58,0.00,0.000,6,0.000,0.107,3040,2143,1794,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,10163,end climb,SURFACE_DEPTH_REACHED
$STATE,10163,begin surface coast
$FINISH,2.5,1.014065
$STATE,10204,end surface coast,CONTROL_FINISHED_OK
$STATE,10204,begin surface
$SM_CCo,10232,26.83,0.201,0,0,1588,290.19
$SM_GC,3.73,8.68,0.00,26.83,0.106,0.000,0.201,131,2142,1588,-11.62,0.65,290.19,0,0,0,0,0,0,14.62,28.83,14.48
$RAFOS_CLK,444
$RAFOS,6,1351615747,16.833334,16.818611,72,62,60,60,59,58,743,197,216,178,145,121
$RAFOS,5,1351615262,16.700001,16.683889,74,60,52,51,51,50,920,215,74,119,197,137
$RAFOS,4,1351614789,16.566668,16.552500,69,68,65,63,58,50,670,199,1458,213,129,140
$RAFOS,3,1351614304,16.433332,16.417778,67,55,54,53,53,52,203,133,184,163,214,143
$RAFOS,2,1351613827,16.299999,16.285278,66,64,62,55,52,51,214,474,193,118,177,494
$RAFOS,1,1351613341,16.166666,16.150278,103,63,59,58,54,54,480,130,205,227,184,153
$RAFOS,0,1351612864,16.033333,16.017778,67,63,61,57,53,52,196,210,120,223,172,147
$RAFOS_FIX,6658.008789,-6001.853027,301012,161622,3,72,3.06
$IRIDIUM_FIX,6614.97,-6009.24,301012,111147
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.85
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.40
$XPDR_PINGS,8
$24V_AH,12.5,94.557
$10V_AH,12.5,0.000
$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,23.375,127.375,368.150,26.825,0.000,0.000,0.000,230.925,2.000,0.000,11.036,2463.240,5145.371,560.693,1927.697,564.394,0.000,1784.194,0.000,1730.369,2520.000,0.535,0.000
$DEVICE_MAMPS,464.355,227.970,2395.980,201.195,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.620,671.437,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188760
$DATA_FILE_SIZE,43389,961
$CAP_FILE_SIZE,114844,0
$CFSIZE,259252224,230432768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.1
$CURRENT,0.006, 15.1,1
$GPS,301012,171517,6644.268,-6010.289,22,0.7,22,-33.9