version: 66.11
glider: 193
mission: 2
dive: 322
start: 11 4 112 3 38 31
data:
$ID,193
$MISSION,2
$DIVE,322
$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,-1668.408
$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,360
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,0
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,20
$ROLL_MAXERRORS,200
$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,720
$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
$GPS1,041112,032823,6632.346,-5949.207,84,1.5,85,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.30
$_SM_ANGLEo,-66.7
$GPS2,041112,033733,6632.280,-5949.353,4,1.1,4,-33.6
$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,93.9,142787,-17.3,-8.919,-19.96
$D_GRID,684
$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,-136.9,0.0,0.0,0,27,0.00,0.00,-5.57,0.000,2,0.000,0.000,79,2518,1679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.1,0.0,1,142,11.75,0.00,-93.30,0.000,6,0.454,0.000,2348,2100,3330,0,0,0,0,0,0,14.17,28.83,14.73
$GC,456,-1.50,-136.9,55.7,-14.6,79,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2100,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,773,-1.50,-136.9,103.1,-14.6,138,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2100,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1086,-1.50,-136.9,148.2,-14.3,169,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2100,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1399,-1.50,-136.9,188.6,-12.3,200,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2100,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1710,-1.50,-136.9,229.6,-12.5,231,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2100,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2022,-1.50,-136.9,267.6,-12.2,262,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2100,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2333,-1.50,-136.9,306.6,-12.9,293,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2100,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2646,-1.50,-136.9,343.9,-11.4,324,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2100,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2953,-1.50,-136.9,377.2,-9.9,355,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2100,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3273,-1.50,-136.9,410.3,-10.6,381,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2100,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3572,-1.50,-136.9,443.4,-11.2,391,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2100,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3873,-1.50,-136.9,477.5,-11.4,401,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2100,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4173,-1.50,-136.9,511.6,-11.3,411,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2100,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4472,-1.50,-136.9,543.4,-10.4,421,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2100,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4772,-1.50,-136.9,574.7,-10.5,431,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2100,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5073,-1.50,-136.9,605.5,-10.0,441,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2100,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5372,-1.50,-136.9,635.5,-9.9,451,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2100,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5672,-1.50,-136.9,664.3,-9.5,461,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2099,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5877,begin apogee
$GC,5904,-0.38,0.0,685.3,-9.8,468,6076,0.90,14.85,143.77,2.514,6,0.267,0.080,2589,2100,2772,0,0,6,1,0,0,14.23,13.64,12.78
$STATE,6077,end apogee,CONTROL_FINISHED_OK
$STATE,6077,begin climb
$GC,6082,1.50,136.9,691.0,0.0,474,6246,1.42,0.00,158.55,2.459,6,0.174,0.000,3002,2100,2214,0,0,0,0,0,0,13.66,28.83,12.37
$GC,6543,1.50,136.9,646.9,10.8,490,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6842,1.50,136.9,614.4,10.9,500,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7143,1.50,136.9,582.2,10.8,510,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2099,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7442,1.50,136.9,551.0,10.5,520,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7743,1.50,136.9,519.5,10.5,530,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8042,1.50,136.9,486.9,11.0,540,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8343,1.50,136.9,453.1,11.3,550,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8642,1.50,136.9,420.4,10.5,560,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8942,1.50,136.9,389.9,10.0,576,8948,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9257,1.50,136.9,358.4,10.0,607,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9570,1.50,136.9,327.0,10.3,638,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9882,1.50,136.9,294.8,10.5,669,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10194,1.50,136.9,262.7,10.2,700,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10508,1.50,136.9,232.8,9.1,731,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2100,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10821,1.51,149.5,204.7,8.4,762,10835,0.00,0.00,11.57,1.937,6,0.000,0.000,3001,2100,2161,0,0,0,0,0,0,28.83,28.83,13.81
$GC,11136,1.54,168.3,177.0,8.1,794,11162,0.00,0.00,20.45,1.963,6,0.000,0.000,3000,2100,2085,0,0,0,0,0,0,28.83,28.83,13.76
$GC,11466,1.57,193.5,150.0,7.8,827,11495,0.00,0.00,27.08,1.946,6,0.000,0.000,3001,2100,1981,0,0,0,0,0,0,28.83,28.83,13.65
$GC,11796,1.60,216.1,122.6,7.9,860,11814,0.10,0.00,12.55,1.786,6,0.181,0.000,3039,2100,1890,0,0,0,0,0,0,14.51,28.83,13.70
$GC,12120,1.60,216.1,91.9,9.3,900,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2100,1886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12435,1.60,216.1,61.5,9.9,961,12442,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2100,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12755,1.63,242.1,27.7,7.8,1022,12773,0.00,0.00,14.12,0.269,6,0.000,0.000,3039,2100,1782,0,0,0,0,0,0,28.83,28.83,14.31
$STATE,13058,end climb,SURFACE_DEPTH_REACHED
$STATE,13058,begin surface coast
$FINISH,2.3,1.024248
$STATE,13100,end surface coast,CONTROL_FINISHED_OK
$STATE,13100,begin surface
$SM_CCo,13144,25.17,0.200,0,0,1587,290.19
$SM_GC,2.84,9.55,14.85,25.17,0.184,0.080,0.200,137,2100,1587,-11.61,-0.57,290.19,0,0,6,1,0,0,14.58,14.56,14.40
$RAFOS_CLK,587
$RAFOS,6,1352004568,4.833333,4.824444,63,63,59,56,54,51,197,224,130,149,179,161
$RAFOS,5,1352004088,4.700000,4.691111,60,60,59,59,56,52,180,219,200,159,125,146
$RAFOS,4,1352003608,4.566667,4.557778,59,58,55,54,54,52,162,204,549,214,185,145
$RAFOS,3,1352003108,4.433333,4.418889,59,55,55,54,53,52,219,161,229,204,135,152
$RAFOS,2,1352002624,4.300000,4.284444,75,59,58,52,51,50,428,214,167,136,193,120
$RAFOS,1,1352002142,4.166667,4.150556,66,60,58,52,50,50,166,224,209,190,108,139
$RAFOS,0,1352001669,4.033333,4.019166,67,58,54,53,52,52,213,172,181,200,139,148
$RAFOS_FIX,6649.052246,-5944.512207,021112,161656,2,104,5.84
$IRIDIUM_FIX,6604.29,-5943.84,031112,232301
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.45
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,1
$24V_AH,12.4,103.704
$10V_AH,12.7,0.000
$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,23.725,59.400,388.100,25.175,0.000,0.000,0.000,324.675,0.250,0.000,6.038,2711.102,7991.541,572.028,1870.912,555.487,0.000,1743.019,0.000,1605.423,2520.000,0.536,0.000
$DEVICE_MAMPS,454.410,82.620,2513.790,200.430,0.000,0.000,0.000,166.770,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.103,770.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188656
$DATA_FILE_SIZE,50023,1088
$CAP_FILE_SIZE,98717,32
$CFSIZE,259252224,228798464
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1451.0
$CURRENT,0.036,266.7,1
$GPS,041112,072004,6633.289,-5950.891,62,0.9,62,-33.6