version: 66.11
glider: 193
mission: 2
dive: 326
start: 11 4 112 19 1 27
data:
$ID,193
$MISSION,2
$DIVE,326
$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,-1673.4449
$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,0
$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
$GPS1,041112,184828,6633.880,-5951.460,94,0.8,94,-33.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.28
$_SM_ANGLEo,-59.6
$GPS2,041112,190033,6633.769,-5951.579,17,68.7,36,-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,135.8,143198,-17.3,-8.919,-19.96
$D_GRID,669
$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,-5.53,0.000,2,0.000,0.000,85,2326,1679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.3,0.0,1,158,11.50,0.00,-106.38,0.000,6,0.446,0.000,2350,2270,3331,0,0,0,0,0,0,14.15,28.83,14.72
$GC,472,-1.50,-136.9,61.1,-16.1,82,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,789,-1.50,-136.9,107.6,-14.1,138,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-1.50,-136.9,152.6,-14.0,169,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2271,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1414,-1.50,-136.9,196.3,-13.5,200,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1726,-1.50,-136.9,236.2,-13.1,231,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2038,-1.50,-136.9,274.6,-12.2,262,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,-1.50,-136.9,310.2,-11.6,293,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2663,-1.50,-136.9,345.8,-11.1,324,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,-1.50,-136.9,379.1,-10.1,355,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3291,-1.50,-136.9,413.5,-10.7,379,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3592,-1.50,-136.9,443.3,-9.7,389,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3891,-1.50,-136.9,473.5,-10.3,399,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4191,-1.50,-136.9,504.4,-10.5,409,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4491,-1.50,-136.9,536.0,-10.3,419,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4791,-1.50,-136.9,566.3,-10.0,429,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5091,-1.50,-136.9,595.2,-9.5,439,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2270,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5391,-1.50,-136.9,624.1,-9.8,449,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5691,-1.50,-136.9,653.4,-9.8,459,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2270,3334,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5866,begin apogee
$GC,5893,-0.38,0.0,670.7,-9.6,465,6062,0.90,14.85,142.85,2.534,6,0.267,0.085,2590,2270,2773,0,0,6,1,0,0,14.21,13.61,12.77
$STATE,6063,end apogee,CONTROL_FINISHED_OK
$STATE,6063,begin climb
$GC,6070,1.50,136.9,676.4,0.0,471,6234,1.42,0.00,158.98,2.470,6,0.169,0.000,3004,2269,2214,0,0,0,0,0,0,13.64,28.83,12.36
$GC,6530,1.50,136.9,632.5,11.7,487,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2269,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6826,1.50,136.9,596.8,11.8,497,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2270,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7127,1.50,136.9,562.1,11.4,507,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2269,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7426,1.50,136.9,527.1,11.8,517,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2270,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7726,1.50,136.9,491.6,11.8,527,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2269,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8026,1.50,136.9,455.6,12.3,537,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2269,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8326,1.50,136.9,419.8,12.1,547,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2269,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8626,1.50,136.9,385.3,10.9,565,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2269,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8943,1.50,136.9,352.8,10.1,596,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2269,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9254,1.50,136.9,322.4,9.5,627,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2269,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9566,1.50,136.9,291.7,10.1,658,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2269,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9879,1.50,136.9,259.9,10.1,689,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2269,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10192,1.50,136.9,229.1,9.5,720,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2269,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10504,1.51,146.8,201.0,8.5,751,10516,0.00,0.00,9.05,1.890,6,0.000,0.000,3004,2270,2173,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10819,1.54,167.2,173.4,8.0,783,10846,0.00,0.00,21.92,1.985,6,0.000,0.000,3004,2269,2090,0,0,0,0,0,0,28.83,28.83,13.75
$GC,11150,1.55,180.2,145.6,8.4,816,11167,0.00,0.00,14.43,1.908,6,0.000,0.000,3004,2269,2036,0,0,0,0,0,0,28.83,28.83,13.71
$GC,11469,1.55,181.3,118.0,8.9,848,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2269,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11784,1.60,220.0,92.1,7.2,888,11810,0.10,0.00,22.88,0.461,6,0.177,0.000,3044,2269,1874,0,0,0,0,0,0,14.59,28.83,14.19
$GC,12124,1.60,220.0,61.8,9.4,952,12130,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2269,1867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12441,1.61,229.3,31.4,8.5,1013,12449,0.00,0.00,4.22,0.317,6,0.000,0.000,3044,2269,1836,0,0,0,0,0,0,28.83,28.83,14.31
$GC,12760,1.66,263.9,5.8,7.4,1074,12785,0.00,0.00,18.70,0.206,6,0.000,0.000,3044,2269,1692,0,0,0,0,0,0,28.83,28.83,14.40
$STATE,12789,end climb,SURFACE_DEPTH_REACHED
$STATE,12789,begin surface coast
$FINISH,2.3,1.004088
$STATE,12816,end surface coast,CONTROL_FINISHED_OK
$STATE,12816,begin surface
$SM_CCo,12859,12.77,0.204,0,0,1588,290.19
$SM_GC,3.03,8.65,14.85,12.77,0.103,0.085,0.204,141,2242,1588,-11.59,3.45,290.19,0,0,6,1,0,0,14.57,14.55,14.37
$RAFOS_CLK,574
$RAFOS,6,1352062147,20.833334,20.818611,61,60,58,57,56,52,191,157,136,114,170,179
$RAFOS,5,1352061666,20.700001,20.684999,81,62,57,53,52,52,210,186,127,144,168,220
$RAFOS,4,1352061192,20.566668,20.553333,65,61,61,59,56,56,653,215,194,152,225,204
$RAFOS,3,1352060712,20.433332,20.420000,62,58,58,56,54,51,141,170,206,152,190,126
$RAFOS,2,1352060232,20.299999,20.286667,59,58,57,55,54,49,216,138,170,196,183,156
$RAFOS,1,1352059752,20.166666,20.153334,63,61,57,51,51,49,181,201,220,143,493,125
$RAFOS,0,1352059272,20.033333,20.020000,55,53,53,53,49,49,195,181,169,218,208,144
$RAFOS_FIX,6649.052246,-5944.512207,021112,161656,2,104,5.84
$IRIDIUM_FIX,6604.29,-5955.89,041112,181849
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.00
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,5
$24V_AH,12.4,105.037
$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,22.575,59.400,393.025,12.775,0.000,0.000,0.000,426.250,1.250,0.000,38.341,2647.646,7809.472,572.350,1989.120,587.833,0.000,1851.725,0.000,1597.814,2520.000,0.536,0.000
$DEVICE_MAMPS,445.995,88.740,2534.445,204.255,0.000,0.000,0.000,170.595,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.371,767.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188688
$DATA_FILE_SIZE,50142,1084
$CAP_FILE_SIZE,99236,32
$CFSIZE,259252224,228573184
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1450.3
$CURRENT,0.209,178.9,1
$GPS,041112,223734,6632.759,-5952.751,41,0.8,41,-33.6