version: 66.11
glider: 193
mission: 2
dive: 342
start: 11 6 112 20 59 44
data:
$ID,193
$MISSION,2
$DIVE,342
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,150
$T_MISSION,180
$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,-1721.7201
$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
$GPS1,061112,205022,6627.930,-5952.925,38,0.8,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-68.1
$GPS2,061112,205847,6627.845,-5952.956,4,0.7,5,-33.5
$SPEED_LIMITS,0.067,0.237
$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,88.9,148588,-15.8,-8.000,-18.68
$D_GRID,628
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.38,-136.9,0.0,0.0,0,26,0.00,0.00,-5.50,0.000,2,0.000,0.000,137,1835,1679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.38,-136.9,3.0,0.0,1,156,11.43,0.00,-109.03,0.000,6,0.448,0.000,2375,1836,3329,0,0,0,0,0,0,14.12,28.83,14.72
$GC,471,-1.38,-136.9,53.2,-14.7,82,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1835,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,787,-1.38,-136.9,96.6,-12.8,143,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1110,-1.38,-136.9,138.9,-13.4,176,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1421,-1.38,-136.9,179.6,-12.6,207,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1733,-1.38,-136.9,219.2,-12.0,238,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2046,-1.38,-136.9,252.8,-10.1,269,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-1.38,-136.9,285.9,-10.9,300,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2670,-1.38,-136.9,317.9,-10.4,331,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2983,-1.38,-136.9,351.9,-10.9,362,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3055,begin apogee
$GC,3082,-0.38,0.0,360.8,-10.6,370,3243,0.82,14.85,134.68,2.184,6,0.275,0.084,2592,1836,2771,0,0,6,1,0,0,14.20,13.76,12.97
$STATE,3244,end apogee,CONTROL_FINISHED_OK
$STATE,3244,begin climb
$GC,3250,1.38,136.9,369.3,0.0,388,3407,1.35,0.00,149.12,2.145,6,0.190,0.000,2975,1836,2213,0,0,0,0,0,0,13.74,28.83,12.47
$GC,3710,1.38,136.9,337.1,8.7,435,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1835,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4027,1.38,136.9,309.4,9.1,466,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1836,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4339,1.38,136.9,282.6,8.5,497,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1836,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4652,1.38,136.9,256.8,8.4,528,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1836,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4964,1.38,136.9,230.9,8.2,559,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1836,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5277,1.43,181.0,208.5,6.3,590,5327,0.00,0.00,43.28,2.036,6,0.000,0.000,2975,1836,2034,0,0,0,0,0,0,28.83,28.83,13.55
$GC,5632,1.46,201.6,182.7,7.2,626,5658,0.10,0.00,21.52,1.966,6,0.175,0.000,3017,1835,1950,0,0,0,0,0,0,14.50,28.83,13.57
$GC,5961,1.46,201.6,153.5,8.9,659,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1836,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6278,1.46,201.6,123.9,9.7,690,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1836,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6589,1.46,201.6,95.1,8.5,726,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1835,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6905,1.46,201.6,68.1,8.7,787,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1836,1943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7222,1.51,244.2,42.1,6.3,848,7252,0.00,0.00,23.85,0.311,6,0.000,0.000,3017,1836,1773,0,0,0,0,0,0,28.83,28.83,14.29
$GC,7563,1.54,269.3,15.8,7.0,913,7581,0.00,0.00,12.80,0.232,6,0.000,0.000,3017,1836,1673,0,0,0,0,0,0,28.83,28.83,14.34
$STATE,7721,end climb,SURFACE_DEPTH_REACHED
$STATE,7721,begin surface coast
$FINISH,2.0,1.023053
$STATE,7758,end surface coast,CONTROL_FINISHED_OK
$STATE,7758,begin surface
$SM_CCo,7801,9.98,0.208,0,0,1588,290.19
$SM_GC,3.76,8.65,14.85,9.98,0.110,0.086,0.208,136,1836,1588,-11.59,-8.03,290.19,0,0,6,1,0,0,14.61,14.54,14.39
$RAFOS_CLK,341
$RAFOS_FIX,6628.031250,-5939.301758,061112,202028,2,76,1.38
$IRIDIUM_FIX,6558.99,-5949.26,061112,181816
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.83
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.50
$XPDR_PINGS,7
$24V_AH,12.5,109.866
$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,22.350,59.400,385.250,9.975,0.000,0.000,0.000,319.050,1.750,0.000,5.930,2211.435,3450.400,550.967,1642.806,477.557,0.000,1613.978,0.000,1387.344,0.000,0.536,0.000
$DEVICE_MAMPS,447.525,89.505,2184.075,208.080,0.000,0.000,0.000,169.065,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.735,654.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188700
$DATA_FILE_SIZE,43510,950
$CAP_FILE_SIZE,76012,32
$CFSIZE,259252224,227774464
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1446.5
$CURRENT,0.246,176.5,1
$GPS,061112,231100,6626.940,-5952.691,14,0.9,14,-33.5