version: 66.11
glider: 192
mission: 2
dive: 28
start: 9 21 113 2 37 49
data:
$ID,192
$MISSION,2
$DIVE,28
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,110
$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,160
$T_MISSION,190
$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,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033904
$HD_B,0.0092102997
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-1075.3022
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2535
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2794
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-62.7798
$PRESSURE_SLOPE,0.0001164018
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$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,0.0042877649
$SEABIRD_T_H,0.00062881736
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,210913,023059,6624.696,-6032.907,40,0.9,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.9
$GPS2,210913,023703,6624.631,-6032.968,4,1.0,4,-33.5
$SPEED_LIMITS,0.162,0.291
$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,99.9,177321,-14.5,-9.375,-17.87,2984
$D_GRID,434
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,14,begin dive
$GC,20,-0.86,-184.9,128,2343,963,863,0.0,0.0,0,112,0.00,0.00,-89.53,0.000,16386,0.000,0.000,125,2343,2655,2720,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.86,-184.9,125,2343,2722,2590,3.1,-5.2,16,156,10.43,2.55,-18.65,0.000,18948,0.446,0.149,2251,943,3550,3764,3336,0,0,0,0,0,0,14.16,14.30,14.53
$GC,257,-0.72,-184.9,1376,942,3762,3333,35.2,-19.7,40,264,0.22,2.62,0.00,0.000,3078,0.295,0.145,2296,2350,3550,3765,3336,0,0,0,0,0,0,14.27,14.33,28.83
$GC,576,-0.63,-184.9,2296,2350,3765,3336,90.4,-16.8,101,583,0.12,2.62,0.00,0.000,2308,0.316,0.155,2319,3762,3550,3765,3336,0,0,0,0,0,0,14.34,14.39,28.83
$GC,655,-0.61,-184.9,2318,3762,3765,3336,102.7,-14.4,114,664,0.00,2.45,0.00,0.000,1030,0.000,0.109,2319,2355,3550,3765,3336,0,0,0,0,0,0,28.83,14.42,28.83
$GC,966,-0.56,-184.9,2318,2355,3765,3336,149.4,-15.1,145,975,0.12,2.62,0.00,0.000,2308,0.304,0.158,2343,3763,3550,3765,3336,0,0,0,0,0,0,14.42,14.44,28.83
$GC,1054,-0.56,-184.9,1472,3763,3762,3333,161.1,-13.0,153,1061,0.00,2.47,0.00,0.000,1030,0.000,0.109,2342,2350,3550,3765,3336,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1363,-0.56,-184.9,2343,2350,3765,3336,201.6,-13.0,184,1371,0.00,2.62,0.00,0.000,260,0.000,0.166,2342,3761,3550,3764,3336,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1438,-0.58,-184.9,2343,3761,3765,3336,211.1,-11.9,191,1447,0.00,2.45,0.00,0.000,1030,0.000,0.109,2342,2348,3550,3765,3335,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1749,-0.58,-184.9,2342,2348,3765,3335,245.7,-10.0,222,1758,0.00,2.62,0.00,0.000,260,0.000,0.167,2342,3757,3550,3765,3335,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1894,-0.63,-184.9,2342,3757,3765,3335,258.1,-9.1,235,1901,0.00,2.45,0.00,0.000,1030,0.000,0.109,2342,2349,3549,3765,3334,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2202,-0.63,-184.9,2342,2348,3765,3334,288.1,-9.9,266,2211,0.00,2.65,0.00,0.000,260,0.000,0.166,2342,3762,3549,3765,3334,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2238,-0.65,-184.9,2342,3762,3765,3335,291.6,-10.2,269,2247,0.00,2.45,0.00,0.000,1030,0.000,0.109,2342,2344,3549,3765,3334,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2549,-0.67,-184.9,2342,2344,3765,3332,325.1,-11.4,300,2558,0.00,2.65,0.00,0.000,260,0.000,0.164,2342,3766,3549,3765,3334,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2605,-0.71,-184.9,2342,3766,3765,3334,331.4,-11.3,305,2614,0.08,2.45,0.00,0.000,5126,0.138,0.109,2308,2346,3549,3765,3334,0,0,0,0,0,0,14.59,14.59,28.83
$GC,2916,-0.68,-184.9,2307,2345,3765,3333,372.6,-12.8,336,2925,0.00,2.60,0.00,0.000,260,0.000,0.163,2300,3759,3549,3765,3334,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2955,-0.65,-184.9,2300,3759,3765,3333,377.2,-12.9,339,2962,0.00,2.45,0.00,0.000,1030,0.000,0.107,2300,2345,3549,3765,3333,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3264,-0.63,-184.9,2300,2344,3765,3333,416.9,-12.5,370,3273,0.12,2.60,0.00,0.000,2308,0.311,0.158,2323,3762,3549,3765,3333,0,0,0,0,0,0,14.55,14.57,28.83
$GC,3399,-0.66,-184.9,2322,3762,3765,3333,430.6,-10.4,382,3406,0.00,2.45,0.00,0.000,1030,0.000,0.106,2322,2346,3549,3765,3333,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,3421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3421,begin apogee
$GC,3435,-0.22,0.0,2322,2414,3765,3333,434.5,-10.4,385,3637,0.47,0.00,195.43,2.343,10246,0.239,0.000,2457,2414,2793,2920,2667,0,0,0,0,0,0,14.55,28.83,12.79
$STATE,3638,end apogee,CONTROL_FINISHED_OK
$STATE,3638,begin climb
$GC,3644,0.86,184.9,2457,2413,2920,2667,445.0,0.0,406,3884,1.20,2.88,211.25,2.236,10756,0.173,0.129,2815,990,2039,2125,1954,0,0,0,0,3,0,13.53,13.16,12.44
$GC,4007,0.72,184.9,2815,989,2124,1946,423.5,11.6,442,4015,0.20,2.75,0.00,0.000,5126,0.271,0.136,2771,2396,2034,2124,1945,0,0,0,0,0,0,13.55,13.61,28.83
$GC,4317,0.64,184.9,2771,2396,2124,1941,392.4,9.8,473,4325,0.00,2.72,0.00,0.000,260,0.000,0.155,2771,3811,2032,2124,1941,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4405,0.51,184.9,1792,3811,2080,1936,382.9,11.7,481,4412,0.32,2.58,0.00,0.000,5126,0.265,0.107,2701,2394,2032,2124,1941,0,0,0,0,0,0,13.97,14.04,28.83
$GC,4715,0.61,243.9,2701,2394,2124,1940,361.1,7.3,512,4790,0.00,2.85,64.45,2.287,8452,0.000,0.154,2701,3814,1798,1895,1701,0,0,0,0,0,0,28.83,13.56,12.87
$GC,4872,0.64,243.9,1728,3814,1852,1697,347.9,9.8,527,4879,0.00,2.60,0.00,0.000,1030,0.000,0.106,2708,2401,1795,1890,1701,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5181,0.76,301.6,2708,2399,1888,1699,322.4,7.4,558,5251,0.20,2.72,62.95,2.129,10756,0.155,0.130,2787,990,1564,1652,1476,0,0,0,0,0,0,14.13,13.57,12.93
$GC,5285,0.73,301.6,2787,989,1651,1475,312.5,11.4,567,5292,0.00,2.75,0.00,0.000,1030,0.000,0.135,2787,2406,1562,1651,1474,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5593,0.69,301.6,2787,2406,1649,1471,278.3,10.6,598,5602,0.00,2.65,0.00,0.000,260,0.000,0.155,2787,3806,1559,1648,1470,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5672,0.62,301.6,2787,3805,1645,1471,269.3,12.3,605,5680,0.25,2.55,0.00,0.000,5126,0.259,0.108,2738,2393,1558,1645,1471,0,0,0,0,0,0,14.07,14.14,28.83
$GC,5982,0.78,383.4,2739,2393,1645,1470,246.3,6.6,636,6078,0.12,2.72,87.57,2.056,10756,0.177,0.130,2791,986,1229,1310,1149,0,0,0,0,0,0,14.28,13.57,12.95
$GC,6107,0.78,383.4,2791,986,1309,1149,235.4,9.6,648,6115,0.00,2.72,0.00,0.000,1030,0.000,0.135,2791,2397,1228,1308,1148,0,0,0,0,0,0,28.83,13.72,28.83
$GC,6417,0.78,383.4,2791,2397,1303,1144,203.8,10.4,679,6426,0.00,2.70,0.00,0.000,260,0.000,0.155,2791,3814,1222,1303,1142,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6493,0.78,383.4,2791,3813,1301,1144,194.8,12.0,686,6502,0.00,2.53,0.00,0.000,1030,0.000,0.108,2800,2402,1222,1301,1143,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6803,0.78,383.4,2800,2401,1301,1142,159.9,11.2,717,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2402,1221,1301,1142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7113,0.78,383.4,2800,2402,1300,1141,125.3,11.0,748,7122,0.00,2.67,0.00,0.000,260,0.000,0.161,2800,3816,1221,1301,1141,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7158,0.78,383.4,2800,3816,1300,1141,120.0,11.9,752,7167,0.00,2.50,0.00,0.000,1030,0.000,0.110,2810,2398,1220,1300,1141,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7473,0.78,383.4,2810,2397,1300,1141,86.1,10.2,795,7480,0.00,2.67,0.00,0.000,260,0.000,0.161,2810,3820,1220,1300,1140,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7507,0.75,383.4,2810,3820,1299,1141,82.5,12.1,800,7514,0.17,2.53,0.00,0.000,5126,0.262,0.111,2778,2393,1219,1299,1140,0,0,0,0,0,0,14.38,14.43,28.83
$GC,7833,0.92,467.5,2778,2392,1299,1140,59.4,6.5,861,7888,0.15,2.55,46.85,0.369,10756,0.174,0.134,2841,990,887,961,813,0,0,0,0,0,0,14.46,14.35,14.24
$GC,7925,0.95,467.5,2841,990,959,813,50.3,11.0,875,7931,0.00,2.60,0.00,0.000,1030,0.000,0.138,2841,2400,886,959,813,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8242,0.97,467.5,1832,2398,948,807,15.8,13.2,936,8249,0.00,2.62,0.00,0.000,260,0.000,0.158,2841,3810,880,953,808,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8336,0.97,467.5,2841,3810,951,808,4.2,11.9,953,8343,0.00,2.50,0.00,0.000,1030,0.000,0.113,2851,2399,879,951,808,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,8347,end climb,SURFACE_DEPTH_REACHED
$STATE,8348,begin surface coast
$FINISH,0.3,1.015249
$STATE,8374,end surface coast,CONTROL_FINISHED_OK
$STATE,8375,begin surface
$SM_CCo,8463,0.00,0.000,0,0,877,470.24
$SM_GC,1.39,8.02,0.10,0.00,0.096,0.193,0.000,138,2347,877,-7.44,0.51,470.24,0,0,0,0,0,0,14.45,14.45,28.83
$RAFOS_CLK,407
$RAFOS,6,1379738941,4.833333,4.816945,76,63,58,56,54,53,984,170,156,189,201,222
$RAFOS,5,1379738465,4.700000,4.684722,64,58,55,54,54,53,210,173,135,148,1025,235
$RAFOS,4,1379737986,4.566667,4.551667,62,60,57,55,53,50,805,204,144,213,131,90
$RAFOS,3,1379737505,4.433333,4.418056,68,60,57,56,53,53,745,218,147,774,96,114
$RAFOS,2,1379737024,4.300000,4.284444,66,60,58,57,54,51,167,187,210,149,132,196
$RAFOS,1,1379736546,4.166667,4.151667,125,63,60,58,55,53,672,205,221,134,193,119
$RAFOS,0,1379736063,4.033333,4.017500,89,69,58,58,53,53,627,203,160,193,219,146
$RAFOS_FIX,6625.674805,-6028.249512,210913,040423,5,84,0.62
$IRIDIUM_FIX,6553.70,-6040.58,210913,000038
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.36
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.30
$XPDR_PINGS,31
$24V_AH,12.4,15.595
$10V_AH,12.8,0.000
$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,22.225,104.425,668.500,0.000,0.000,0.000,0.000,211.325,7.750,0.000,11.163,2199.659,3529.642,729.429,1835.903,550.417,0.000,1935.374,0.000,1637.195,2520.000,0.535,0.000
$DEVICE_MAMPS,445.995,198.135,2343.195,0.000,0.000,0.000,0.000,138.465,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150736
$DATA_FILE_SIZE,40114,960
$CAP_FILE_SIZE,110061,0
$CFSIZE,259252224,249081856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$SOUNDSPEED,1450.9
$GPS,210913,050035,6624.719,-6031.197,30,1.2,30,-33.5