version: 66.11
glider: 192
mission: 2
dive: 33
start: 9 21 113 15 9 42
data:
$ID,192
$MISSION,2
$DIVE,33
$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,-1097.6798
$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,11
$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
$GPS1,210913,150305,6623.782,-6023.792,29,0.8,29,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.1
$GPS2,210913,150856,6623.760,-6023.845,4,0.8,5,-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,98.5,171980,-14.5,-9.375,-17.87,2984
$D_GRID,462
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,21,-0.86,-184.9,135,2345,1004,908,0.0,0.0,0,106,0.00,0.00,-83.18,0.000,16386,0.000,0.000,133,2345,2560,2641,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.86,-184.9,133,2345,2641,2480,3.0,-5.3,15,156,10.30,2.60,-21.98,0.000,18948,0.445,0.150,2249,945,3550,3768,3332,0,0,0,0,0,0,14.22,14.35,14.59
$GC,297,-0.74,-184.9,1376,943,3767,3330,44.0,-18.2,48,304,0.22,2.60,0.00,0.000,3078,0.295,0.140,2295,2352,3551,3770,3333,0,0,0,0,0,0,14.33,14.39,28.83
$GC,616,-0.64,-184.9,2295,2351,3770,3333,100.0,-16.7,109,623,0.12,2.62,0.00,0.000,2308,0.310,0.152,2319,3771,3551,3770,3333,0,0,0,0,0,0,14.38,14.43,28.83
$GC,718,-0.61,-184.9,1440,3770,3767,3330,114.7,-13.7,119,725,0.00,2.50,0.00,0.000,1030,0.000,0.108,2318,2345,3551,3770,3333,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1026,-0.56,-184.9,1424,2342,3766,3330,156.8,-13.8,150,1035,0.12,2.62,0.00,0.000,2308,0.300,0.157,2342,3764,3551,3770,3333,0,0,0,0,0,0,14.45,14.48,28.83
$GC,1104,-0.56,-184.9,1472,3763,3767,3330,166.6,-12.3,157,1111,0.00,2.47,0.00,0.000,1030,0.000,0.107,2342,2346,3550,3769,3332,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1412,-0.56,-184.9,2342,2345,3770,3332,205.6,-11.9,188,1421,0.00,2.62,0.00,0.000,260,0.000,0.161,2342,3762,3551,3770,3332,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1481,-0.56,-184.9,2342,3762,3770,3332,212.7,-10.7,194,1487,0.00,2.47,0.00,0.000,1030,0.000,0.108,2341,2340,3551,3770,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1789,-0.56,-184.9,2342,2340,3769,3332,245.3,-10.7,225,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2340,3550,3770,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2104,-0.56,-184.9,2342,2340,3770,3331,281.4,-11.8,256,2113,0.00,2.62,0.00,0.000,260,0.000,0.160,2342,3766,3550,3770,3330,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2220,-0.61,-184.9,2342,3766,3769,3330,294.8,-10.4,267,2229,0.00,2.47,0.00,0.000,1030,0.000,0.109,2342,2348,3549,3770,3329,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2530,-0.64,-184.9,2342,2348,3770,3330,326.7,-9.4,298,2539,0.00,2.60,0.00,0.000,260,0.000,0.163,2342,3758,3550,3770,3330,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2586,-0.68,-184.9,2342,3758,3770,3329,331.8,-9.0,303,2595,0.00,2.42,0.00,0.000,1030,0.000,0.108,2341,2353,3549,3770,3329,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2897,-0.71,-184.9,2342,2353,3770,3330,358.1,-8.3,334,2906,0.12,2.60,0.00,0.000,4356,0.177,0.160,2285,3766,3549,3770,3329,0,0,0,0,0,0,14.64,14.59,28.83
$GC,2943,-0.71,-184.9,2285,3765,3770,3329,363.3,-10.9,338,2951,0.00,2.42,0.00,0.000,1030,0.000,0.105,2285,2349,3549,3770,3329,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3253,-0.66,-184.9,2285,2349,3770,3329,403.6,-13.6,369,3262,0.12,2.60,0.00,0.000,2308,0.313,0.159,2308,3762,3549,3770,3329,0,0,0,0,0,0,14.57,14.59,28.83
$GC,3329,-0.66,-184.9,2308,3762,3769,3329,412.7,-11.7,376,3337,0.00,2.42,0.00,0.000,1030,0.000,0.106,2308,2350,3549,3770,3329,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3640,-0.66,-184.9,2308,2350,3770,3329,448.1,-11.7,407,3649,0.00,2.60,0.00,0.000,260,0.000,0.161,2297,3759,3549,3770,3329,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,3659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3659,begin apogee
$GC,3675,-0.22,0.0,2298,2391,3770,3329,451.0,-12.0,409,3875,0.55,0.00,192.88,2.310,10246,0.243,0.000,2453,2391,2794,2925,2663,0,0,0,0,0,0,14.55,28.83,12.81
$STATE,3876,end apogee,CONTROL_FINISHED_OK
$STATE,3876,begin climb
$GC,3882,0.86,184.9,2454,2391,2925,2662,461.6,0.0,430,4103,1.23,2.88,205.23,2.211,10756,0.173,0.127,2816,992,2039,2124,1955,0,0,0,0,1,0,13.57,13.12,12.43
$GC,4296,0.72,184.9,2816,992,2120,1947,435.4,10.8,471,4303,0.20,2.72,0.00,0.000,5126,0.270,0.133,2772,2399,2033,2120,1946,0,0,0,0,0,0,13.65,13.71,28.83
$GC,4607,0.66,207.3,2772,2399,2119,1943,406.8,8.6,502,4636,0.00,2.78,23.58,2.150,8452,0.000,0.151,2771,3818,1949,2045,1854,0,0,0,0,0,0,28.83,13.76,13.08
$GC,4686,0.55,207.3,2771,3818,2043,1854,399.6,10.4,509,4694,0.28,2.60,0.00,0.000,5126,0.267,0.105,2716,2402,1948,2042,1854,0,0,0,0,0,0,13.79,13.87,28.83
$GC,4996,0.64,285.9,2716,2402,2042,1850,378.7,6.7,540,5096,0.00,2.85,87.72,2.183,8452,0.000,0.153,2715,3809,1628,1718,1538,0,0,0,0,1,0,28.83,13.46,12.77
$GC,5128,0.74,333.8,2715,3809,1714,1539,369.7,7.7,552,5212,0.17,2.65,60.65,2.077,11270,0.160,0.103,2772,2393,1433,1516,1350,0,0,0,0,3,0,13.64,13.64,12.64
$GC,5515,0.72,333.8,2772,2393,1511,1344,325.6,12.4,591,5524,0.00,2.62,0.00,0.000,516,0.000,0.130,2782,990,1427,1511,1344,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5533,0.72,333.8,2782,990,1511,1344,324.0,12.1,592,5540,0.00,2.70,0.00,0.000,1030,0.000,0.133,2782,2406,1427,1511,1344,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5841,0.69,333.8,1792,2404,1485,1341,285.0,11.9,623,5850,0.00,2.67,0.00,0.000,260,0.000,0.152,2782,3813,1426,1509,1343,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5868,0.66,333.8,2782,3813,1509,1344,281.7,12.1,625,5878,0.15,2.55,0.00,0.000,5126,0.241,0.106,2752,2402,1425,1508,1343,0,0,0,0,0,0,14.06,14.10,28.83
$GC,6180,0.70,352.4,2752,2401,1508,1343,251.9,8.7,656,6206,0.00,2.62,19.08,2.143,8708,0.000,0.129,2757,988,1357,1438,1277,0,0,0,0,0,0,28.83,14.03,13.38
$GC,6226,0.76,373.8,2757,988,1438,1277,248.2,8.6,660,6259,0.00,2.65,24.62,2.069,9222,0.000,0.132,2757,2399,1270,1349,1191,0,0,0,0,0,0,28.83,14.05,13.21
$GC,6563,0.84,404.4,2757,2399,1346,1185,219.1,8.3,694,6603,0.12,2.78,33.55,2.074,10500,0.177,0.151,2802,3819,1144,1223,1066,0,0,0,0,0,0,14.18,13.82,13.20
$GC,6635,0.81,404.4,2802,3819,1221,1067,211.6,12.0,700,6644,0.00,2.58,0.00,0.000,1030,0.000,0.106,2813,2401,1143,1221,1066,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6945,0.79,404.4,2813,2399,1219,1064,175.1,11.7,731,6954,0.00,2.67,0.00,0.000,260,0.000,0.157,2813,3804,1141,1218,1064,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6991,0.77,404.4,2813,3804,1217,1064,168.9,13.4,735,7001,0.12,2.50,0.00,0.000,5126,0.239,0.106,2787,2399,1140,1217,1064,0,0,0,0,0,0,14.16,14.21,28.83
$GC,7303,0.79,404.4,2787,2398,1216,1063,134.8,10.7,766,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2398,1139,1216,1063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7620,0.86,434.6,2788,2398,1216,1062,105.1,8.3,797,7645,0.00,2.67,17.88,0.552,8452,0.000,0.156,2787,3816,1021,1098,945,0,0,0,0,0,0,28.83,14.32,14.16
$GC,7682,0.89,434.6,2787,3816,1097,945,99.1,9.4,803,7689,0.00,2.53,0.00,0.000,1030,0.000,0.106,2795,2396,1021,1097,945,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8000,0.96,459.7,2795,2395,1095,944,72.8,8.5,864,8025,0.12,2.60,14.43,0.428,10756,0.174,0.133,2851,994,918,992,844,0,0,0,0,0,0,14.42,14.36,14.24
$GC,8052,0.96,459.7,2851,994,992,844,66.8,13.6,872,8059,0.00,2.60,0.00,0.000,1030,0.000,0.135,2851,2409,918,992,844,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8370,0.96,459.7,2851,2409,990,842,23.1,11.7,933,8376,0.00,2.60,0.00,0.000,260,0.000,0.155,2852,3808,916,990,843,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8453,0.96,459.7,2852,3809,988,842,12.8,12.9,948,8460,0.00,2.50,0.00,0.000,1030,0.000,0.109,2861,2389,915,988,842,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,8530,end climb,SURFACE_DEPTH_REACHED
$STATE,8530,begin surface coast
$FINISH,0.4,1.024866
$STATE,8562,end surface coast,CONTROL_FINISHED_OK
$STATE,8562,begin surface
$SM_CCo,8652,0.00,0.000,0,0,913,461.41
$SM_GC,1.39,8.10,0.08,0.00,0.101,0.209,0.000,139,2346,913,-7.44,0.62,461.41,0,0,0,0,0,0,14.47,14.47,28.83
$RAFOS_CLK,411
$RAFOS,6,1379782145,16.833334,16.818056,69,64,59,58,57,57,949,211,221,145,162,115
$RAFOS,5,1379781670,16.700001,16.686111,67,56,55,55,54,54,988,197,219,206,179,188
$RAFOS,4,1379781185,16.566668,16.551390,69,56,55,53,52,50,164,192,152,210,181,228
$RAFOS,3,1379780706,16.433332,16.418333,62,57,55,55,53,51,198,180,212,731,141,162
$RAFOS,2,1379780222,16.299999,16.283890,63,61,56,56,54,53,177,622,219,148,162,130
$RAFOS,1,1379779745,16.166666,16.151388,58,58,57,55,53,51,204,222,182,170,110,421
$RAFOS,0,1379779269,16.033333,16.019167,69,66,60,60,56,53,618,181,232,139,220,193
$RAFOS_FIX,6625.161621,-6021.739746,210913,161642,3,68,0.60
$IRIDIUM_FIX,6553.70,-6028.61,210913,121232
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.88
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.30
$XPDR_PINGS,31
$24V_AH,12.4,17.858
$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,22.075,104.125,679.600,0.000,0.000,0.000,0.000,200.900,7.750,0.000,5.937,2191.127,3730.786,725.059,1828.565,542.195,0.000,1931.159,0.000,1641.418,2520.000,0.536,0.000
$DEVICE_MAMPS,445.230,208.845,2309.535,0.000,0.000,0.000,0.000,125.460,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.461,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150820
$DATA_FILE_SIZE,43352,968
$CAP_FILE_SIZE,111174,0
$CFSIZE,259252224,248770560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$SOUNDSPEED,1451.9
$GPS,210913,173535,6624.262,-6021.535,35,1.3,35,-33.5