version: 66.11
glider: 192
mission: 2
dive: 37
start: 9 22 113 2 19 7
data:
$ID,192
$MISSION,2
$DIVE,37
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1090
$D_NO_BLEED,200
$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,180
$T_MISSION,200
$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,170
$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,-1113.3928
$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,2450
$C_ROLL_CLIMB,2430
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,13
$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,5
$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
$GPS1,220913,021035,6623.081,-6013.762,35,1.1,35,-33.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.7
$GPS2,220913,021825,6623.032,-6013.799,5,1.1,5,-33.4
$SPEED_LIMITS,0.144,0.265
$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,96.9,166030,-13.8,-8.333,-17.43,2997
$D_GRID,476
$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,13,begin dive
$GC,20,-0.80,-165.5,133,2449,987,914,0.0,0.0,0,112,0.00,0.00,-89.15,0.000,16386,0.000,0.000,133,2449,2710,2781,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.80,-165.5,133,2450,2781,2641,3.5,-6.4,16,150,10.23,2.60,-15.48,0.000,18948,0.435,0.142,2269,1040,3472,3674,3271,0,0,0,0,0,0,14.23,14.35,14.58
$GC,197,-0.65,-165.5,2269,1040,3676,3271,24.4,-21.6,29,205,0.25,2.60,0.00,0.000,3078,0.301,0.138,2319,2451,3473,3676,3271,0,0,0,0,0,0,14.28,14.35,28.83
$GC,516,-0.56,-165.5,1424,2449,3672,3267,73.0,-13.3,90,523,0.12,0.00,0.00,0.000,2054,0.309,0.000,2352,2451,3473,3677,3270,0,0,0,0,0,0,14.36,28.83,28.83
$GC,839,-0.54,-165.5,2352,2451,3677,3270,109.5,-11.8,144,848,0.00,2.60,0.00,0.000,260,0.000,0.159,2344,3862,3473,3677,3270,0,0,0,0,0,0,28.83,14.45,28.83
$GC,885,-0.52,-165.5,2344,3861,3677,3270,115.1,-12.1,148,894,0.00,2.45,0.00,0.000,1030,0.000,0.106,2343,2444,3473,3677,3270,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1195,-0.49,-165.5,2343,2444,3677,3270,153.7,-12.7,179,1202,0.12,0.00,0.00,0.000,2054,0.309,0.000,2375,2444,3473,3677,3270,0,0,0,0,0,0,14.45,28.83,28.83
$GC,1505,-0.52,-165.5,2375,2444,3677,3269,188.8,-11.1,210,1514,0.00,2.62,0.00,0.000,260,0.000,0.162,2366,3863,3473,3677,3269,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1534,-0.55,-165.5,1472,3862,3672,3265,191.8,-11.3,212,1541,0.00,2.47,0.00,0.000,1030,0.000,0.108,2366,2440,3472,3677,3268,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1843,-0.57,-165.5,2366,2440,3677,3268,224.0,-9.2,243,1852,0.00,2.62,0.00,0.000,260,0.000,0.161,2366,3857,3472,3677,3268,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1912,-0.61,-165.5,2366,3858,3677,3268,229.5,-8.1,249,1919,0.00,2.45,0.00,0.000,1030,0.000,0.107,2366,2444,3472,3677,3268,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2222,-0.64,-165.5,2366,2444,3677,3268,253.0,-8.0,280,2228,0.12,0.00,0.00,0.000,4102,0.197,0.000,2323,2445,3472,3677,3267,0,0,0,0,0,0,14.58,28.83,28.83
$GC,2531,-0.61,-165.5,2323,2444,3677,3267,286.1,-11.0,311,2540,0.00,2.45,0.00,0.000,516,0.000,0.128,2323,1047,3471,3676,3267,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2570,-0.61,-165.5,2323,1046,3677,3267,289.9,-10.9,314,2576,0.00,2.58,0.00,0.000,1030,0.000,0.142,2318,2461,3472,3677,3267,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2878,-0.57,-165.5,2318,2461,3677,3267,323.4,-10.8,345,2888,0.12,2.55,0.00,0.000,2308,0.335,0.155,2340,3860,3472,3677,3267,0,0,0,0,0,0,14.54,14.58,28.83
$GC,2984,-0.57,-165.5,2340,3860,3677,3267,334.2,-9.9,355,2993,0.00,2.40,0.00,0.000,1030,0.000,0.106,2340,2456,3471,3677,3266,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3295,-0.57,-165.5,2340,2456,3677,3266,364.9,-9.6,386,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2456,3471,3677,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3612,-0.57,-165.5,2340,2456,3677,3266,394.9,-9.4,417,3620,0.00,2.58,0.00,0.000,260,0.000,0.162,2340,3857,3472,3677,3267,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3660,-0.59,-165.5,1456,3857,3673,3264,399.8,-9.4,421,3667,0.00,2.45,0.00,0.000,1030,0.000,0.106,2340,2437,3471,3677,3266,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3968,-0.59,-165.5,2339,2437,3677,3267,428.5,-8.9,452,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2437,3471,3677,3266,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4212,begin apogee
$GC,4226,-0.22,0.0,2340,2437,3676,3267,450.4,-8.8,477,4410,0.40,0.00,171.38,2.336,10246,0.244,0.000,2453,2437,2794,2923,2665,0,0,0,0,0,0,14.59,28.83,12.83
$STATE,4411,end apogee,CONTROL_FINISHED_OK
$STATE,4411,begin climb
$GC,4418,0.80,165.5,2453,2437,2922,2665,458.9,0.0,496,4614,1.15,2.88,180.07,2.267,10756,0.180,0.126,2794,1024,2118,2204,2033,0,0,0,0,0,0,13.63,13.17,12.48
$GC,4769,0.67,165.5,2794,1024,2204,2022,438.3,10.4,531,4778,0.15,2.70,0.00,0.000,5126,0.271,0.134,2757,2425,2112,2204,2021,0,0,0,0,0,0,13.64,13.69,28.83
$GC,5080,0.58,165.5,2757,2425,2204,2017,411.4,8.8,562,5090,0.12,2.70,0.00,0.000,4356,0.291,0.153,2726,3842,2110,2203,2017,0,0,0,0,0,0,13.97,14.00,28.83
$GC,5169,0.50,165.5,1760,3841,2157,2012,404.0,8.6,570,5177,0.17,2.55,0.00,0.000,5126,0.272,0.106,2696,2425,2109,2203,2016,0,0,0,0,0,0,14.02,14.09,28.83
$GC,5479,0.59,244.6,2696,2426,2203,2016,385.7,5.6,601,5573,0.00,2.83,83.15,2.234,8452,0.000,0.151,2696,3844,1795,1892,1699,0,0,0,0,0,0,28.83,13.53,12.86
$GC,5608,0.64,256.6,1696,3844,1846,1694,377.9,7.9,613,5632,0.15,2.62,14.00,2.066,11270,0.183,0.103,2740,2426,1746,1836,1656,0,0,0,0,0,0,13.73,13.74,12.93
$GC,5935,0.62,256.6,2741,2425,1832,1652,347.7,9.4,646,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2425,1742,1832,1652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6250,0.59,256.6,2741,2425,1831,1651,319.4,9.2,677,6259,0.00,2.67,0.00,0.000,260,0.000,0.154,2741,3844,1741,1831,1651,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6326,0.55,256.6,2741,3844,1829,1651,311.0,10.9,684,6335,0.12,2.50,0.00,0.000,5126,0.251,0.105,2716,2432,1740,1829,1651,0,0,0,0,0,0,14.19,14.24,28.83
$GC,6637,0.60,273.4,2716,2432,1829,1652,286.7,7.8,715,6662,0.00,0.00,17.33,2.110,8710,0.000,0.000,2716,2432,1678,1767,1590,0,0,0,0,0,0,28.83,28.83,13.47
$GC,6967,0.72,331.8,2716,2432,1767,1589,262.9,6.3,748,7037,0.12,2.70,62.92,2.157,10756,0.177,0.129,2768,1014,1441,1527,1355,0,0,0,0,0,0,14.33,13.74,13.07
$GC,7099,0.73,338.8,2769,1014,1527,1352,252.7,8.1,760,7116,0.00,2.67,8.93,1.898,9222,0.000,0.132,2768,2432,1411,1497,1326,0,0,0,0,0,0,28.83,13.92,13.20
$GC,7419,0.74,350.6,2769,2431,1495,1324,225.6,7.9,792,7439,0.00,2.72,13.02,2.000,8452,0.000,0.154,2768,3834,1364,1448,1280,0,0,0,0,0,0,28.83,14.05,13.40
$GC,7491,0.72,350.6,2769,3834,1447,1280,219.6,9.1,799,7500,0.00,2.50,0.00,0.000,1030,0.000,0.105,2778,2433,1363,1447,1280,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7801,0.72,350.6,2778,2433,1445,1280,191.7,9.2,830,7810,0.00,2.58,0.00,0.000,516,0.000,0.130,2778,1021,1362,1445,1279,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7836,0.72,350.6,2778,1021,1444,1278,188.4,9.5,833,7845,0.00,2.60,0.00,0.000,1030,0.000,0.132,2777,2434,1361,1444,1278,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8148,0.72,350.6,2778,2434,1444,1277,158.7,10.2,864,8156,0.00,2.60,0.00,0.000,260,0.000,0.153,2777,3842,1360,1443,1277,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8233,0.70,350.6,2778,3841,1443,1277,148.9,11.7,872,8242,0.00,2.45,0.00,0.000,1030,0.000,0.106,2785,2434,1359,1442,1277,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8543,0.70,350.6,2785,2434,1442,1277,114.9,11.0,903,8551,0.00,2.53,0.00,0.000,516,0.000,0.130,2794,1020,1359,1442,1277,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8561,0.70,350.6,2794,1020,1442,1277,113.7,10.6,904,8568,0.15,2.58,0.00,0.000,5126,0.269,0.135,2760,2431,1359,1442,1277,0,0,0,0,0,0,14.40,14.44,28.83
$GC,8875,0.75,351.3,2760,2431,1441,1276,85.0,8.3,952,8882,0.00,2.62,0.00,0.000,260,0.000,0.155,2760,3851,1359,1442,1276,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8917,0.75,351.3,1792,3851,1420,1275,80.9,9.8,959,8924,0.00,2.50,0.00,0.000,1030,0.000,0.106,2768,2420,1358,1441,1276,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9242,0.86,403.3,2768,2420,1441,1276,56.4,6.5,1020,9278,0.12,2.60,29.83,0.360,10756,0.192,0.132,2819,1018,1147,1227,1068,0,0,0,0,0,0,14.50,14.43,14.33
$GC,9300,0.86,403.3,1824,1017,1212,1068,51.1,10.3,1029,9306,0.00,2.58,0.00,0.000,1030,0.000,0.134,2819,2431,1147,1226,1069,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9619,0.88,421.6,2819,2431,1223,1063,22.0,7.7,1090,9638,0.00,2.67,9.45,0.260,8452,0.000,0.156,2819,3841,1073,1152,995,0,0,0,0,0,0,28.83,14.44,14.41
$GC,9679,0.88,421.6,2819,3842,1151,995,16.6,10.1,1100,9686,0.00,2.47,0.00,0.000,1030,0.000,0.108,2828,2427,1072,1150,994,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,9827,end climb,SURFACE_DEPTH_REACHED
$STATE,9827,begin surface coast
$FINISH,0.4,1.024645
$STATE,9854,end surface coast,CONTROL_FINISHED_OK
$STATE,9854,begin surface
$SM_CCo,9883,15.55,0.190,0,0,958,450.13
$SM_GC,1.33,8.00,0.05,15.55,0.103,0.276,0.190,141,2452,958,-7.43,-0.57,450.13,0,0,0,0,0,0,14.51,14.50,14.45
$RAFOS_CLK,476
$RAFOS,6,1379825342,4.833333,4.817222,92,60,58,56,53,53,949,221,159,191,232,201
$RAFOS,5,1379824864,4.700000,4.684444,81,72,59,56,55,54,991,207,176,135,217,120
$RAFOS,4,1379824387,4.566667,4.551944,75,59,58,57,57,56,763,176,212,223,126,151
$RAFOS,3,1379823902,4.433333,4.417222,80,60,59,53,53,49,706,204,162,214,146,179
$RAFOS,2,1379823423,4.300000,4.284167,88,77,56,53,53,52,573,210,149,162,178,139
$RAFOS,1,1379822948,4.166667,4.152222,89,62,58,56,55,53,642,210,149,169,191,181
$RAFOS,0,1379822465,4.033333,4.018055,105,65,58,57,57,55,642,169,197,116,187,209
$RAFOS_FIX,6625.061035,-6010.544434,220913,040458,7,87,0.58
$IRIDIUM_FIX,6553.70,-6016.64,220913,020215
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.88
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.30
$XPDR_PINGS,101
$24V_AH,12.5,19.607
$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,21.650,98.300,590.075,15.550,0.000,0.000,0.000,248.400,25.250,0.000,5.913,2627.623,4402.091,694.508,2067.438,601.642,0.000,2019.138,0.000,1842.947,2520.000,0.536,0.000
$DEVICE_MAMPS,435.285,276.165,2336.310,189.720,0.000,0.000,0.000,143.055,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,792.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150824
$DATA_FILE_SIZE,50028,1133
$CAP_FILE_SIZE,122139,0
$CFSIZE,259252224,248500224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.2
$GPS,220913,050605,6624.353,-6010.996,33,1.0,33,-33.5