version: 66.11
glider: 192
mission: 2
dive: 55
start: 9 24 113 5 26 30
data:
$ID,192
$MISSION,2
$DIVE,55
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,380
$T_MISSION,410
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$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,400
$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,-1165.0541
$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,2525
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,22
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,240913,051735,6632.737,-5935.466,34,1.5,34,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-68.6
$GPS2,240913,052551,6632.693,-5935.653,4,1.4,4,-33.5
$SPEED_LIMITS,0.150,0.251
$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,136.2,133448,-16.2,-8.684,-19.07,2590
$D_GRID,775
$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,-1.04,-146.0,117,2435,1098,1080,0.0,0.0,0,104,0.00,0.00,-81.43,0.000,16386,0.000,0.000,117,2435,2720,2778,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-1.04,-146.0,117,2435,2778,2663,3.3,-4.2,14,144,9.80,2.53,-13.45,0.000,18948,0.431,0.140,2181,1036,3340,3516,3164,0,0,0,0,0,0,14.23,14.37,14.59
$GC,330,-1.04,-146.0,2181,1035,3518,3164,61.6,-23.1,54,337,0.00,2.58,0.00,0.000,1030,0.000,0.129,2172,2453,3341,3518,3164,0,0,0,0,0,0,28.83,14.42,28.83
$GC,649,-1.04,-146.0,2173,2453,3519,3164,138.2,-23.3,100,657,0.00,2.47,0.00,0.000,516,0.000,0.114,2173,1038,3341,3519,3164,0,0,0,0,0,0,28.83,14.47,28.83
$GC,676,-1.04,-146.0,1352,1038,3512,3161,144.1,-23.8,102,684,0.00,2.55,0.00,0.000,1030,0.000,0.126,2162,2457,3341,3519,3164,0,0,0,0,0,0,28.83,14.49,28.83
$GC,986,-1.04,-146.0,2162,2457,3519,3163,218.7,-23.9,133,995,0.00,2.47,0.00,0.000,516,0.000,0.116,2162,1044,3341,3519,3163,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1083,-1.04,-146.0,2162,1044,3519,3163,240.4,-22.0,142,1094,0.12,2.50,0.00,0.000,3078,0.315,0.127,2183,2440,3341,3519,3163,0,0,0,0,0,0,14.44,14.52,28.83
$GC,1395,-1.04,-146.0,2183,2440,3519,3163,305.7,-20.1,173,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2440,3341,3519,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1712,-1.04,-146.0,2183,2440,3519,3162,367.9,-19.4,204,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2440,3340,3519,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-1.04,-146.0,2183,2440,3519,3162,427.5,-18.9,235,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2440,3340,3519,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,-1.04,-146.0,2183,2440,3519,3162,485.2,-18.4,266,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2440,3340,3519,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2653,-1.04,-146.0,2183,2440,3519,3162,542.4,-18.3,297,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2440,3340,3519,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,-1.04,-146.0,2182,2440,3519,3162,598.6,-17.6,328,2974,0.00,2.55,0.00,0.000,260,0.000,0.143,2174,3866,3340,3518,3162,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3014,-1.04,-146.0,2174,3865,3519,3162,606.2,-18.2,330,3019,0.00,2.40,0.00,0.000,1030,0.000,0.097,2174,2445,3340,3519,3162,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3331,-1.04,-146.0,2174,2445,3519,3162,666.7,-18.1,341,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2444,3341,3520,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3632,-1.04,-146.0,2175,2444,3519,3162,721.8,-18.6,351,3637,0.00,2.42,0.00,0.000,516,0.000,0.116,2174,1036,3341,3519,3163,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3677,-1.04,-146.0,2174,1036,3519,3163,727.8,-18.5,352,3682,0.00,2.50,0.00,0.000,1030,0.000,0.129,2164,2453,3341,3519,3163,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,3928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3928,begin apogee
$GC,3941,-0.21,0.0,2164,2452,3519,3163,778.3,-18.9,361,4118,1.05,0.00,160.90,2.645,10246,0.282,0.000,2448,2452,2740,2854,2626,0,0,0,0,0,0,14.62,28.83,12.77
$STATE,4119,end apogee,CONTROL_FINISHED_OK
$STATE,4119,begin climb
$GC,4125,1.04,146.0,2448,2452,2853,2626,787.6,0.0,367,4304,1.42,0.00,173.05,2.570,10758,0.173,0.000,2857,2452,2144,2228,2060,0,0,0,0,0,0,13.66,28.83,12.28
$GC,4594,1.04,146.0,2858,2452,2228,2050,732.4,14.9,383,4600,0.00,2.67,0.00,0.000,260,0.000,0.148,2857,3837,2139,2228,2050,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4620,1.04,146.0,2857,3837,2227,2050,732.4,14.9,383,4627,0.00,2.58,0.00,0.000,1030,0.000,0.102,2868,2423,2139,2228,2050,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4927,1.04,146.0,2869,2422,2228,2048,681.3,15.3,394,4932,0.00,2.70,0.00,0.000,260,0.000,0.151,2868,3843,2138,2227,2049,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4967,1.04,146.0,2868,3843,2227,2048,676.0,15.7,395,4973,0.00,2.50,0.00,0.000,1030,0.000,0.103,2879,2436,2137,2227,2048,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5289,1.04,146.0,2879,2435,2227,2046,622.9,15.9,406,5295,0.00,2.65,0.00,0.000,260,0.000,0.150,2879,3846,2136,2227,2046,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5360,1.04,146.0,2879,3846,2227,2046,611.8,16.7,408,5366,0.10,2.47,0.00,0.000,5126,0.319,0.103,2866,2429,2136,2226,2047,0,0,0,0,0,0,14.23,14.33,28.83
$GC,5672,1.04,146.0,2866,2428,2227,2045,561.7,15.1,434,5682,0.00,2.60,0.00,0.000,260,0.000,0.151,2866,3835,2135,2226,2045,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5738,1.04,146.0,2866,3834,2226,2046,550.9,16.8,440,5747,0.00,2.47,0.00,0.000,1030,0.000,0.103,2875,2420,2135,2226,2045,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6050,1.04,146.0,2876,2420,2227,2044,502.9,15.1,471,6058,0.00,2.62,0.00,0.000,260,0.000,0.151,2875,3845,2135,2226,2045,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6085,1.04,146.0,2876,3844,2226,2045,497.0,16.0,474,6094,0.00,2.45,0.00,0.000,1030,0.000,0.103,2886,2427,2135,2226,2045,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6396,1.04,146.0,2886,2427,2226,2043,449.2,15.1,505,6405,0.00,2.60,0.00,0.000,260,0.000,0.151,2886,3844,2135,2226,2044,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6454,1.04,146.0,2886,3844,2226,2044,440.3,16.5,510,6463,0.15,2.45,0.00,0.000,5126,0.340,0.103,2866,2427,2135,2226,2044,0,0,0,0,0,0,14.43,14.53,28.83
$GC,6764,1.04,146.0,2866,2427,2226,2043,397.3,13.9,541,6774,0.00,2.60,0.00,0.000,260,0.000,0.149,2866,3845,2134,2226,2043,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6790,1.04,146.0,2866,3846,2226,2043,393.5,14.3,543,6800,0.00,2.45,0.00,0.000,1030,0.000,0.102,2876,2432,2134,2226,2043,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7101,1.04,146.0,2876,2431,2226,2043,350.5,13.6,574,7110,0.00,2.55,0.00,0.000,260,0.000,0.149,2876,3837,2134,2226,2043,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7197,1.04,146.0,2876,3837,2226,2043,335.9,15.6,583,7206,0.00,2.40,0.00,0.000,1030,0.000,0.101,2887,2434,2134,2226,2043,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7508,1.04,146.0,2887,2434,2226,2043,292.2,14.2,614,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2434,2134,2226,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7825,1.04,146.0,2887,2434,2226,2043,252.1,12.5,645,7833,0.00,2.55,0.00,0.000,260,0.000,0.151,2887,3834,2134,2226,2043,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7893,1.04,146.0,1920,3834,2181,2038,242.5,13.9,651,7900,0.15,2.42,0.00,0.000,5126,0.335,0.103,2866,2426,2134,2226,2043,0,0,0,0,0,0,14.54,14.63,28.83
$GC,8202,1.04,146.0,2866,2426,2226,2043,207.2,11.4,682,8211,0.00,2.58,0.00,0.000,260,0.000,0.150,2866,3840,2134,2226,2043,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8261,1.04,146.0,1888,3840,2181,2038,200.4,12.9,687,8268,0.00,2.42,0.00,0.000,1030,0.000,0.102,2876,2426,2134,2226,2043,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8569,1.04,146.0,2876,2426,2226,2043,165.0,11.1,718,8579,0.00,2.55,0.00,0.000,260,0.000,0.151,2876,3839,2134,2226,2043,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8790,1.04,146.0,1920,3838,2182,2038,137.2,12.7,739,8797,0.00,2.42,0.00,0.000,1030,0.000,0.102,2887,2426,2134,2226,2043,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9099,1.04,146.0,2887,2426,2226,2042,107.0,9.5,770,9108,0.00,2.55,0.00,0.000,260,0.000,0.151,2887,3837,2134,2226,2043,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9155,1.04,146.0,2887,3837,2226,2042,100.8,11.7,775,9164,0.12,2.38,0.00,0.000,5126,0.301,0.099,2865,2434,2134,2226,2043,0,0,0,0,0,0,14.56,14.65,28.83
$GC,9481,1.10,169.2,1824,2432,2178,2037,72.8,7.8,836,9500,0.00,2.58,11.30,0.410,8452,0.000,0.148,2865,3844,2051,2145,1958,0,0,0,0,0,0,28.83,14.59,14.47
$GC,9635,1.10,169.2,1872,3844,2097,1953,57.7,10.2,864,9642,0.00,2.42,0.00,0.000,1030,0.000,0.101,2873,2430,2050,2142,1958,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9954,1.22,216.3,2875,2430,2142,1955,29.9,6.8,925,9987,0.12,2.65,25.17,0.264,10500,0.192,0.148,2919,3840,1857,1951,1764,0,0,0,0,0,0,14.60,14.55,14.50
$GC,10019,1.22,216.3,2919,3840,1950,1764,24.0,11.7,935,10026,0.00,2.42,0.00,0.000,1030,0.000,0.102,2930,2430,1856,1949,1764,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,10231,end climb,SURFACE_DEPTH_REACHED
$STATE,10231,begin surface coast
$FINISH,0.9,1.025055
$STATE,10258,end surface coast,CONTROL_FINISHED_OK
$STATE,10258,begin surface
$SM_CCo,10287,96.15,0.182,0,0,1107,400.08
$SM_GC,1.62,8.23,0.00,96.15,0.096,0.000,0.182,138,2430,1107,-7.41,-0.57,400.08,0,0,0,0,0,0,14.59,28.83,14.45
$RAFOS_CLK,501
$RAFOS,1,1380010147,8.166667,8.151944,62,60,59,59,58,55,215,161,195,127,634,181
$RAFOS,0,1380009664,8.033334,8.017777,65,61,58,54,54,53,729,193,150,248,216,121
$RAFOS_FIX,6633.132324,-5937.310059,240913,040456,4,90,0.49
$IRIDIUM_FIX,6604.29,-5931.79,240913,050515
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.31
$INTERNAL_PRESSURE,8.65461
$TCM_TEMP,12.40
$XPDR_PINGS,93
$24V_AH,12.3,25.991
$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,21.275,95.700,370.425,96.150,0.000,0.000,0.000,281.150,23.250,0.000,5.831,2486.064,5271.159,649.012,1898.069,577.294,0.000,1851.690,0.000,1645.205,1080.000,0.536,0.000
$DEVICE_MAMPS,430.695,151.470,2644.605,182.070,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,689.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150764
$DATA_FILE_SIZE,43341,981
$CAP_FILE_SIZE,109657,0
$CFSIZE,259252224,247427072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.0
$CURRENT,0.059,192.4,1
$GPS,240913,082105,6632.218,-5932.115,27,2.0,27,-33.5