version: 66.11
glider: 192
mission: 2
dive: 57
start: 9 24 113 11 26 37
data:
$ID,192
$MISSION,2
$DIVE,57
$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,-1167.5647
$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,21
$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
$GPS1,240913,111959,6632.022,-5929.880,41,1.0,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.2
$GPS2,240913,112602,6631.974,-5929.743,1,0.9,1,-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,56.9,130170,-16.2,-8.684,-19.07,2590
$D_GRID,779
$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,19,-1.04,-146.0,118,2454,1099,1083,0.0,0.0,0,103,0.00,0.00,-81.18,0.000,16386,0.000,0.000,118,2454,2727,2785,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-1.04,-146.0,118,2454,2785,2669,3.4,-4.5,14,142,9.77,2.55,-13.07,0.000,18948,0.431,0.135,2183,1047,3339,3513,3166,0,0,0,0,0,0,14.23,14.38,14.61
$GC,175,-1.04,-146.0,2183,1047,3515,3166,23.6,-31.7,24,182,0.00,2.55,0.00,0.000,1030,0.000,0.125,2175,2458,3340,3515,3165,0,0,0,0,0,0,28.83,14.38,28.83
$GC,498,-1.04,-146.0,2175,2457,3516,3164,105.6,-24.6,84,507,0.00,2.53,0.00,0.000,516,0.000,0.115,2175,1037,3340,3516,3164,0,0,0,0,0,0,28.83,14.46,28.83
$GC,606,-1.04,-146.0,2175,1036,3516,3164,129.9,-22.3,94,613,0.00,2.55,0.00,0.000,1030,0.000,0.131,2164,2447,3340,3517,3164,0,0,0,0,0,0,28.83,14.48,28.83
$GC,914,-1.04,-146.0,2164,2447,3516,3164,206.7,-23.8,125,923,0.00,2.45,0.00,0.000,516,0.000,0.114,2164,1043,3340,3516,3164,0,0,0,0,0,0,28.83,14.52,28.83
$GC,963,-1.04,-146.0,2164,1043,3517,3164,217.1,-23.0,129,970,0.15,2.53,0.00,0.000,3078,0.337,0.127,2184,2452,3340,3516,3164,0,0,0,0,0,0,14.45,14.53,28.83
$GC,1272,-1.04,-146.0,2183,2451,3517,3163,282.1,-19.9,160,1281,0.00,2.47,0.00,0.000,516,0.000,0.116,2184,1038,3339,3516,3163,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1338,-1.04,-146.0,2184,1038,3517,3163,294.9,-19.0,166,1346,0.00,2.53,0.00,0.000,1030,0.000,0.129,2176,2455,3339,3516,3163,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1648,-1.04,-146.0,2175,2455,3517,3163,355.6,-19.7,197,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2455,3339,3516,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1965,-1.04,-146.0,2175,2455,3516,3163,416.8,-19.1,228,1974,0.00,2.45,0.00,0.000,516,0.000,0.114,2176,1045,3339,3516,3163,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1983,-1.04,-146.0,2175,1045,3517,3163,420.7,-19.3,229,1989,0.00,2.53,0.00,0.000,1030,0.000,0.127,2165,2461,3340,3517,3163,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2291,-1.04,-146.0,2165,2461,3516,3163,483.1,-20.0,260,2300,0.00,2.50,0.00,0.000,260,0.000,0.144,2155,3859,3340,3517,3163,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2309,-1.04,-146.0,2155,3859,3517,3163,485.7,-20.3,261,2316,0.15,2.40,0.00,0.000,3078,0.327,0.092,2185,2441,3339,3516,3162,0,0,0,0,0,0,14.53,14.64,28.83
$GC,2619,-1.04,-146.0,2184,2440,3517,3163,546.1,-18.9,292,2627,0.00,2.40,0.00,0.000,516,0.000,0.114,2185,1046,3340,3517,3163,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2643,-1.04,-146.0,2185,1046,3516,3163,550.9,-19.0,294,2652,0.00,2.47,0.00,0.000,1030,0.000,0.126,2177,2450,3340,3517,3163,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2974,-1.04,-146.0,2177,2450,3517,3163,612.6,-18.6,323,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2450,3340,3517,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,-1.04,-146.0,2177,2450,3517,3162,667.2,-18.0,333,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2450,3340,3517,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3574,-1.04,-146.0,2177,2450,3517,3163,720.1,-17.7,343,3579,0.00,2.42,0.00,0.000,516,0.000,0.112,2177,1037,3340,3517,3163,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3594,-1.04,-146.0,2177,1037,3517,3163,720.1,-17.7,343,3603,0.00,2.50,0.00,0.000,1030,0.000,0.127,2167,2456,3340,3517,3163,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,3901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3901,begin apogee
$GC,3914,-0.21,0.0,2167,2456,3518,3163,782.1,-18.6,354,4089,1.05,0.00,159.75,2.654,10246,0.283,0.000,2449,2456,2740,2854,2626,0,0,0,0,0,0,14.60,28.83,12.76
$STATE,4090,end apogee,CONTROL_FINISHED_OK
$STATE,4090,begin climb
$GC,4096,1.04,146.0,2449,2456,2854,2627,792.9,0.0,360,4283,1.38,0.00,175.60,2.657,10758,0.170,0.000,2850,2456,2145,2229,2061,0,0,0,0,0,0,13.66,28.83,12.23
$GC,4566,1.04,146.0,2851,2456,2229,2050,738.6,14.7,376,4572,0.00,2.65,0.00,0.000,260,0.000,0.148,2851,3839,2139,2229,2050,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4660,1.04,146.0,1872,3838,2182,2045,723.6,15.9,379,4666,0.00,2.53,0.00,0.000,1030,0.000,0.100,2861,2437,2138,2227,2050,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4988,1.04,146.0,2861,2436,2227,2048,673.7,14.9,390,4993,0.00,2.65,0.00,0.000,260,0.000,0.148,2861,3846,2137,2227,2048,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5033,1.04,146.0,2861,3846,2227,2048,668.5,15.1,391,5038,0.00,2.50,0.00,0.000,1030,0.000,0.102,2872,2433,2137,2226,2048,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5351,1.04,146.0,2872,2433,2226,2046,617.0,15.3,402,5357,0.00,2.62,0.00,0.000,260,0.000,0.149,2872,3834,2136,2227,2046,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5414,1.04,146.0,2872,3834,2226,2046,606.2,16.1,404,5420,0.00,2.45,0.00,0.000,1030,0.000,0.103,2882,2430,2136,2227,2046,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5726,1.04,146.0,2883,2429,2227,2046,556.0,15.7,431,5736,0.00,2.62,0.00,0.000,260,0.000,0.149,2883,3839,2136,2227,2045,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5783,1.04,146.0,2883,3839,2226,2046,546.5,17.6,436,5792,0.10,2.42,0.00,0.000,5126,0.327,0.103,2868,2437,2135,2226,2045,0,0,0,0,0,0,14.32,14.42,28.83
$GC,6094,1.04,146.0,2868,2437,2226,2045,499.3,15.0,467,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2437,2135,2226,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6411,1.04,146.0,2868,2437,2226,2044,453.6,14.5,498,6420,0.00,2.58,0.00,0.000,260,0.000,0.151,2868,3844,2135,2226,2044,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6506,1.04,146.0,2868,3844,2226,2044,436.5,17.1,507,6515,0.00,2.45,0.00,0.000,1030,0.000,0.103,2879,2425,2135,2226,2044,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6817,1.04,146.0,2879,2425,2226,2044,388.0,15.4,538,6826,0.00,2.62,0.00,0.000,260,0.000,0.151,2878,3847,2135,2226,2044,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6865,1.04,146.0,2878,3847,2226,2044,380.6,16.4,542,6872,0.00,2.45,0.00,0.000,1030,0.000,0.101,2889,2426,2135,2226,2044,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7174,1.04,146.0,2890,2425,2226,2043,332.1,15.0,573,7183,0.00,2.58,0.00,0.000,260,0.000,0.151,2889,3836,2134,2226,2043,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7202,1.04,146.0,2890,3836,2226,2043,327.9,15.4,575,7211,0.17,2.42,0.00,0.000,5126,0.334,0.101,2863,2425,2134,2226,2043,0,0,0,0,0,0,14.50,14.60,28.83
$GC,7512,1.04,146.0,2863,2425,2225,2042,284.7,13.8,606,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2425,2133,2226,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7828,1.04,146.0,2863,2425,2226,2043,241.5,13.4,637,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2425,2134,2226,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8141,1.04,146.0,2863,2425,2226,2043,200.6,12.9,668,8150,0.00,2.60,0.00,0.000,260,0.000,0.152,2862,3844,2134,2226,2043,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8187,1.04,146.0,2863,3844,2226,2043,193.7,13.6,672,8196,0.00,2.42,0.00,0.000,1030,0.000,0.102,2873,2425,2134,2226,2043,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8497,1.04,146.0,2872,2425,2226,2043,158.3,10.2,703,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2424,2134,2226,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8814,1.05,148.1,2873,2425,2226,2043,130.2,8.6,734,8823,0.00,2.42,0.00,0.000,516,0.000,0.123,2883,1026,2134,2226,2043,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8892,1.05,148.1,2883,1026,2226,2042,122.6,9.4,741,8899,0.00,2.53,0.00,0.000,1030,0.000,0.133,2883,2438,2133,2226,2041,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9206,1.07,156.6,2883,2438,2226,2042,94.0,8.3,778,9213,0.00,0.00,4.53,0.495,8198,0.000,0.000,2883,2438,2101,2194,2008,0,0,0,0,0,0,28.83,28.83,14.49
$GC,9524,1.07,156.6,2883,2438,2195,2008,65.7,8.7,839,9532,0.00,2.55,0.00,0.000,260,0.000,0.151,2883,3848,2101,2195,2008,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9579,1.07,156.6,2883,3848,2195,2008,60.2,10.4,848,9586,0.00,2.45,0.00,0.000,1030,0.000,0.104,2894,2420,2101,2195,2008,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9896,1.13,180.0,1888,2418,2149,2003,33.7,7.8,909,9916,0.00,2.67,12.57,0.285,8452,0.000,0.151,2894,3843,2005,2099,1912,0,0,0,0,0,0,28.83,14.59,14.54
$GC,9944,1.13,180.0,2894,3843,2099,1912,29.1,11.2,916,9951,0.00,2.45,0.00,0.000,1030,0.000,0.105,2905,2423,2005,2098,1912,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10262,1.35,269.2,1920,2421,2053,1905,7.9,5.1,977,10318,0.12,2.62,47.90,0.193,10500,0.187,0.152,2949,3847,1640,1720,1561,0,0,0,0,0,0,14.62,14.53,14.52
$STATE,10323,end climb,SURFACE_DEPTH_REACHED
$STATE,10323,begin surface coast
$FINISH,0.7,1.024127
$STATE,10355,end surface coast,CONTROL_FINISHED_OK
$STATE,10355,begin surface
$SM_CCo,10386,68.30,0.187,0,0,1107,400.08
$SM_GC,1.95,8.45,2.47,68.30,0.112,0.099,0.187,143,2449,1107,-7.40,0.59,400.08,0,0,0,0,0,0,14.57,14.57,14.45
$RAFOS_CLK,506
$RAFOS,6,1380026949,12.833333,12.819167,66,57,54,53,51,50,796,160,151,229,205,115
$RAFOS,5,1380026466,12.700000,12.685000,67,60,58,55,54,51,219,192,851,159,169,117
$RAFOS,4,1380025987,12.566667,12.551945,67,61,56,55,55,51,642,190,221,142,209,165
$RAFOS,3,1380025504,12.433333,12.417778,73,61,58,57,56,52,640,112,193,142,212,168
$RAFOS,2,1380025024,12.300000,12.284445,61,60,57,57,54,50,592,202,215,114,183,90
$RAFOS,1,1380024549,12.166667,12.152500,63,62,58,57,50,50,619,152,227,201,123,213
$RAFOS,0,1380024062,12.033333,12.017222,76,64,58,54,53,51,751,151,214,178,119,169
$RAFOS_FIX,6633.929688,-5931.538574,240913,121253,6,68,1.09
$IRIDIUM_FIX,6604.29,-5931.79,240913,080843
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.31
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.20
$XPDR_PINGS,69
$24V_AH,12.2,26.634
$10V_AH,12.6,0.000
$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,21.350,100.575,400.350,68.300,0.000,0.000,0.000,210.800,17.250,0.000,7.927,2501.826,5297.396,614.332,1850.048,574.594,0.000,1775.379,0.000,1658.830,2520.000,0.536,0.000
$DEVICE_MAMPS,430.695,152.235,2656.845,186.660,0.000,0.000,0.000,136.935,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150788
$DATA_FILE_SIZE,43386,992
$CAP_FILE_SIZE,110878,0
$CFSIZE,259252224,247304192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.2
$CURRENT,0.063,274.9,1
$GPS,240913,142253,6633.394,-5929.798,38,0.9,38,-33.5