version: 66.11
glider: 192
mission: 2
dive: 58
start: 9 24 113 14 29 18
data:
$ID,192
$MISSION,2
$DIVE,58
$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,-1168.8219
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,240913,142253,6633.394,-5929.798,38,0.9,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.5
$GPS2,240913,142834,6633.378,-5929.805,4,0.9,4,-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,105.6,129085,-16.2,-8.684,-19.07,2590
$D_GRID,793
$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,-146.0,122,2444,1097,1085,0.0,0.0,0,98,0.00,0.00,-76.18,0.000,16386,0.000,0.000,121,2444,2640,2697,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.04,-146.0,121,2445,2698,2584,3.3,-4.3,13,138,9.70,2.58,-15.80,0.000,18948,0.429,0.139,2180,1039,3340,3518,3162,0,0,0,0,0,0,14.26,14.39,14.62
$GC,335,-1.04,-146.0,2180,1038,3520,3163,63.8,-23.6,55,342,0.00,2.55,0.00,0.000,1030,0.000,0.126,2171,2451,3342,3520,3164,0,0,0,0,0,0,28.83,14.45,28.83
$GC,654,-1.04,-146.0,2172,2451,3520,3163,139.5,-22.6,100,662,0.00,2.47,0.00,0.000,516,0.000,0.114,2171,1034,3341,3520,3163,0,0,0,0,0,0,28.83,14.50,28.83
$GC,780,-1.04,-146.0,2171,1034,3520,3163,167.8,-22.2,112,789,0.00,2.55,0.00,0.000,1030,0.000,0.133,2161,2454,3341,3520,3163,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1091,-1.04,-146.0,2161,2454,3520,3163,238.4,-22.2,143,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2454,3341,3520,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1407,-1.04,-146.0,2161,2454,3520,3162,308.5,-22.4,174,1417,0.00,2.47,0.00,0.000,516,0.000,0.115,2161,1034,3341,3520,3162,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1466,-1.04,-146.0,1344,1033,3512,3159,321.9,-21.0,179,1473,0.15,2.55,0.00,0.000,3078,0.334,0.132,2181,2455,3341,3520,3162,0,0,0,0,0,0,14.50,14.58,28.83
$GC,1775,-1.04,-146.0,2181,2455,3520,3162,384.5,-19.6,210,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2455,3341,3520,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2090,-1.04,-146.0,2180,2455,3520,3162,444.3,-18.8,241,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2455,3341,3520,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2404,-1.04,-146.0,2181,2455,3520,3162,502.6,-18.3,272,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2455,3341,3520,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2718,-1.04,-146.0,2181,2454,3520,3162,559.7,-17.9,303,2726,0.00,2.45,0.00,0.000,516,0.000,0.115,2181,1044,3341,3520,3162,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2763,-1.04,-146.0,2181,1044,3520,3162,569.0,-18.1,307,2772,0.00,2.50,0.00,0.000,1030,0.000,0.129,2172,2456,3341,3520,3162,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3099,-1.04,-146.0,2173,2455,3520,3162,628.8,-18.3,330,3105,0.00,2.53,0.00,0.000,260,0.000,0.145,2162,3860,3341,3520,3162,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3124,-1.04,-146.0,2162,3860,3520,3162,628.8,-18.3,330,3132,0.00,2.40,0.00,0.000,1030,0.000,0.093,2162,2441,3341,3520,3162,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3431,-1.04,-146.0,2162,2440,3520,3162,692.4,-18.7,341,3437,0.00,2.40,0.00,0.000,516,0.000,0.114,2162,1038,3341,3520,3162,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3497,-1.04,-146.0,2162,1037,3520,3162,704.1,-18.9,343,3503,0.12,2.50,0.00,0.000,3078,0.302,0.129,2184,2449,3341,3520,3162,0,0,0,0,0,0,14.59,14.66,28.83
$GC,3825,-1.04,-146.0,2184,2449,3520,3163,762.8,-17.4,354,3830,0.00,2.50,0.00,0.000,260,0.000,0.145,2175,3859,3341,3520,3163,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3857,-1.04,-146.0,2175,3859,3520,3163,768.4,-17.5,355,3863,0.00,2.35,0.00,0.000,1030,0.000,0.093,2175,2453,3341,3520,3162,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,4003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4003,begin apogee
$GC,4016,-0.21,0.0,2176,2452,3520,3163,796.9,-18.7,360,4191,1.00,0.00,161.25,2.719,10246,0.275,0.000,2448,2452,2740,2854,2627,0,0,0,0,0,0,14.61,28.83,12.74
$STATE,4192,end apogee,CONTROL_FINISHED_OK
$STATE,4192,begin climb
$GC,4198,1.04,146.0,2448,2452,2854,2627,806.7,0.0,366,4380,1.42,0.00,176.80,2.660,10758,0.168,0.000,2859,2452,2144,2228,2060,0,0,0,0,0,0,13.64,28.83,12.19
$GC,4675,1.04,146.0,2858,2451,2228,2050,752.5,14.6,382,4680,0.00,2.67,0.00,0.000,260,0.000,0.146,2858,3846,2139,2228,2050,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4745,1.04,146.0,2859,3846,2227,2050,741.2,16.0,384,4751,0.00,2.55,0.00,0.000,1030,0.000,0.100,2869,2431,2138,2227,2050,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5067,1.04,146.0,2869,2430,2227,2049,690.0,15.3,395,5073,0.00,2.67,0.00,0.000,260,0.000,0.148,2870,3841,2138,2227,2049,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5162,1.04,146.0,2869,3842,2226,2049,674.1,16.9,398,5168,0.00,2.50,0.00,0.000,1030,0.000,0.102,2880,2433,2137,2226,2048,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5490,1.04,146.0,2880,2432,2226,2047,621.7,15.6,409,5496,0.00,2.62,0.00,0.000,260,0.000,0.150,2880,3846,2136,2226,2046,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5570,1.04,146.0,2880,3846,2226,2047,611.1,16.3,411,5580,0.10,2.47,0.00,0.000,5126,0.312,0.102,2866,2422,2136,2226,2046,0,0,0,0,0,0,14.27,14.36,28.83
$GC,5883,1.04,146.0,2866,2422,2225,2045,560.6,15.2,438,5892,0.00,2.60,0.00,0.000,260,0.000,0.151,2866,3835,2136,2226,2046,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5938,1.04,146.0,2866,3834,2226,2046,551.2,17.4,443,5948,0.00,2.42,0.00,0.000,1030,0.000,0.102,2876,2432,2135,2226,2045,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6249,1.04,146.0,2876,2432,2225,2045,503.4,15.1,474,6258,0.00,2.60,0.00,0.000,260,0.000,0.151,2876,3847,2135,2226,2045,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6316,1.04,146.0,1904,3846,2181,2040,492.4,17.3,480,6323,0.00,2.47,0.00,0.000,1030,0.000,0.100,2887,2420,2135,2226,2045,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6626,1.04,146.0,2887,2419,2225,2044,443.7,15.1,511,6635,0.00,2.60,0.00,0.000,260,0.000,0.149,2887,3836,2134,2225,2044,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6682,1.04,146.0,2887,3836,2226,2044,433.9,17.5,516,6691,0.12,2.40,0.00,0.000,5126,0.308,0.100,2866,2434,2135,2226,2044,0,0,0,0,0,0,14.44,14.54,28.83
$GC,6993,1.04,146.0,2866,2433,2225,2044,388.9,13.9,547,7002,0.00,2.58,0.00,0.000,260,0.000,0.150,2866,3844,2135,2226,2044,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7018,1.04,146.0,2866,3845,2226,2044,385.2,13.9,549,7027,0.00,2.42,0.00,0.000,1030,0.000,0.100,2875,2425,2135,2226,2044,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7331,1.04,146.0,2875,2424,2225,2043,341.1,14.1,580,7340,0.00,2.60,0.00,0.000,260,0.000,0.149,2875,3840,2135,2226,2044,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7369,1.04,146.0,1896,3840,2181,2039,335.4,15.2,583,7377,0.00,2.42,0.00,0.000,1030,0.000,0.100,2886,2428,2134,2225,2044,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7678,1.04,146.0,2886,2428,2226,2043,290.0,14.2,614,7687,0.00,2.58,0.00,0.000,260,0.000,0.149,2886,3846,2134,2226,2043,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7723,1.04,146.0,2886,3846,2225,2043,282.9,16.0,618,7732,0.12,2.40,0.00,0.000,5126,0.307,0.100,2865,2434,2134,2225,2043,0,0,0,0,0,0,14.50,14.60,28.83
$GC,8034,1.04,146.0,2865,2435,2226,2043,243.8,12.4,649,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2435,2134,2225,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,1.04,146.0,2865,2435,2225,2043,208.1,11.6,680,8358,0.00,2.55,0.00,0.000,260,0.000,0.149,2865,3839,2134,2225,2043,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8408,1.04,146.0,1888,3838,2181,2038,200.2,13.3,685,8415,0.00,2.42,0.00,0.000,1030,0.000,0.100,2874,2423,2134,2225,2043,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8717,1.04,146.0,2874,2423,2225,2042,164.9,10.7,716,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2423,2134,2225,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9026,1.04,146.0,1888,2421,2180,2038,134.0,9.2,747,9035,0.00,2.45,0.00,0.000,516,0.000,0.123,2885,1022,2133,2225,2042,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9152,1.04,146.0,2885,1023,2225,2042,122.8,8.9,759,9162,0.00,2.53,0.00,0.000,1030,0.000,0.132,2885,2435,2134,2226,2043,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9468,1.04,146.0,2885,2435,2225,2042,93.4,9.7,796,9475,0.00,2.55,0.00,0.000,260,0.000,0.151,2885,3844,2133,2225,2042,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9711,1.04,146.0,2885,3845,2225,2042,69.3,8.8,842,9719,0.15,2.42,0.00,0.000,5126,0.327,0.103,2865,2430,2133,2225,2042,0,0,0,0,0,0,14.57,14.66,28.83
$GC,10031,1.13,183.3,2864,2430,2225,2042,47.3,7.2,903,10057,0.00,2.50,19.05,0.325,8964,0.000,0.122,2874,1019,1991,2086,1897,0,0,0,0,0,0,28.83,14.59,14.50
$GC,10293,1.24,225.0,2874,1018,2086,1891,24.8,7.0,952,10326,0.15,2.55,22.15,0.252,11270,0.174,0.133,2923,2437,1821,1916,1726,0,0,0,0,0,0,14.62,14.60,14.50
$STATE,10521,end climb,SURFACE_DEPTH_REACHED
$STATE,10521,begin surface coast
$FINISH,0.8,1.013878
$STATE,10550,end surface coast,CONTROL_FINISHED_OK
$STATE,10550,begin surface
$SM_CCo,10579,93.43,0.181,0,0,1107,400.08
$SM_GC,1.68,8.35,0.00,93.43,0.113,0.000,0.181,140,2437,1107,-7.41,-0.37,400.08,0,0,0,0,0,0,14.60,28.83,14.46
$RAFOS_CLK,514
$RAFOS,6,1380041347,16.833334,16.818611,76,58,56,54,53,53,792,133,168,217,112,206
$RAFOS,5,1380040866,16.700001,16.684999,60,59,55,52,52,52,188,216,833,162,126,986
$RAFOS,4,1380040390,16.566668,16.552778,71,64,54,53,53,52,602,198,223,163,140,116
$RAFOS,3,1380039905,16.433332,16.418056,68,58,57,56,55,53,173,650,192,203,219,119
$RAFOS,2,1380039426,16.299999,16.285000,109,61,60,59,59,57,592,189,224,177,153,211
$RAFOS,1,1380038951,16.166666,16.153055,100,58,55,53,51,51,602,193,224,1926,208,168
$RAFOS,0,1380038463,16.033333,16.017500,60,59,59,57,56,55,200,151,1763,229,740,118
$RAFOS_FIX,6636.578125,-5930.908691,240913,161620,4,89,0.83
$IRIDIUM_FIX,6604.29,-5919.76,240913,111140
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.11
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.40
$XPDR_PINGS,100
$24V_AH,12.2,26.967
$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,21.400,100.375,379.250,93.425,0.000,0.000,0.000,190.150,25.000,0.000,10.937,2538.426,5404.788,650.674,1861.989,579.900,0.000,1784.822,0.000,1694.188,2520.000,0.536,0.000
$DEVICE_MAMPS,429.165,151.470,2718.810,180.540,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150832
$DATA_FILE_SIZE,43380,1000
$CAP_FILE_SIZE,112060,0
$CFSIZE,259252224,247242752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.1
$CURRENT,0.252,342.9,1
$GPS,240913,172905,6635.408,-5927.791,38,1.1,38,-33.6