version: 66.11
glider: 192
mission: 2
dive: 279
start: 11 6 113 1 31 54
data:
$ID,192
$MISSION,2
$DIVE,279
$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,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,-1528.3038
$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,2510
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,36
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$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,0.0015
$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
$GPS1,061113,012322,6703.570,-5649.532,85,1.0,85,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-61.2
$GPS2,061113,013112,6703.539,-5649.486,5,1.0,5,-33.5
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,245.6,162474,-15.5,-8.250,-18.49,2720
$D_GRID,512
$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,-0.89,-146.0,106,2527,1134,1070,0.0,0.0,0,99,0.00,0.00,-77.15,0.000,16386,0.000,0.000,103,2526,2661,2705,2618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.89,-146.0,104,2527,2707,2618,3.1,-2.7,13,140,9.68,2.38,-16.95,0.000,18692,0.392,0.159,2210,3775,3340,3506,3174,0,0,0,0,0,0,14.12,14.36,14.76
$GC,317,-0.78,-146.0,2210,3776,3507,3173,51.9,-23.1,51,324,0.20,2.20,0.00,0.000,3078,0.280,0.083,2255,2485,3339,3507,3172,0,0,0,0,0,0,14.19,14.48,28.83
$GC,641,-0.72,-146.0,2255,2485,3507,3171,108.5,-15.8,108,650,0.00,2.38,0.00,0.000,260,0.000,0.135,2247,3775,3339,3507,3171,0,0,0,0,0,0,28.83,14.38,28.83
$GC,720,-0.66,-146.0,2248,3775,3507,3170,121.0,-16.5,115,728,0.20,2.17,0.00,0.000,3078,0.257,0.084,2296,2498,3338,3507,3170,0,0,0,0,0,0,14.26,14.51,28.83
$GC,1030,-0.63,-146.0,2296,2498,3507,3170,161.5,-12.3,146,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2499,3338,3507,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1346,-0.61,-146.0,2296,2499,3507,3170,198.6,-11.4,177,1355,0.00,2.17,0.00,0.000,516,0.000,0.103,2296,1238,3338,3507,3170,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1392,-0.60,-146.0,2296,1238,3507,3170,204.5,-11.3,181,1402,0.00,2.28,0.00,0.000,1030,0.000,0.122,2289,2500,3338,3506,3170,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1704,-0.58,-146.0,2289,2500,3507,3170,241.2,-11.2,212,1713,0.12,2.30,0.00,0.000,2308,0.279,0.132,2314,3768,3338,3507,3170,0,0,0,0,0,0,14.33,14.35,28.83
$GC,1731,-0.56,-146.0,2314,3768,3507,3170,244.1,-11.0,214,1735,0.00,2.17,0.00,0.000,1030,0.000,0.084,2314,2491,3338,3507,3170,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2047,-0.56,-146.0,2314,2492,3508,3170,276.3,-10.1,245,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2492,3339,3508,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2362,-0.56,-146.0,2314,2492,3508,3170,306.7,-9.8,276,2371,0.00,2.15,0.00,0.000,516,0.000,0.102,2314,1240,3339,3508,3170,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2398,-0.56,-146.0,2314,1240,3508,3170,310.8,-9.8,279,2407,0.00,2.25,0.00,0.000,1030,0.000,0.120,2308,2497,3339,3508,3170,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2709,-0.56,-146.0,2308,2497,3509,3170,342.8,-10.2,310,2712,0.00,2.33,0.00,0.000,260,0.000,0.132,2298,3771,3339,3509,3170,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2746,-0.56,-146.0,1440,3770,3501,3167,346.6,-10.5,313,2755,0.12,2.15,0.00,0.000,3078,0.256,0.082,2327,2499,3340,3509,3171,0,0,0,0,0,0,14.33,14.56,28.83
$GC,3058,-0.57,-146.0,2327,2499,3509,3171,373.5,-8.0,344,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2498,3340,3509,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3373,-0.59,-146.0,2327,2498,3509,3171,398.7,-8.2,375,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2498,3340,3509,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3687,-0.60,-146.0,2327,2498,3510,3170,423.0,-7.3,406,3696,0.00,2.35,0.00,0.000,260,0.000,0.133,2319,3778,3340,3510,3170,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3737,-0.62,-146.0,1440,3777,3502,3168,426.9,-7.4,410,3743,0.00,2.17,0.00,0.000,1030,0.000,0.083,2319,2494,3340,3510,3171,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4045,-0.63,-146.0,2319,2494,3510,3171,452.6,-8.9,441,4055,0.00,2.33,0.00,0.000,260,0.000,0.132,2310,3771,3340,3510,3171,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4092,-0.63,-146.0,2310,3771,3510,3171,457.1,-9.5,445,4102,0.00,2.12,0.00,0.000,1030,0.000,0.083,2310,2502,3339,3508,3171,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4403,-0.63,-146.0,2309,2502,3509,3171,485.6,-9.1,476,4407,0.00,2.20,0.00,0.000,516,0.000,0.100,2310,1234,3340,3510,3171,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4439,-0.63,-146.0,2310,1234,3510,3171,488.9,-9.3,479,4448,0.00,2.30,0.00,0.000,1030,0.000,0.118,2302,2505,3340,3510,3171,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4750,-0.72,-146.0,2302,2505,3510,3171,510.9,-0.1,510,4759,0.00,2.28,0.00,0.000,260,0.000,0.135,2302,3766,3340,3510,3171,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,4840,end dive,NO_VERTICAL_VELOCITY
$STATE,4840,begin apogee
$GC,4855,-0.22,0.0,2302,2511,3510,3172,510.7,0.0,519,5018,0.43,0.00,151.18,2.358,10246,0.179,0.000,2431,2511,2741,2852,2631,0,0,0,0,0,0,14.35,28.83,12.87
$STATE,5019,end apogee,CONTROL_FINISHED_OK
$STATE,5019,begin climb
$GC,5025,0.89,146.0,2431,2511,2852,2632,510.8,0.0,536,5204,1.17,2.58,163.55,2.307,10756,0.133,0.125,2799,1243,2145,2234,2057,0,0,0,0,0,0,13.72,13.21,12.41
$GC,5440,1.26,353.4,2799,1243,2234,2045,510.3,0.4,577,5678,0.32,2.28,229.57,2.274,11270,0.085,0.098,2917,2510,1300,1361,1240,0,0,0,0,0,0,14.04,13.99,12.50
$GC,5991,1.14,353.4,2917,2510,1355,1233,410.2,28.9,632,6000,0.15,2.35,0.00,0.000,4356,0.296,0.128,2882,3783,1294,1355,1233,0,0,0,0,0,0,14.01,14.10,28.83
$GC,6133,1.04,353.4,2881,3783,1353,1232,374.2,25.2,645,6142,0.17,2.22,0.00,0.000,5126,0.272,0.090,2850,2503,1292,1353,1232,0,0,0,0,0,0,14.20,14.36,28.83
$GC,6444,0.97,353.4,2850,2502,1353,1229,307.6,21.0,676,6452,0.00,2.20,0.00,0.000,516,0.000,0.109,2858,1242,1291,1353,1229,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6500,0.92,353.4,2858,1242,1353,1228,296.5,20.0,681,6510,0.15,2.25,0.00,0.000,5126,0.223,0.117,2814,2504,1290,1353,1228,0,0,0,0,0,0,14.31,14.40,28.83
$GC,6812,0.88,353.4,2814,2504,1353,1227,245.4,16.4,712,6816,0.00,2.25,0.00,0.000,516,0.000,0.109,2822,1236,1290,1353,1227,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6839,0.85,353.4,2822,1235,1353,1227,241.0,16.5,714,6848,0.10,2.28,0.00,0.000,5126,0.210,0.116,2791,2513,1290,1353,1227,0,0,0,0,0,0,14.35,14.45,28.83
$GC,7151,0.85,353.4,2791,2513,1353,1227,197.5,13.2,745,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2512,1290,1353,1227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7466,0.85,353.4,2791,2513,1353,1226,154.7,13.9,776,7470,0.00,2.25,0.00,0.000,516,0.000,0.110,2798,1241,1290,1353,1227,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7535,0.86,353.4,1824,1240,1335,1224,145.6,12.1,782,7542,0.00,2.28,0.00,0.000,1030,0.000,0.118,2798,2511,1289,1352,1226,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7843,0.86,353.4,2798,2511,1353,1226,105.0,13.2,813,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2511,1289,1353,1226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8158,0.86,353.4,1792,2509,1334,1224,66.4,10.2,871,8165,0.00,2.25,0.00,0.000,516,0.000,0.109,2808,1238,1289,1353,1226,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8217,0.88,353.4,2808,1238,1353,1225,60.5,10.2,881,8225,0.00,2.30,0.00,0.000,1030,0.000,0.118,2808,2522,1289,1353,1225,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8538,0.90,353.4,2808,2522,1353,1225,27.1,9.1,942,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2522,1289,1353,1225,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8766,end climb,SURFACE_DEPTH_REACHED
$STATE,8766,begin surface coast
$FINISH,1.1,1.025827
$STATE,8788,end surface coast,CONTROL_FINISHED_OK
$STATE,8788,begin surface
$SM_CCo,8816,22.48,0.168,0,0,1109,400.08
$SM_GC,2.42,7.75,0.00,22.48,0.079,0.000,0.168,136,2522,1109,-7.36,0.62,400.08,0,0,0,0,0,0,14.59,28.83,14.43
$RAFOS_CLK,374
$RAFOS_FIX,6659.508301,-5718.634277,041113,121244,3,105,0.55
$IRIDIUM_FIX,6558.99,-7258.98,051113,222240
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.66
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,14.50
$XPDR_PINGS,31
$24V_AH,12.4,121.779
$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,20.575,72.375,544.300,22.475,0.000,0.000,0.000,248.925,7.750,0.000,6.654,2413.776,3858.146,626.764,1866.242,545.789,0.000,1828.172,0.000,1639.871,0.000,0.539,0.000
$DEVICE_MAMPS,392.445,159.120,2357.730,167.535,0.000,0.000,0.000,139.230,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150840
$DATA_FILE_SIZE,43414,990
$CAP_FILE_SIZE,105644,0
$CFSIZE,259252224,229773312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.4
$CURRENT,0.236,335.1,1
$GPS,061113,040100,6703.609,-5652.526,45,1.4,45,-33.5