version: 66.11
glider: 192
mission: 2
dive: 322
start: 11 15 113 9 3 51
data:
$ID,192
$MISSION,2
$DIVE,322
$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,-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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-2489.1487
$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,24
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,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,11
$MINV_10V,11
$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,48
$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
$GPS1,151113,085506,6643.379,-6012.332,31,0.9,32,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.5
$GPS2,151113,090304,6643.329,-6012.391,7,1.1,7,-33.8
$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,346.1,10033,-15.5,-8.250,-18.49,2720
$D_GRID,550
$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,-146.0,130,2520,1118,1073,0.0,0.0,0,105,0.00,0.00,-83.32,0.000,16386,0.000,0.000,129,2520,2641,2696,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.89,-146.0,129,2520,2696,2588,3.2,-4.0,14,146,10.23,1.58,-16.35,0.000,18948,0.421,0.139,2213,1654,3339,3510,3169,0,0,0,0,0,0,13.95,14.33,14.70
$GC,282,-0.79,-146.0,2213,1654,3514,3169,44.2,-23.1,44,290,0.20,1.55,0.00,0.000,3078,0.293,0.129,2251,2504,3341,3513,3169,0,0,0,0,0,0,14.07,14.28,28.83
$GC,604,-0.71,-146.0,2253,2504,3514,3168,105.7,-17.5,102,608,0.00,1.55,0.00,0.000,260,0.000,0.139,2249,3352,3340,3514,3167,0,0,0,0,0,0,28.83,14.29,28.83
$GC,749,-0.64,-146.0,1360,3351,3506,3164,130.6,-18.1,115,757,0.22,1.50,0.00,0.000,3078,0.272,0.093,2301,2481,3340,3514,3167,0,0,0,0,0,0,14.14,14.40,28.83
$GC,1060,-0.60,-146.0,2302,2481,3514,3167,173.6,-12.2,146,1064,0.00,1.65,0.00,0.000,260,0.000,0.147,2298,3346,3341,3514,3168,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1086,-0.57,-146.0,2298,3346,3514,3167,177.0,-12.4,148,1090,0.00,1.50,0.00,0.000,1030,0.000,0.093,2297,2474,3340,3514,3167,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1403,-0.54,-146.0,2297,2474,3514,3167,217.8,-12.9,179,1410,0.12,0.00,0.00,0.000,2054,0.284,0.000,2328,2474,3340,3514,3167,0,0,0,0,0,0,14.16,28.83,28.83
$GC,1712,-0.54,-146.0,2328,2474,3514,3166,250.9,-10.4,210,1715,0.00,1.62,0.00,0.000,260,0.000,0.144,2323,3349,3340,3514,3166,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1747,-0.54,-146.0,2324,3349,3514,3166,254.8,-10.7,213,1750,0.00,1.52,0.00,0.000,1030,0.000,0.095,2323,2472,3339,3514,3165,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2062,-0.54,-146.0,2324,2472,3514,3165,286.4,-9.7,244,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2472,3340,3514,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2379,-0.54,-146.0,2323,2471,3514,3166,316.9,-9.9,275,2382,0.00,1.62,0.00,0.000,260,0.000,0.144,2317,3349,3339,3514,3165,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2437,-0.54,-146.0,1444,3347,3506,3163,323.2,-10.2,280,2444,0.00,1.50,0.00,0.000,1030,0.000,0.094,2318,2482,3339,3514,3165,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2745,-0.54,-146.0,2317,2481,3514,3166,354.0,-9.9,311,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2482,3340,3514,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3063,-0.54,-146.0,2317,2481,3515,3166,383.9,-9.4,342,3067,0.00,1.62,0.00,0.000,260,0.000,0.145,2311,3352,3340,3514,3166,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3120,-0.54,-146.0,1448,3351,3507,3163,389.8,-9.5,347,3127,0.00,1.50,0.00,0.000,1030,0.000,0.093,2311,2484,3340,3514,3166,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3429,-0.54,-146.0,2311,2484,3515,3166,419.0,-9.4,378,3433,0.00,1.65,0.00,0.000,260,0.000,0.145,2305,3346,3340,3515,3166,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3485,-0.54,-146.0,2305,3346,3515,3166,424.4,-9.7,383,3488,0.00,1.50,0.00,0.000,1030,0.000,0.090,2305,2470,3340,3515,3166,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3800,-0.54,-146.0,2305,2470,3516,3166,454.8,-9.8,414,3804,0.00,1.62,0.00,0.000,260,0.000,0.142,2298,3347,3341,3516,3166,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3848,-0.54,-146.0,1444,3346,3509,3163,459.4,-9.9,418,3855,0.10,1.50,0.00,0.000,3078,0.235,0.090,2326,2500,3341,3516,3166,0,0,0,0,0,0,14.14,14.40,28.83
$GC,4158,-0.56,-146.0,2326,2500,3517,3166,486.7,-8.6,449,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2500,3341,3517,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4473,-0.58,-146.0,2326,2500,3518,3166,513.0,-8.4,480,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2500,3342,3518,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4786,-0.59,-146.0,2326,2500,3519,3166,540.8,-8.5,511,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2500,3342,3519,3166,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4888,begin apogee
$GC,4901,-0.22,0.0,2326,2500,3519,3166,550.2,-8.2,522,5070,0.38,0.00,157.60,2.485,10246,0.218,0.000,2433,2500,2741,2859,2623,0,0,0,0,0,0,14.15,28.83,12.44
$STATE,5071,end apogee,CONTROL_FINISHED_OK
$STATE,5071,begin climb
$GC,5077,0.89,146.0,2433,2500,2859,2624,556.7,0.0,539,5263,1.25,1.85,172.12,2.402,10500,0.167,0.138,2789,3357,2145,2239,2052,0,0,0,0,0,0,13.35,13.01,12.10
$GC,5293,0.83,146.0,1824,3356,2192,2046,546.0,9.7,560,5300,0.00,1.60,0.00,0.000,1030,0.000,0.092,2795,2511,2143,2236,2050,0,0,0,0,0,0,28.83,13.33,28.83
$GC,5601,0.78,146.0,2795,2510,2236,2042,515.3,10.4,591,5608,0.12,0.00,0.00,0.000,4102,0.271,0.000,2765,2511,2139,2237,2042,0,0,0,0,0,0,13.83,28.83,28.83
$GC,5912,0.75,146.0,2765,2511,2236,2040,488.9,8.3,622,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2511,2138,2236,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6228,0.74,163.1,2765,2511,2236,2039,464.8,7.6,653,6252,0.00,1.65,17.67,2.272,8452,0.000,0.145,2765,3363,2077,2176,1978,0,0,0,0,0,0,28.83,14.35,13.35
$GC,6279,0.71,163.1,2765,3363,2176,1978,460.4,8.6,658,6283,0.00,1.50,0.00,0.000,1030,0.000,0.096,2769,2500,2076,2176,1977,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6595,0.69,167.5,2769,2499,2176,1974,434.4,8.1,689,6604,0.12,0.00,6.30,1.895,12294,0.262,0.000,2738,2500,2057,2158,1957,0,0,0,0,0,0,14.25,28.83,13.32
$GC,6906,0.79,233.0,2738,2500,2159,1957,415.5,5.8,720,6981,0.00,0.00,72.43,2.352,8198,0.000,0.000,2738,2500,1791,1888,1695,0,0,0,0,0,0,28.83,28.83,13.05
$GC,7287,0.83,251.3,2738,2500,1879,1691,388.6,7.6,758,7314,0.12,1.60,20.67,2.261,10500,0.162,0.141,2786,3355,1715,1806,1625,0,0,0,0,0,0,14.33,14.23,13.19
$GC,7331,0.82,251.3,2785,3355,1806,1625,384.8,8.7,762,7335,0.00,1.52,0.00,0.000,1030,0.000,0.093,2792,2490,1715,1806,1625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7647,0.79,251.3,2792,2491,1802,1623,349.3,11.9,793,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2490,1712,1802,1623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7963,0.77,251.3,2792,2491,1801,1622,313.2,12.3,824,7968,0.12,1.65,0.00,0.000,4356,0.275,0.141,2759,3377,1711,1801,1622,0,0,0,0,0,0,14.33,14.38,28.83
$GC,8011,0.76,251.3,2758,3377,1801,1622,307.2,11.6,828,8015,0.00,1.50,0.00,0.000,1030,0.000,0.096,2764,2506,1711,1801,1622,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8326,0.76,251.3,2763,2506,1800,1622,274.6,9.8,859,8330,0.00,1.50,0.00,0.000,516,0.000,0.109,2770,1638,1711,1800,1622,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8402,0.76,251.3,2770,1638,1800,1621,267.3,9.6,866,8405,0.00,1.58,0.00,0.000,1030,0.000,0.127,2770,2512,1710,1800,1621,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8717,0.76,251.3,2770,2512,1800,1621,234.3,10.7,897,8721,0.00,1.58,0.00,0.000,260,0.000,0.142,2770,3355,1710,1800,1621,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8766,0.76,251.3,2770,3356,1800,1621,229.2,11.3,901,8773,0.00,1.50,0.00,0.000,1030,0.000,0.096,2776,2483,1710,1800,1620,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9075,0.76,251.3,1792,2481,1766,1618,198.0,9.3,932,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2483,1710,1800,1620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9390,0.79,276.0,2776,2483,1800,1621,174.3,7.3,963,9424,0.00,1.62,25.83,2.107,8452,0.000,0.145,2776,3363,1616,1704,1529,0,0,0,0,0,0,28.83,14.40,13.51
$GC,9500,0.79,276.0,2776,3363,1703,1529,165.5,9.1,973,9507,0.00,1.50,0.00,0.000,1030,0.000,0.096,2783,2499,1616,1703,1529,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9808,0.79,276.0,1792,2497,1671,1525,137.4,9.0,1004,9812,0.00,1.50,0.00,0.000,516,0.000,0.110,2789,1664,1614,1701,1528,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9858,0.80,276.0,1792,1662,1670,1525,133.5,8.8,1008,9865,0.00,1.55,0.00,0.000,1030,0.000,0.128,2789,2516,1614,1701,1527,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10166,0.80,276.0,2789,2516,1701,1527,105.3,9.3,1039,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2516,1614,1701,1527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10483,0.82,276.0,2789,2516,1701,1526,77.9,8.5,1094,10490,0.00,1.50,0.00,0.000,516,0.000,0.111,2794,1665,1613,1700,1526,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10507,0.84,276.0,2795,1665,1701,1525,75.9,8.3,1097,10515,0.00,1.52,0.00,0.000,1030,0.000,0.129,2794,2508,1613,1701,1525,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10833,0.94,335.2,2795,2508,1700,1525,51.1,6.0,1158,10875,0.00,1.60,33.55,0.325,8452,0.000,0.145,2795,3356,1373,1458,1289,0,0,0,0,0,0,28.83,14.36,14.15
$GC,10943,0.98,342.2,2794,3356,1453,1289,43.3,8.0,1176,10951,0.00,1.50,3.58,0.323,9222,0.000,0.097,2801,2490,1343,1425,1262,0,0,0,0,0,0,28.83,14.41,14.09
$GC,11269,1.01,342.2,1792,2488,1397,1259,17.4,8.8,1237,11277,0.10,1.45,0.00,0.000,2564,0.186,0.110,2842,1666,1339,1419,1260,0,0,0,0,0,0,14.51,14.36,28.83
$GC,11333,1.01,342.2,2842,1666,1418,1260,10.9,9.5,1248,11340,0.00,1.55,0.00,0.000,1030,0.000,0.130,2842,2514,1339,1418,1260,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,11415,end climb,SURFACE_DEPTH_REACHED
$STATE,11415,begin surface coast
$FINISH,1.0,1.025532
$STATE,11453,end surface coast,CONTROL_FINISHED_OK
$STATE,11453,begin surface
$SM_CCo,11482,30.38,0.178,0,0,1109,400.08
$SM_GC,1.97,8.12,0.00,30.38,0.096,0.000,0.178,142,2515,1109,-7.36,0.42,400.08,0,0,0,0,0,0,14.42,28.83,14.27
$RAFOS_CLK,557
$RAFOS,0,1384516866,12.033333,12.018333,80,58,56,56,52,50,595,216,141,163,132,192
$RAFOS,6,1384505343,8.833333,8.817500,65,63,58,56,53,53,145,848,184,202,220,169
$RAFOS_FIX,6644.705566,-6024.624512,151113,080824,2,86,1.04
$IRIDIUM_FIX,6614.97,-6006.54,151113,050540
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.10
$XPDR_PINGS,84
$24V_AH,12.1,141.978
$10V_AH,12.3,0.000
$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,21.225,59.325,509.750,30.375,0.000,0.000,0.000,290.400,21.000,0.000,8.527,3119.589,5290.117,627.169,2214.115,741.101,0.000,1996.370,0.000,1970.555,720.000,0.535,0.000
$DEVICE_MAMPS,420.750,146.880,2484.720,178.245,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150796
$DATA_FILE_SIZE,53409,1270
$CAP_FILE_SIZE,130501,0
$CFSIZE,259252224,226193408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1454.4
$CURRENT,0.169,359.3,1
$GPS,151113,121730,6645.516,-6015.289,42,0.9,42,-33.9