version: 66.11
glider: 192
mission: 2
dive: 583
start: 1 2 114 16 1 34
data:
$ID,192
$MISSION,2
$DIVE,583
$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,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$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,-4
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$HEADING,90
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,549.71729
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12444.111
$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,22
$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,0.0015
$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,10
$MINV_10V,9.5
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$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,0.00062281737
$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
$GPS1,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.48
$_SM_ANGLEo,-3.9
$GPS2,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6359.083,-5942.916
$TGT_RADIUS,1852.000
$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,120.8,20000,-15.5,-8.250,-18.49,2720
$D_GRID,372
$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,-146.0,2534,2503,2676,2478,0.0,0.0,0,31,0.00,0.00,-8.88,0.000,16386,0.000,0.000,2534,2503,3024,3148,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-0.89,-146.0,2534,2503,3154,2896,14.5,0.0,1,50,0.93,1.55,-6.03,0.000,20996,0.116,0.132,2228,1658,3340,3511,3169,0,0,0,0,0,0,14.21,14.23,14.75
$GC,161,-0.81,-146.0,2228,1658,3514,3168,31.5,-18.2,12,167,0.00,1.52,0.00,0.000,1030,0.000,0.112,2222,2503,3341,3514,3168,0,0,0,0,0,0,28.83,14.20,28.83
$GC,469,-0.72,-146.0,2222,2503,3514,3168,97.6,-20.8,43,473,0.20,1.52,0.00,0.000,2564,0.300,0.090,2270,1658,3341,3515,3168,0,0,0,0,0,0,13.92,14.20,28.83
$GC,519,-0.64,-146.0,2271,1658,3515,3168,104.5,-19.5,45,524,0.10,1.58,0.00,0.000,3078,0.251,0.114,2293,2501,3341,3515,3168,0,0,0,0,0,0,13.93,14.14,28.83
$GC,842,-0.61,-146.0,2294,2501,3514,3167,155.9,-15.6,56,845,0.00,1.50,0.00,0.000,516,0.000,0.097,2294,1649,3340,3514,3166,0,0,0,0,0,0,28.83,14.20,28.83
$GC,908,-0.58,-146.0,2294,1648,3514,3166,165.6,-14.9,58,912,0.12,1.55,0.00,0.000,3078,0.283,0.118,2315,2500,3340,3514,3167,0,0,0,0,0,0,13.99,14.16,28.83
$GC,1243,-0.58,-146.0,2315,2500,3514,3165,209.2,-12.8,69,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2500,3340,3514,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1543,-0.58,-146.0,2315,2500,3514,3164,241.2,-10.6,79,1547,0.00,1.48,0.00,0.000,516,0.000,0.097,2315,1653,3339,3514,3164,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1622,-0.58,-146.0,2315,1653,3514,3164,247.5,-10.3,81,1626,0.00,1.55,0.00,0.000,1030,0.000,0.117,2311,2502,3339,3514,3164,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1942,-0.58,-146.0,2311,2502,3514,3164,279.5,-10.4,92,1946,0.00,1.52,0.00,0.000,516,0.000,0.096,2310,1660,3338,3514,3163,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1970,-0.58,-146.0,2311,1660,3515,3163,279.5,-10.4,92,1977,0.00,1.55,0.00,0.000,1030,0.000,0.114,2306,2506,3338,3514,3163,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2278,-0.58,-146.0,2306,2507,3514,3163,316.4,-11.3,103,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2507,3339,3515,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2580,-0.58,-146.0,2306,2507,3514,3164,350.9,-11.4,113,2583,0.00,1.50,0.00,0.000,516,0.000,0.094,2306,1658,3339,3514,3164,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2694,-0.58,-146.0,2306,1658,3514,3164,362.1,-11.5,116,2697,0.00,1.52,0.00,0.000,1030,0.000,0.112,2301,2500,3339,3514,3164,0,0,0,0,0,0,28.83,14.11,28.83
$STATE,2764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2764,begin apogee
$GC,2777,-0.22,0.0,2301,2500,3515,3164,373.1,-11.7,119,2943,0.47,0.00,155.10,2.332,10246,0.226,0.000,2429,2500,2740,2862,2619,0,0,0,0,0,0,13.87,28.83,12.22
$STATE,2944,end apogee,CONTROL_FINISHED_OK
$STATE,2944,begin climb
$GC,2950,0.89,146.0,2429,2500,2862,2620,382.3,0.0,124,3133,1.27,1.85,169.18,2.224,10500,0.173,0.129,2789,3356,2145,2242,2048,0,0,0,0,0,0,13.45,12.76,11.62
$GC,3206,0.91,183.0,2789,3356,2239,2045,374.4,6.9,133,3254,0.00,1.60,43.03,2.173,9222,0.000,0.086,2795,2512,1995,2094,1896,0,0,0,0,0,0,28.83,13.32,11.91
$GC,3586,0.88,183.0,2795,2512,2094,1888,339.8,8.5,146,3589,0.00,1.50,0.00,0.000,516,0.000,0.101,2801,1666,1990,2094,1887,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3677,0.86,186.4,2801,1666,2094,1884,334.6,8.1,148,3683,0.00,1.55,0.00,0.000,1030,0.000,0.116,2801,2512,1989,2094,1884,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3981,0.84,186.4,2801,2511,2094,1884,306.7,8.6,159,3985,0.00,1.55,0.00,0.000,260,0.000,0.129,2802,3366,1989,2094,1884,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4034,0.80,186.4,2801,3366,2093,1884,303.4,8.8,160,4039,0.15,1.50,0.00,0.000,5126,0.263,0.089,2774,2498,1988,2093,1884,0,0,0,0,0,0,14.12,14.33,28.83
$GC,4351,0.84,210.4,2774,2497,2093,1883,277.3,7.3,171,4385,0.00,1.52,28.85,2.132,8708,0.000,0.102,2778,1668,1882,1989,1776,0,0,0,0,0,0,28.83,14.29,13.07
$GC,4425,0.86,225.4,2778,1667,1989,1775,272.8,7.7,173,4446,0.00,1.52,17.48,2.044,9222,0.000,0.118,2778,2510,1821,1924,1718,0,0,0,0,0,0,28.83,14.27,13.02
$GC,4764,0.86,225.4,2778,2510,1920,1716,239.6,10.4,185,4768,0.00,1.58,0.00,0.000,260,0.000,0.129,2778,3350,1818,1920,1716,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4792,0.86,225.4,2778,3350,1919,1716,239.6,10.4,185,4799,0.00,1.50,0.00,0.000,1030,0.000,0.088,2784,2489,1817,1918,1716,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5099,0.86,225.4,2784,2489,1919,1715,203.5,9.1,196,5103,0.00,1.48,0.00,0.000,516,0.000,0.100,2790,1668,1817,1919,1715,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5138,0.87,229.2,1808,1667,1880,1710,201.1,8.1,197,5148,0.00,1.52,4.60,1.577,9222,0.000,0.116,2790,2513,1806,1907,1705,0,0,0,0,0,0,28.83,14.28,13.24
$GC,5465,0.88,238.8,2790,2513,1907,1706,177.7,7.9,208,5483,0.00,1.60,11.52,1.953,8452,0.000,0.129,2790,3356,1767,1865,1669,0,0,0,0,0,0,28.83,14.38,13.26
$GC,5584,0.88,238.8,2790,3357,1864,1670,169.5,8.8,211,5591,0.00,1.50,0.00,0.000,1030,0.000,0.087,2796,2492,1767,1864,1670,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5885,0.88,238.8,2796,2491,1863,1669,142.0,8.6,222,5888,0.00,1.48,0.00,0.000,516,0.000,0.101,2802,1673,1766,1863,1669,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5913,0.88,238.8,2802,1673,1861,1669,142.0,8.6,222,5920,0.00,1.52,0.00,0.000,1030,0.000,0.116,2802,2511,1766,1863,1669,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6221,0.97,298.3,2802,2511,1863,1669,114.4,6.0,233,6264,0.00,0.00,41.40,1.967,8198,0.000,0.000,2802,2511,1523,1615,1432,0,0,0,0,0,0,28.83,28.83,13.09
$GC,6556,0.99,298.3,2802,2511,1611,1427,86.4,8.7,254,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2511,1519,1612,1426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6871,1.01,298.3,2802,2511,1611,1424,60.8,10.5,285,6874,0.00,1.55,0.00,0.000,260,0.000,0.133,2802,3356,1518,1611,1425,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6906,1.02,298.3,2802,3356,1610,1424,55.5,12.1,288,6910,0.00,1.50,0.00,0.000,1030,0.000,0.090,2809,2492,1517,1610,1425,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7222,1.04,298.3,2809,2492,1610,1423,37.4,10.9,319,7228,0.10,0.00,0.00,0.000,2054,0.173,0.000,2847,2492,1516,1609,1423,0,0,0,0,0,0,14.54,28.83,28.83
$FREEZE,8.27,-1.712,-1.823,2,7,0
$FREEZE,7.36,-1.713,-1.822,2,7,0
$FREEZE,5.67,-1.726,-1.821,2,7,0
$STATE,7497,end climb,FINISH_DEPTH_REACHED
$STATE,7497,begin subsurface finish
$FINISH1,5.7,1.026685,40
$GC,7511,0.06,40.2,2846,2491,1608,1423,5.7,12.4,347,7559,1.10,1.52,-40.75,0.000,20996,0.213,0.135,2535,1665,2578,2669,2487,0,0,0,0,0,0,13.97,14.31,14.77
$FINISH2,4.7
$STATE,7560,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7560,begin surface
$RAFOS_CLK,415
$RAFOS,6,1388681347,16.833334,16.818611,61,56,54,53,53,52,224,207,175,198,733,145
$RAFOS,5,1388680885,16.700001,16.690277,64,58,52,50,49,49,188,126,205,92,135,145
$RAFOS,4,1388680400,16.566668,16.555555,61,61,61,61,58,48,158,190,206,218,176,128
$RAFOS,3,1388679911,16.433332,16.419722,61,60,57,56,54,51,198,171,207,216,140,155
$RAFOS,2,1388679425,16.299999,16.284721,59,58,58,56,55,50,202,162,119,215,146,180
$RAFOS,1,1388678947,16.166666,16.151945,71,60,55,54,53,51,160,188,148,178,205,116
$RAFOS,0,1388678517,16.033333,16.032499,63,58,58,53,52,51,176,117,212,139,1193,165
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6332.30,-6008.62,020114,050535
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.29
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,12.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,11.6,240.239
$10V_AH,11.9,0.000
$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,4.450,49.300,471.150,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,993.247,5023.043,432.535,870.287,305.566,0.000,986.737,0.000,854.689,2520.000,6.356,0.000
$DEVICE_MAMPS,299.880,135.405,2331.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238588
$DATA_FILE_SIZE,16769,353
$CAP_FILE_SIZE,69158,0
$CFSIZE,259252224,206299136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.4
$GPS,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8