version: 66.11
glider: 192
mission: 2
dive: 717
start: 1 26 114 12 28 19
data:
$ID,192
$MISSION,2
$DIVE,717
$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,-5
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$HEADING,-1
$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,400
$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,-15575.171
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2580
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,17
$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
$GPS1,260114,122107,6403.458,-5345.315,38,0.8,38,-29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-69.5
$GPS2,260114,122741,6403.564,-5345.375,5,0.9,5,-29.7
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_4
$TGT_LATLONG,6405.000,-5320.000
$TGT_RADIUS,5000.000
$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,135.2,20711,-15.5,-8.250,-18.49,2720
$D_GRID,588
$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,-146.0,132,2583,1106,1082,0.0,0.0,0,100,0.00,0.00,-77.18,0.000,16386,0.000,0.000,131,2583,2627,2678,2577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.89,-146.0,131,2583,2678,2578,3.0,-1.4,8,144,10.12,1.52,-20.73,0.000,18948,0.412,0.121,2214,1739,3338,3501,3175,0,0,0,0,0,0,13.93,14.24,14.71
$GC,279,-0.84,-146.0,2214,1739,3505,3175,33.1,-19.5,25,284,0.00,1.52,0.00,0.000,1030,0.000,0.106,2210,2579,3340,3505,3175,0,0,0,0,0,0,28.83,14.07,28.83
$GC,596,-0.79,-146.0,2210,2579,3505,3174,93.6,-18.7,56,600,0.15,1.58,0.00,0.000,2308,0.291,0.112,2241,3436,3339,3505,3174,0,0,0,0,0,0,13.75,13.91,28.83
$GC,700,-0.75,-146.0,1360,3435,3497,3171,109.3,-16.2,62,704,0.00,1.50,0.00,0.000,1030,0.000,0.076,2241,2576,3339,3505,3173,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1032,-0.72,-146.0,2242,2576,3505,3172,158.4,-13.9,73,1036,0.12,1.62,0.00,0.000,2308,0.279,0.121,2268,3429,3338,3505,3172,0,0,0,0,0,0,13.83,13.75,28.83
$GC,1070,-0.69,-146.0,1408,3428,3497,3168,163.4,-13.8,74,1074,0.00,1.50,0.00,0.000,1030,0.000,0.077,2268,2580,3338,3505,3171,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1402,-0.67,-146.0,2267,2579,3505,3171,204.8,-12.3,85,1406,0.00,1.65,0.00,0.000,260,0.000,0.125,2261,3426,3337,3504,3171,0,0,0,0,0,0,28.83,13.64,28.83
$GC,1546,-0.66,-146.0,2261,3426,3505,3171,221.0,-12.8,89,1550,0.15,1.50,0.00,0.000,3078,0.248,0.076,2294,2578,3338,3505,3171,0,0,0,0,0,0,13.63,13.90,28.83
$GC,1868,-0.66,-146.0,2294,2578,3505,3171,256.5,-10.2,100,1871,0.00,1.52,0.00,0.000,516,0.000,0.086,2295,1749,3338,3505,3171,0,0,0,0,0,0,28.83,13.70,28.83
$GC,1935,-0.66,-146.0,1440,1747,3498,3168,263.6,-10.5,102,1939,0.00,1.55,0.00,0.000,1030,0.000,0.109,2291,2582,3338,3505,3172,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2266,-0.66,-146.0,2291,2582,3506,3172,298.9,-10.5,113,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2582,3338,3506,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2567,-0.66,-146.0,2291,2582,3506,3171,328.6,-9.6,123,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2582,3338,3506,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2866,-0.66,-146.0,2291,2582,3507,3171,357.4,-9.3,133,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2582,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3166,-0.66,-146.0,2291,2582,3509,3171,386.1,-9.7,143,3169,0.00,1.60,0.00,0.000,260,0.000,0.117,2284,3427,3340,3508,3172,0,0,0,0,0,0,28.83,13.64,28.83
$GC,3245,-0.66,-146.0,2284,3427,3509,3171,392.5,-10.1,145,3249,0.00,1.52,0.00,0.000,1030,0.000,0.074,2284,2575,3339,3508,3171,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3566,-0.68,-146.0,2284,2574,3509,3171,426.8,-9.6,156,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2574,3340,3510,3171,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3769,end dive,NO_VERTICAL_VELOCITY
$STATE,3769,begin apogee
$GC,3784,-0.22,0.0,2284,2477,3510,3172,426.8,0.0,163,3948,0.47,0.00,152.25,2.258,10246,0.090,0.000,2451,2477,2741,2853,2629,0,0,0,0,0,0,13.91,28.83,12.75
$STATE,3949,end apogee,CONTROL_FINISHED_OK
$STATE,3949,begin climb
$GC,3955,0.89,146.0,2451,2477,2854,2630,426.9,0.0,168,4125,1.10,0.00,164.73,2.206,10758,0.117,0.000,2791,2476,2144,2241,2047,0,0,0,0,0,0,13.65,28.83,12.12
$GC,4407,0.87,146.0,2790,2476,2243,2039,396.8,9.2,184,4411,0.00,1.52,0.00,0.000,516,0.000,0.094,2796,1635,2140,2242,2039,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4436,0.85,146.0,2796,1634,2242,2038,396.8,9.2,184,4443,0.00,1.52,0.00,0.000,1030,0.000,0.107,2796,2486,2140,2243,2038,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4744,0.83,146.0,2796,2486,2242,2037,364.8,9.8,195,4748,0.00,1.52,0.00,0.000,260,0.000,0.119,2796,3334,2139,2242,2037,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4788,0.81,146.0,2796,3335,2242,2037,361.3,9.6,196,4792,0.15,1.50,0.00,0.000,5126,0.252,0.080,2769,2465,2139,2242,2037,0,0,0,0,0,0,14.12,14.32,28.83
$GC,5114,0.84,171.5,2769,2464,2242,2036,335.1,7.3,207,5146,0.00,1.62,26.80,2.111,8452,0.000,0.122,2769,3326,2041,2147,1936,0,0,0,0,0,0,28.83,14.18,13.28
$GC,5178,0.86,190.2,2769,3326,2146,1936,330.3,7.5,209,5204,0.00,1.50,21.17,2.056,9222,0.000,0.080,2773,2462,1964,2069,1860,0,0,0,0,0,0,28.83,14.29,13.19
$GC,5536,0.86,190.5,2773,2462,2069,1857,300.2,8.2,221,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2462,1963,2069,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5831,0.86,190.5,2773,2462,2069,1856,274.7,8.4,231,5835,0.00,1.50,0.00,0.000,516,0.000,0.093,2779,1612,1962,2069,1856,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5875,0.86,190.5,2779,1611,2069,1855,271.5,8.4,232,5879,0.00,1.58,0.00,0.000,1030,0.000,0.106,2779,2489,1962,2069,1856,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6200,0.86,190.5,2779,2489,2069,1856,241.4,9.1,243,6204,0.00,1.55,0.00,0.000,516,0.000,0.094,2785,1642,1962,2069,1856,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6284,0.86,190.5,2785,1642,2068,1855,235.3,9.2,245,6288,0.00,1.52,0.00,0.000,1030,0.000,0.109,2785,2486,1962,2069,1855,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6600,0.85,190.5,2785,2486,2069,1855,203.0,10.1,256,6603,0.00,1.52,0.00,0.000,260,0.000,0.119,2785,3326,1962,2069,1855,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6635,0.84,190.5,2785,3326,2069,1855,199.4,10.0,257,6639,0.00,1.52,0.00,0.000,1030,0.000,0.079,2791,2457,1962,2069,1855,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6972,0.83,190.6,2791,2457,2068,1855,170.3,8.2,268,6976,0.00,1.67,0.00,0.000,260,0.000,0.122,2791,3326,1961,2068,1855,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7040,0.82,190.6,1808,3325,2027,1851,164.1,8.9,270,7043,0.00,1.50,0.00,0.000,1030,0.000,0.080,2798,2477,1961,2068,1855,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7371,0.80,190.6,2798,2476,2068,1855,133.8,9.6,281,7375,0.00,1.60,0.00,0.000,260,0.000,0.121,2797,3328,1961,2068,1855,0,0,0,0,0,0,28.83,13.86,28.83
$GC,7421,0.79,190.6,2798,3328,2068,1853,130.3,9.7,282,7425,0.17,1.50,0.00,0.000,5126,0.233,0.080,2763,2481,1962,2069,1855,0,0,0,0,0,0,13.82,14.04,28.83
$GC,7742,0.88,246.5,2763,2481,2068,1855,106.4,6.1,293,7782,0.00,1.62,34.75,0.496,8452,0.000,0.120,2763,3326,1735,1834,1637,0,0,0,0,0,0,28.83,14.23,13.85
$GC,7885,0.95,278.0,1792,3325,1794,1634,97.0,7.1,299,7910,0.15,1.50,20.02,0.467,11270,0.129,0.079,2823,2472,1606,1695,1517,0,0,0,0,0,0,14.28,14.23,13.86
$GC,8213,0.95,278.0,2823,2472,1692,1512,64.8,9.6,332,8216,0.00,1.62,0.00,0.000,260,0.000,0.123,2823,3322,1602,1692,1513,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8308,0.95,278.0,2824,3322,1690,1512,55.4,10.0,341,8312,0.00,1.52,0.00,0.000,1030,0.000,0.081,2829,2480,1601,1690,1512,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8624,0.95,278.0,2830,2481,1690,1510,26.8,8.4,372,8628,0.00,1.52,0.00,0.000,516,0.000,0.094,2836,1632,1600,1691,1510,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8704,0.95,278.0,2836,1632,1690,1509,20.1,9.4,379,8711,0.00,1.58,0.00,0.000,1030,0.000,0.109,2836,2486,1599,1690,1509,0,0,0,0,0,0,28.83,13.98,28.83
$FREEZE,8.14,-0.345,-1.831,0,1,0
$FREEZE,7.20,-0.349,-1.830,0,1,0
$FREEZE,6.05,-0.369,-1.829,0,1,0
$FREEZE,5.27,-0.359,-1.828,0,1,0
$FREEZE,4.32,-0.376,-1.828,0,1,0
$FREEZE,3.29,-0.381,-1.827,0,1,0
$FREEZE,2.25,-0.371,-1.826,0,1,0
$STATE,8885,end climb,SURFACE_DEPTH_REACHED
$STATE,8886,begin surface coast
$FREEZE,1.39,-0.458,-0.922,0,1,0
$FREEZE,1.35,-0.545,-0.898,0,1,0
$FREEZE,1.38,-0.409,-1.096,0,1,0
$FINISH,1.4,1.016185
$STATE,8912,end surface coast,CONTROL_FINISHED_OK
$STATE,8913,begin surface
$SM_CCo,8942,66.70,0.153,0,0,1108,400.08
$SM_GC,2.48,8.23,0.20,66.70,0.088,0.147,0.153,143,2592,1108,-7.35,-0.31,400.08,0,0,0,0,0,0,14.09,14.13,14.14
$RAFOS_CLK,401
$RAFOS,6,1390740543,12.833333,12.817500,60,60,57,57,54,48,190,209,148,157,221,173
$RAFOS,5,1390740083,12.700000,12.689722,55,55,55,54,54,53,167,181,214,191,127,115
$RAFOS,4,1390739582,12.566667,12.550555,66,59,57,55,55,54,215,202,171,94,189,137
$RAFOS,2,1390738625,12.300000,12.284722,60,56,56,55,53,52,193,141,209,132,176,231
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6337.14,-5343.18,260114,080812
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.03
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,13.70
$XPDR_PINGS,46
$ALTIM_TOP_PING,18.9,17.7
$24V_AH,12.1,290.428
$10V_AH,12.2,0.000
$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,20.825,53.025,419.725,66.700,0.000,0.000,0.000,212.675,12.500,0.000,6.660,1208.882,6036.470,497.024,1161.272,499.508,0.000,1328.922,0.000,982.340,1080.000,7.929,0.000
$DEVICE_MAMPS,412.335,146.880,2257.515,153.000,0.000,0.000,0.000,136.935,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,278.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227268
$DATA_FILE_SIZE,16824,400
$CAP_FILE_SIZE,85687,0
$CFSIZE,259252224,198938624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.7
$CURRENT,0.208,350.2,1
$GPS,260114,150005,6404.278,-5343.129,30,2.0,30,-29.7