version: 66.11
glider: 193
mission: 2
dive: 38
start: 9 14 112 18 28 1
data:
$ID,193
$MISSION,2
$DIVE,38
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,100
$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,370
$T_MISSION,420
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,290
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-798.6488
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,149
$PITCH_MAX,3928
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,260
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,1
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2772
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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,-48.048229
$PRESSURE_SLOPE,0.0001163556
$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,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$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,0.0043053469
$SEABIRD_T_H,0.00061871461
$SEABIRD_T_I,2.1533233e-05
$SEABIRD_T_J,2.1546668e-06
$SEABIRD_C_G,-9.8788214
$SEABIRD_C_H,1.1391871
$SEABIRD_C_I,-0.0018439521
$SEABIRD_C_J,0.00022276744
$GPS1,140912,181604,6700.518,-5706.089,35,0.9,35,-33.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-64.8
$GPS2,140912,182718,6700.416,-5706.049,5,0.9,5,-33.5
$SPEED_LIMITS,0.075,0.246
$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,328.3,149402,-17.3,-8.919,-19.96
$D_GRID,732
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,19,-1.50,-136.9,0.0,0.0,0,84,0.00,0.00,-63.08,0.000,2,0.000,0.000,114,2120,2686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.50,-136.9,3.3,-3.9,11,129,11.20,2.78,-17.30,0.000,4,0.461,0.189,2340,3534,3331,0,0,0,0,0,0,14.38,14.47,14.73
$GC,249,-1.50,-136.9,33.0,-15.2,39,256,0.00,2.55,0.00,0.000,6,0.000,0.109,2340,2120,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,566,-1.50,-136.9,73.7,-12.9,100,574,0.00,2.58,0.00,0.000,4,0.000,0.142,2340,706,3334,0,0,0,0,0,0,28.83,14.60,28.83
$GC,676,-1.50,-136.9,89.2,-14.5,120,684,0.10,2.62,0.00,0.000,6,0.321,0.146,2349,2121,3334,0,0,0,0,0,0,14.56,14.62,28.83
$GC,995,-1.50,-136.9,131.3,-12.1,158,1004,0.00,2.62,0.00,0.000,4,0.000,0.157,2340,3524,3333,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1099,-1.50,-136.9,145.1,-13.0,168,1109,0.00,2.47,0.00,0.000,6,0.000,0.104,2340,2118,3334,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1409,-1.50,-136.9,185.8,-13.2,199,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2118,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-1.50,-136.9,224.9,-12.4,230,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2119,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2036,-1.50,-136.9,262.2,-10.9,261,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2119,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,-1.50,-136.9,297.9,-11.6,292,2358,0.00,2.65,0.00,0.000,4,0.000,0.162,2330,3527,3331,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2394,-1.50,-136.9,304.4,-12.3,296,2404,0.08,2.47,0.00,0.000,6,0.288,0.106,2349,2121,3331,0,0,0,0,0,0,14.69,14.78,28.83
$GC,2705,-1.50,-136.9,340.2,-11.3,327,2713,0.00,2.53,0.00,0.000,4,0.000,0.142,2349,711,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2743,-1.50,-136.9,344.2,-11.5,330,2750,0.00,2.60,0.00,0.000,6,0.000,0.145,2341,2128,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3051,-1.50,-136.9,379.2,-11.3,361,3060,0.00,2.60,0.00,0.000,4,0.000,0.158,2331,3530,3330,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3097,-1.50,-136.9,384.3,-11.4,365,3106,0.08,2.47,0.00,0.000,6,0.288,0.104,2350,2113,3330,0,0,0,0,0,0,14.70,14.79,28.83
$GC,3431,-1.50,-136.9,418.4,-10.0,386,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3727,-1.50,-136.9,447.6,-9.6,396,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4026,-1.50,-136.9,476.4,-9.6,406,4032,0.00,2.65,0.00,0.000,4,0.000,0.161,2341,3532,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4076,-1.50,-136.9,479.5,-9.6,407,4084,0.00,2.47,0.00,0.000,6,0.000,0.105,2341,2115,3330,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4388,-1.50,-136.9,512.1,-10.0,418,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4688,-1.50,-136.9,542.2,-9.9,428,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4988,-1.50,-136.9,572.5,-10.1,438,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5288,-1.50,-136.9,602.6,-9.9,448,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5591,-1.50,-136.9,632.5,-10.0,458,5596,0.00,2.65,0.00,0.000,4,0.000,0.166,2330,3528,3330,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5625,-1.50,-136.9,636.0,-10.1,459,5631,0.08,2.47,0.00,0.000,6,0.288,0.110,2350,2117,3330,0,0,0,0,0,0,14.80,14.88,28.83
$GC,5952,-1.50,-136.9,668.2,-9.7,470,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6252,-1.50,-136.9,697.4,-9.6,480,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6555,-1.50,-136.9,725.9,-9.5,490,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6637,begin apogee
$GC,6650,-0.38,0.0,734.0,-9.1,493,6800,0.88,0.00,139.85,2.466,6,0.272,0.000,2594,2207,2772,0,0,0,0,0,0,14.81,28.83,13.06
$STATE,6801,end apogee,CONTROL_FINISHED_OK
$STATE,6801,begin climb
$GC,6807,1.50,136.9,737.8,0.0,498,6974,1.38,2.88,150.20,2.421,4,0.168,0.145,3014,788,2213,0,0,0,0,0,0,13.85,13.59,12.90
$GC,6999,1.50,137.9,725.8,8.9,504,7008,0.00,2.75,0.00,0.000,6,0.000,0.134,3014,2198,2210,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7310,1.50,137.9,683.3,12.4,515,7316,0.00,2.75,0.00,0.000,4,0.000,0.154,3014,3621,2204,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7344,1.50,137.9,679.1,12.6,516,7349,0.00,2.60,0.00,0.000,6,0.000,0.107,3025,2203,2204,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7671,1.50,137.9,635.7,13.1,527,7677,0.00,2.60,0.00,0.000,4,0.000,0.140,3035,788,2202,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7696,1.50,137.9,635.7,13.1,527,7703,0.12,2.62,0.00,0.000,6,0.308,0.130,3010,2209,2201,0,0,0,0,0,0,14.40,14.47,28.83
$GC,8006,1.50,137.9,594.3,12.4,538,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2209,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8303,1.50,137.9,557.1,12.2,548,8308,0.00,2.62,0.00,0.000,4,0.000,0.149,3010,3614,2200,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8347,1.50,137.9,553.0,12.2,549,8352,0.00,2.53,0.00,0.000,6,0.000,0.106,3019,2196,2201,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8664,1.50,137.9,509.1,13.3,560,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2196,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8964,1.50,137.9,469.6,13.2,570,8970,0.00,2.65,0.00,0.000,4,0.000,0.150,3019,3611,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9013,1.50,137.9,465.3,13.3,571,9022,0.08,2.50,0.00,0.000,6,0.291,0.108,3009,2201,2200,0,0,0,0,0,0,14.64,14.71,28.83
$GC,9326,1.50,137.9,423.3,12.3,582,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2201,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9625,1.50,137.9,387.7,11.7,598,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2201,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9941,1.50,137.9,350.9,11.7,629,9949,0.00,2.55,0.00,0.000,4,0.000,0.139,3019,786,2198,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9958,1.50,137.9,349.1,11.6,630,9964,0.00,2.55,0.00,0.000,6,0.000,0.128,3019,2203,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10265,1.50,137.9,309.8,12.7,661,10274,0.00,2.60,0.00,0.000,4,0.000,0.149,3019,3617,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10311,1.50,137.9,303.7,13.8,665,10320,0.08,2.50,0.00,0.000,6,0.293,0.106,3009,2201,2198,0,0,0,0,0,0,14.71,14.78,28.83
$GC,10620,1.50,137.9,265.7,12.1,696,10630,0.00,2.53,0.00,0.000,4,0.000,0.137,3019,787,2196,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10646,1.50,137.9,262.6,12.4,698,10655,0.00,2.55,0.00,0.000,6,0.000,0.126,3018,2205,2197,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10956,1.50,137.9,224.8,11.9,729,10965,0.00,2.58,0.00,0.000,4,0.000,0.147,3019,3613,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11001,1.50,137.9,218.9,13.2,733,11010,0.08,2.47,0.00,0.000,6,0.295,0.104,3009,2201,2198,0,0,0,0,0,0,14.71,14.79,28.83
$GC,11311,1.50,137.9,182.7,10.8,764,11318,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2202,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11627,1.50,137.9,148.5,11.4,795,11636,0.00,2.60,0.00,0.000,4,0.000,0.148,3009,3607,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11725,1.50,137.9,135.9,12.9,804,11732,0.00,2.50,0.00,0.000,6,0.000,0.105,3019,2190,2198,0,0,0,0,0,0,28.83,14.82,28.83
$GC,12033,1.50,137.9,102.9,9.7,835,12042,0.00,2.53,0.00,0.000,4,0.000,0.138,3029,787,2197,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12093,1.50,137.9,96.7,9.8,843,12100,0.10,2.55,0.00,0.000,6,0.319,0.129,3009,2207,2197,0,0,0,0,0,0,14.73,14.80,28.83
$GC,12410,1.50,137.9,67.6,9.5,904,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2207,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12728,1.55,181.1,41.0,7.0,965,12759,0.00,2.67,21.92,0.311,4,0.000,0.150,3009,3618,2032,0,0,0,0,0,0,28.83,14.71,14.66
$GC,12769,1.56,185.9,37.7,8.7,971,12777,0.00,2.53,2.40,0.334,6,0.000,0.106,3018,2196,2012,0,0,0,0,0,0,28.83,14.76,14.65
$GC,13094,1.73,320.5,18.9,3.1,1032,13172,0.12,0.00,70.40,0.235,6,0.164,0.000,3068,2196,1461,0,0,0,0,0,0,14.76,28.83,14.58
$STATE,13246,end climb,SURFACE_DEPTH_REACHED
$STATE,13247,begin surface coast
$FINISH,1.5,1.025235
$STATE,13273,end surface coast,CONTROL_FINISHED_OK
$STATE,13273,begin surface
$SM_CCo,13361,0.00,0.000,0,0,1446,325.27
$SM_GC,2.32,8.60,0.15,0.00,0.099,0.166,0.000,134,2117,1446,-11.62,0.48,325.27,0,0,0,0,0,0,14.69,14.66,28.83
$RAFOS_CLK,568
$RAFOS,6,1347655760,20.833334,20.822222,127,57,54,53,53,52,667,207,192,153,134,123
$RAFOS,5,1347655278,20.700001,20.688334,88,60,55,52,47,46,525,197,146,218,167,155
$RAFOS,4,1347654797,20.566668,20.554722,83,60,57,57,55,53,738,152,200,143,175,211
$RAFOS,3,1347654316,20.433332,20.421112,65,60,57,52,51,51,879,187,200,139,211,148
$RAFOS,2,1347653827,20.299999,20.285278,66,63,60,59,59,53,198,211,158,170,183,121
$RAFOS,1,1347653347,20.166666,20.151945,64,62,57,57,56,56,161,930,182,151,223,212
$RAFOS,0,1347652863,20.033333,20.017500,65,61,57,55,54,50,156,221,196,140,208,122
$RAFOS_FIX,6706.445801,-5727.181152,140912,202028,4,91,2.38
$IRIDIUM_FIX,6631.12,-5701.34,140912,181851
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.63
$INTERNAL_PRESSURE,8.7428
$TCM_TEMP,13.30
$XPDR_PINGS,9
$24V_AH,12.9,15.921
$10V_AH,13.2,0.000
$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,22.950,103.750,384.775,0.000,0.000,0.000,0.000,396.725,2.250,0.000,5.770,2696.998,8122.373,527.742,2108.398,594.666,0.000,1931.499,0.000,1759.366,2520.000,0.538,0.000
$DEVICE_MAMPS,460.530,194.310,2466.360,0.000,0.000,0.000,0.000,148.410,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.281,749.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188780
$DATA_FILE_SIZE,50057,1064
$CAP_FILE_SIZE,122500,0
$CFSIZE,259252224,247922688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.5
$CURRENT,0.150,128.4,1
$GPS,140912,221258,6700.515,-5708.064,62,0.7,62,-33.5