version: 66.11
glider: 193
mission: 2
dive: 79
start: 9 22 112 17 24 21
data:
$ID,193
$MISSION,2
$DIVE,79
$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,-2
$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,-880.185
$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,16
$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
$GPS1,220912,171704,6645.596,-5959.742,40,0.7,40,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-69.2
$GPS2,220912,172338,6645.597,-5959.886,4,0.7,4,-33.9
$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,269.1,19332,-17.3,-8.919,-19.96
$D_GRID,660
$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,-136.9,0.0,0.0,0,44,0.00,0.00,-22.58,0.000,2,0.000,0.000,135,2116,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.50,-136.9,3.2,-3.1,4,141,11.38,2.83,-68.22,0.000,4,0.474,0.188,2339,3527,3330,0,0,0,0,0,0,14.36,14.45,14.73
$GC,377,-1.50,-136.9,48.8,-15.8,64,384,0.00,2.58,0.00,0.000,6,0.000,0.112,2340,2111,3332,0,0,0,0,0,0,28.83,14.58,28.83
$GC,694,-1.50,-136.9,94.8,-15.0,125,701,0.00,2.58,0.00,0.000,4,0.000,0.142,2339,709,3332,0,0,0,0,0,0,28.83,14.61,28.83
$GC,835,-1.50,-136.9,116.1,-14.9,141,844,0.10,2.65,0.00,0.000,6,0.326,0.145,2348,2131,3332,0,0,0,0,0,0,14.56,14.62,28.83
$GC,1144,-1.50,-136.9,159.1,-15.0,172,1153,0.00,2.62,0.00,0.000,4,0.000,0.157,2339,3531,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1272,-1.50,-136.9,178.4,-15.3,184,1279,0.00,2.53,0.00,0.000,6,0.000,0.105,2339,2117,3331,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1580,-1.50,-136.9,222.7,-13.9,215,1588,0.00,2.67,0.00,0.000,4,0.000,0.161,2329,3527,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1617,-1.50,-136.9,227.7,-14.1,218,1624,0.10,2.53,0.00,0.000,6,0.314,0.107,2348,2112,3332,0,0,0,0,0,0,14.63,14.72,28.83
$GC,1925,-1.50,-136.9,269.3,-12.9,249,1935,0.00,2.67,0.00,0.000,4,0.000,0.158,2339,3527,3331,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1990,-1.50,-136.9,277.8,-13.3,255,1999,0.00,2.50,0.00,0.000,6,0.000,0.107,2339,2116,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2301,-1.50,-136.9,316.0,-11.2,286,2310,0.00,2.55,0.00,0.000,4,0.000,0.139,2339,707,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2346,-1.50,-136.9,321.7,-12.7,290,2355,0.05,2.60,0.00,0.000,6,0.302,0.145,2344,2124,3331,0,0,0,0,0,0,14.65,14.71,28.83
$GC,2656,-1.50,-136.9,358.8,-12.6,321,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2971,-1.50,-136.9,397.3,-12.6,352,2980,0.00,2.60,0.00,0.000,4,0.000,0.142,2344,704,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3043,-1.50,-136.9,406.2,-13.0,356,3049,0.00,2.60,0.00,0.000,6,0.000,0.145,2337,2120,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3365,-1.50,-136.9,447.4,-12.1,367,3371,0.00,2.62,0.00,0.000,4,0.000,0.158,2326,3524,3330,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3427,-1.50,-136.9,455.2,-12.3,369,3433,0.08,2.47,0.00,0.000,6,0.283,0.108,2346,2121,3330,0,0,0,0,0,0,14.69,14.78,28.83
$GC,3759,-1.50,-136.9,493.0,-11.0,380,3764,0.00,2.67,0.00,0.000,4,0.000,0.163,2337,3536,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3821,-1.50,-136.9,500.0,-11.1,382,3826,0.00,2.50,0.00,0.000,6,0.000,0.109,2336,2120,3330,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4152,-1.50,-136.9,536.6,-10.9,393,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2120,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4452,-1.50,-136.9,569.0,-10.5,403,4457,0.00,2.53,0.00,0.000,4,0.000,0.139,2337,708,3331,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4513,-1.50,-136.9,575.4,-10.4,405,4519,0.08,2.60,0.00,0.000,6,0.300,0.143,2348,2126,3331,0,0,0,0,0,0,14.73,14.79,28.83
$GC,4845,-1.50,-136.9,610.2,-10.6,416,4851,0.00,2.58,0.00,0.000,4,0.000,0.142,2349,702,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4899,-1.50,-136.9,613.5,-10.5,417,4907,0.00,2.60,0.00,0.000,6,0.000,0.143,2342,2123,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5206,-1.50,-136.9,648.9,-10.8,428,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5321,begin apogee
$GC,5334,-0.38,0.0,661.7,-10.8,432,5480,0.90,0.00,135.38,2.414,6,0.277,0.000,2589,2210,2772,0,0,0,0,0,0,14.75,28.83,13.07
$STATE,5481,end apogee,CONTROL_FINISHED_OK
$STATE,5481,begin climb
$GC,5487,1.50,136.9,666.1,0.0,437,5639,1.40,0.00,147.35,2.372,6,0.172,0.000,3003,2210,2214,0,0,0,0,0,0,13.88,28.83,12.74
$GC,5927,1.50,136.9,623.2,11.3,452,5932,0.00,2.78,0.00,0.000,4,0.000,0.154,3003,3614,2205,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5961,1.50,136.9,619.3,11.5,453,5966,0.00,2.65,0.00,0.000,6,0.000,0.112,3013,2202,2204,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6288,1.50,136.9,579.4,12.1,464,6294,0.00,2.65,0.00,0.000,4,0.000,0.142,3024,791,2203,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6350,1.50,136.9,571.6,12.3,466,6355,0.00,2.62,0.00,0.000,6,0.000,0.132,3023,2205,2201,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6681,1.50,136.9,530.7,12.0,477,6687,0.00,2.70,0.00,0.000,4,0.000,0.151,3023,3617,2202,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6721,1.50,136.9,526.8,12.1,478,6727,0.10,2.58,0.00,0.000,6,0.287,0.108,3008,2194,2202,0,0,0,0,0,0,14.42,14.51,28.83
$GC,7043,1.50,136.9,488.8,11.3,489,7048,0.00,2.58,0.00,0.000,4,0.000,0.138,3017,788,2201,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7078,1.50,136.9,485.0,11.6,490,7083,0.00,2.58,0.00,0.000,6,0.000,0.127,3017,2202,2200,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7405,1.50,136.9,445.1,12.3,501,7411,0.00,2.65,0.00,0.000,4,0.000,0.151,3017,3608,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7467,1.50,136.9,436.8,12.8,503,7473,0.08,2.53,0.00,0.000,6,0.292,0.112,3007,2201,2201,0,0,0,0,0,0,14.57,14.66,28.83
$GC,7799,1.50,136.9,397.7,11.6,514,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2201,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8116,1.50,136.9,362.8,10.4,545,8124,0.00,2.55,0.00,0.000,4,0.000,0.141,3017,791,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8180,1.50,136.9,354.9,11.2,551,8189,0.00,2.55,0.00,0.000,6,0.000,0.127,3017,2206,2199,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8490,1.50,136.9,322.0,10.7,582,8499,0.00,2.60,0.00,0.000,4,0.000,0.151,3016,3606,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8560,1.50,136.9,314.5,11.6,588,8566,0.00,2.53,0.00,0.000,6,0.000,0.109,3026,2198,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8867,1.50,136.9,281.2,10.5,619,8876,0.00,2.55,0.00,0.000,4,0.000,0.140,3037,782,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8922,1.50,136.9,275.2,10.9,624,8931,0.10,2.55,0.00,0.000,6,0.282,0.131,3011,2196,2199,0,0,0,0,0,0,14.66,14.71,28.83
$GC,9233,1.50,136.9,243.6,10.2,655,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2196,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9547,1.50,136.9,211.2,10.3,686,9556,0.00,2.62,0.00,0.000,4,0.000,0.152,3010,3611,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9592,1.50,136.9,205.8,10.8,690,9602,0.00,2.50,0.00,0.000,6,0.000,0.111,3019,2201,2199,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9903,1.52,150.2,176.9,8.3,721,9921,0.00,2.65,11.20,1.858,4,0.000,0.141,3029,790,2159,0,0,0,0,0,0,28.83,14.64,14.02
$GC,9967,1.52,150.2,171.1,9.5,727,9976,0.00,2.58,0.00,0.000,6,0.000,0.132,3029,2207,2158,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10277,1.52,150.2,140.7,9.4,758,10286,0.00,2.62,0.00,0.000,4,0.000,0.149,3029,3618,2158,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10355,1.52,150.2,132.7,11.1,765,10364,0.12,2.55,0.00,0.000,6,0.309,0.110,3013,2200,2158,0,0,0,0,0,0,14.63,14.71,28.83
$GC,10665,1.52,150.8,104.6,8.9,796,10674,0.00,2.55,0.00,0.000,4,0.000,0.138,3023,787,2157,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10690,1.52,150.8,102.3,9.1,798,10700,0.00,2.55,0.00,0.000,6,0.000,0.127,3023,2203,2157,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11010,1.57,192.8,77.9,7.1,857,11041,0.00,2.62,23.70,0.413,4,0.000,0.140,3033,790,1983,0,0,0,0,0,0,28.83,14.64,14.52
$GC,11076,1.58,202.2,72.1,8.5,868,11089,0.00,2.58,4.75,0.421,6,0.000,0.132,3032,2199,1946,0,0,0,0,0,0,28.83,14.65,14.52
$GC,11404,1.58,202.2,42.0,9.0,930,11411,0.00,2.60,0.00,0.000,4,0.000,0.143,3042,791,1940,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11451,1.58,202.2,37.2,9.7,938,11459,0.00,2.58,0.00,0.000,6,0.000,0.132,3042,2202,1940,0,0,0,0,0,0,28.83,14.67,28.83
$GC,11770,1.68,280.0,16.4,5.5,999,11820,0.00,2.65,41.03,0.226,4,0.000,0.144,3052,785,1627,0,0,0,0,0,0,28.83,14.62,14.58
$GC,11867,1.68,280.2,8.8,8.9,1015,11874,0.00,2.60,0.00,0.000,6,0.000,0.133,3052,2200,1620,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,11930,end climb,SURFACE_DEPTH_REACHED
$STATE,11930,begin surface coast
$FINISH,2.1,1.014320
$STATE,11966,end surface coast,CONTROL_FINISHED_OK
$STATE,11966,begin surface
$SM_CCo,11994,2.90,0.227,0,0,1587,290.19
$SM_GC,4.48,8.73,0.20,2.90,0.117,0.152,0.227,140,2112,1587,-11.61,0.31,290.19,0,0,0,0,0,0,14.67,14.66,14.60
$RAFOS_CLK,521
$RAFOS,4,1348345984,20.566668,20.551111,75,63,61,61,59,56,651,174,221,119,194,138
$RAFOS,3,1348345504,20.433332,20.417778,116,69,69,63,60,58,741,218,198,177,163,140
$RAFOS,2,1348345021,20.299999,20.283611,104,75,60,58,53,52,531,200,128,215,189,177
$RAFOS,1,1348344548,20.166666,20.152222,124,65,54,53,53,51,427,207,227,178,167,137
$RAFOS,0,1348344068,20.033333,20.018888,62,58,57,56,55,52,216,170,146,179,200,160
$RAFOS_FIX,6646.547363,-5946.081055,220912,202056,2,96,0.91
$IRIDIUM_FIX,6614.97,-5951.67,220912,131317
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.81
$INTERNAL_PRESSURE,8.69397
$TCM_TEMP,12.60
$XPDR_PINGS,10
$24V_AH,12.7,28.647
$10V_AH,13.1,0.000
$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,23.200,135.325,363.400,2.900,0.000,0.000,0.000,239.675,2.500,0.000,6.068,2642.354,6590.369,562.378,2023.832,586.408,0.000,1832.140,0.000,1818.789,2160.000,0.536,0.000
$DEVICE_MAMPS,474.300,190.485,2414.340,227.205,0.000,0.000,0.000,149.175,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.922,724.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188776
$DATA_FILE_SIZE,46677,1033
$CAP_FILE_SIZE,124169,0
$CFSIZE,259252224,245006336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.3
$CURRENT,0.109,358.6,1
$GPS,220912,204604,6645.454,-6003.200,35,0.8,35,-33.9