version: 66.11
glider: 193
mission: 2
dive: 81
start: 9 23 112 0 11 40
data:
$ID,193
$MISSION,2
$DIVE,81
$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,-882.79376
$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,17
$R_STBD_OVSHOOT,12
$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
$GPS1,230912,000434,6643.113,-6005.620,30,0.8,30,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-69.5
$GPS2,230912,001056,6643.055,-6005.531,5,0.7,5,-33.8
$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,355.5,15076,-17.3,-8.919,-19.96
$D_GRID,587
$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,-23.27,0.000,2,0.000,0.000,135,2122,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.50,-136.9,3.1,-2.0,4,138,11.20,2.80,-68.80,0.000,4,0.467,0.185,2339,3533,3330,0,0,0,0,0,0,14.37,14.46,14.72
$GC,248,-1.50,-136.9,28.0,-21.9,38,255,0.00,2.58,0.00,0.000,6,0.000,0.113,2336,2120,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,564,-1.50,-136.9,72.3,-12.8,99,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-1.50,-136.9,117.9,-14.5,148,889,0.00,2.58,0.00,0.000,4,0.000,0.144,2339,716,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1015,-1.50,-136.9,139.0,-15.7,161,1025,0.08,2.62,0.00,0.000,6,0.296,0.146,2348,2117,3332,0,0,0,0,0,0,14.56,14.61,28.83
$GC,1327,-1.50,-136.9,179.6,-13.1,192,1336,0.00,2.65,0.00,0.000,4,0.000,0.159,2340,3530,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1402,-1.50,-136.9,189.6,-13.1,199,1410,0.00,2.53,0.00,0.000,6,0.000,0.109,2340,2114,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1713,-1.50,-136.9,228.8,-12.5,230,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2027,-1.50,-136.9,265.8,-12.4,261,2036,0.00,2.53,0.00,0.000,4,0.000,0.142,2340,713,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2123,-1.50,-136.9,278.6,-13.0,270,2132,0.05,2.60,0.00,0.000,6,0.303,0.148,2344,2119,3331,0,0,0,0,0,0,14.64,14.69,28.83
$GC,2432,-1.50,-136.9,315.1,-11.4,301,2442,0.00,2.65,0.00,0.000,4,0.000,0.159,2335,3533,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2518,-1.50,-136.9,325.5,-11.7,309,2527,0.00,2.50,0.00,0.000,6,0.000,0.108,2335,2124,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2827,-1.50,-136.9,361.9,-11.6,340,2836,0.00,2.55,0.00,0.000,4,0.000,0.140,2335,714,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2862,-1.50,-136.9,366.2,-12.3,343,2872,0.08,2.60,0.00,0.000,6,0.295,0.145,2347,2119,3330,0,0,0,0,0,0,14.64,14.73,28.83
$GC,3173,-1.50,-136.9,401.1,-11.3,374,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3473,-1.50,-136.9,434.6,-11.2,384,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3774,-1.50,-136.9,467.9,-11.2,394,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4073,-1.50,-136.9,501.8,-11.5,404,4079,0.00,2.55,0.00,0.000,4,0.000,0.141,2347,716,3330,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4127,-1.50,-136.9,505.6,-11.7,405,4135,0.00,2.58,0.00,0.000,6,0.000,0.143,2339,2119,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4435,-1.50,-136.9,543.4,-11.3,416,4440,0.00,2.62,0.00,0.000,4,0.000,0.159,2329,3534,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4489,-1.50,-136.9,547.1,-11.3,417,4498,0.10,2.50,0.00,0.000,6,0.312,0.106,2348,2120,3331,0,0,0,0,0,0,14.73,14.83,28.83
$GC,4796,-1.50,-136.9,582.8,-10.2,428,4802,0.00,2.65,0.00,0.000,4,0.000,0.161,2339,3527,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4851,-1.50,-136.9,586.3,-10.1,429,4859,0.00,2.50,0.00,0.000,6,0.000,0.108,2339,2117,3331,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,4882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4882,begin apogee
$GC,4894,-0.38,0.0,593.2,-11.0,431,5035,0.93,0.00,134.62,2.345,6,0.273,0.000,2594,2200,2772,0,0,0,0,0,0,14.73,28.83,13.10
$STATE,5041,end apogee,CONTROL_FINISHED_OK
$STATE,5041,begin climb
$GC,5046,1.50,136.9,598.5,0.0,436,5196,1.42,0.00,144.25,2.298,6,0.180,0.000,3007,2199,2213,0,0,0,0,0,0,13.88,28.83,12.78
$GC,5487,1.50,136.9,554.2,11.5,451,5493,0.00,2.80,0.00,0.000,4,0.000,0.157,3007,3603,2205,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5580,1.50,136.9,542.2,12.6,454,5586,0.00,2.62,0.00,0.000,6,0.000,0.110,3017,2202,2204,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5912,1.50,136.9,500.5,12.5,465,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2202,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6212,1.50,136.9,463.5,12.3,475,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2202,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6512,1.50,136.9,428.2,11.5,485,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2201,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6812,1.50,136.9,393.0,11.7,497,6821,0.00,2.60,0.00,0.000,4,0.000,0.141,3027,783,2201,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6847,1.50,136.9,388.9,11.7,500,6856,0.08,2.58,0.00,0.000,6,0.287,0.131,3008,2197,2200,0,0,0,0,0,0,14.54,14.60,28.83
$GC,7157,1.50,136.9,354.9,10.8,531,7166,0.00,2.67,0.00,0.000,4,0.000,0.152,3008,3615,2201,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7202,1.50,136.9,349.8,11.4,535,7210,0.00,2.53,0.00,0.000,6,0.000,0.110,3017,2202,2200,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7512,1.50,136.9,314.4,11.7,566,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2201,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7828,1.50,136.9,278.6,12.0,597,7837,0.00,2.65,0.00,0.000,4,0.000,0.152,3017,3610,2201,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7864,1.50,136.9,273.4,12.5,600,7873,0.08,2.50,0.00,0.000,6,0.289,0.106,3007,2202,2200,0,0,0,0,0,0,14.64,14.72,28.83
$GC,8174,1.50,136.9,237.7,10.9,631,8183,0.00,2.55,0.00,0.000,4,0.000,0.137,3016,784,2200,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8340,1.50,136.9,219.8,10.4,647,8349,0.00,2.53,0.00,0.000,6,0.000,0.126,3016,2199,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8652,1.50,136.9,189.9,9.7,678,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8968,1.52,153.9,163.9,8.2,709,8988,0.00,0.00,15.02,1.883,6,0.000,0.000,3016,2199,2144,0,0,0,0,0,0,28.83,28.83,13.98
$GC,9292,1.52,156.4,135.4,8.8,742,9301,0.00,2.60,0.00,0.000,4,0.000,0.140,3026,785,2142,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9400,1.52,156.4,125.4,9.9,752,9407,0.00,2.60,0.00,0.000,6,0.000,0.134,3026,2204,2141,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9712,1.54,166.7,97.5,8.5,785,9726,0.00,2.67,7.05,0.490,4,0.000,0.154,3026,3622,2091,0,0,0,0,0,0,28.83,14.66,14.52
$GC,9819,1.54,166.7,87.7,9.4,804,9826,0.10,2.58,0.00,0.000,6,0.332,0.109,3018,2192,2090,0,0,0,0,0,0,14.61,14.71,28.83
$GC,10136,1.54,166.7,60.5,9.6,865,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2192,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10454,1.60,222.4,33.9,6.5,926,10491,0.00,2.72,30.40,0.285,4,0.000,0.156,3018,3614,1862,0,0,0,0,0,0,28.83,14.63,14.58
$GC,10537,1.63,243.9,27.5,8.0,940,10557,0.00,2.55,11.15,0.275,6,0.000,0.110,3027,2200,1775,0,0,0,0,0,0,28.83,14.68,14.57
$GC,10871,1.70,297.4,6.9,6.6,1003,10909,0.10,2.65,27.02,0.198,4,0.182,0.139,3075,781,1555,0,0,0,0,0,0,14.71,14.61,14.61
$STATE,10914,end climb,SURFACE_DEPTH_REACHED
$STATE,10915,begin surface coast
$FINISH,1.9,1.025049
$STATE,10931,end surface coast,CONTROL_FINISHED_OK
$STATE,10936,begin surface
$SM_CCo,11026,0.00,0.000,0,0,1546,300.74
$SM_GC,3.25,8.65,2.58,0.00,0.102,0.145,0.000,141,2130,1546,-11.59,-0.17,300.74,0,0,0,0,0,0,14.67,14.63,28.83
$RAFOS_CLK,469
$RAFOS,6,1348361347,0.833333,0.818611,117,61,60,58,58,57,754,214,171,225,153,234
$RAFOS,5,1348360867,0.700000,0.685278,91,62,56,55,51,50,910,209,197,120,219,160
$RAFOS,4,1348360390,0.566667,0.552778,98,66,55,54,51,51,634,122,145,94,228,193
$RAFOS,3,1348359905,0.433333,0.418056,90,68,61,60,58,57,740,221,140,212,180,194
$RAFOS,2,1348359424,0.300000,0.284444,139,64,59,56,56,55,510,230,151,128,211,202
$RAFOS,0,1348358463,0.033333,0.017500,66,55,55,53,52,47,197,163,222,120,153,129
$RAFOS_FIX,6647.035156,-5952.190918,230912,000028,4,99,7.17
$IRIDIUM_FIX,6614.97,-6008.55,220912,202043
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.40
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,9
$24V_AH,12.8,29.183
$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,22.850,93.725,369.525,0.000,0.000,0.000,0.000,235.100,2.250,0.000,5.935,2580.746,5884.228,533.560,1896.160,532.926,0.000,1714.622,0.000,1698.875,1800.000,0.538,0.000
$DEVICE_MAMPS,466.650,195.075,2344.725,0.000,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.611,712.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188800
$DATA_FILE_SIZE,46790,1013
$CAP_FILE_SIZE,109123,0
$CFSIZE,259252224,244899840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.7
$CURRENT,0.284,172.8,1
$GPS,230912,031704,6642.523,-6007.097,28,0.8,28,-33.8