version: 66.11
glider: 193
mission: 2
dive: 128
start: 10 1 112 9 21 44
data:
$ID,193
$MISSION,2
$DIVE,128
$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,-985.41193
$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,19
$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
$GPS1,011012,091422,6659.280,-5707.316,36,0.9,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-67.6
$GPS2,011012,092101,6659.305,-5707.174,4,0.7,4,-33.5
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,52.2,15446,-17.3,-8.919,-19.96
$D_GRID,731
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,49,0.00,0.00,-28.12,0.000,2,0.000,0.000,134,2115,2102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-1.50,-136.9,3.1,-2.3,5,145,11.27,2.65,-68.70,0.000,4,0.468,0.160,2350,716,3330,0,0,0,0,0,0,14.38,14.50,14.78
$GC,204,-1.50,-136.9,15.7,-20.3,30,211,0.00,2.67,0.00,0.000,6,0.000,0.146,2342,2123,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,520,-1.50,-136.9,68.1,-12.6,91,527,0.00,2.62,0.00,0.000,4,0.000,0.139,2342,711,3332,0,0,0,0,0,0,28.83,14.61,28.83
$GC,592,-1.50,-136.9,77.9,-13.9,104,599,0.00,2.65,0.00,0.000,6,0.000,0.140,2332,2123,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,910,-1.50,-136.9,121.3,-14.5,151,920,0.10,2.67,0.00,0.000,4,0.336,0.151,2341,3534,3332,0,0,0,0,0,0,14.59,14.64,28.83
$GC,988,-1.50,-136.9,132.2,-14.5,158,995,0.00,2.53,0.00,0.000,6,0.000,0.103,2341,2121,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1295,-1.50,-136.9,172.9,-13.2,189,1304,0.00,2.55,0.00,0.000,4,0.000,0.134,2341,709,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1380,-1.50,-136.9,184.3,-13.6,197,1390,0.08,2.60,0.00,0.000,6,0.299,0.138,2351,2121,3332,0,0,0,0,0,0,14.60,14.67,28.83
$GC,1691,-1.50,-136.9,221.8,-11.9,228,1700,0.00,2.65,0.00,0.000,4,0.000,0.154,2342,3531,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1729,-1.50,-136.9,225.9,-11.8,231,1735,0.00,2.53,0.00,0.000,6,0.000,0.105,2342,2114,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2037,-1.50,-136.9,262.7,-11.7,262,2046,0.00,2.53,0.00,0.000,4,0.000,0.134,2342,710,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2075,-1.50,-136.9,267.0,-11.8,265,2082,0.00,2.60,0.00,0.000,6,0.000,0.137,2334,2122,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2383,-1.50,-136.9,306.0,-12.4,296,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2700,-1.50,-136.9,343.7,-11.9,327,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3011,-1.50,-136.9,380.2,-11.1,358,3020,0.00,2.55,0.00,0.000,4,0.000,0.133,2334,715,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3066,-1.50,-136.9,387.3,-12.3,363,3075,0.08,2.58,0.00,0.000,6,0.298,0.135,2346,2122,3330,0,0,0,0,0,0,14.66,14.74,28.83
$GC,3396,-1.50,-136.9,424.6,-10.9,382,3402,0.00,2.62,0.00,0.000,4,0.000,0.153,2337,3523,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3428,-1.50,-136.9,428.1,-10.9,383,3433,0.00,2.45,0.00,0.000,6,0.000,0.102,2337,2123,3330,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3760,-1.50,-136.9,464.2,-10.8,394,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4059,-1.50,-136.9,495.7,-10.5,404,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4360,-1.50,-136.9,526.8,-10.4,414,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4659,-1.50,-136.9,557.1,-10.3,424,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4960,-1.50,-136.9,587.8,-10.2,434,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5259,-1.50,-136.9,619.3,-10.5,444,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5560,-1.50,-136.9,649.9,-10.3,454,5565,0.00,2.50,0.00,0.000,4,0.000,0.134,2337,715,3332,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5604,-1.50,-136.9,653.4,-10.4,455,5610,0.08,2.58,0.00,0.000,6,0.301,0.141,2348,2121,3332,0,0,0,0,0,0,14.75,14.83,28.83
$GC,5922,-1.50,-136.9,686.3,-9.8,466,5927,0.00,2.65,0.00,0.000,4,0.000,0.161,2340,3531,3332,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5986,-1.50,-136.9,692.4,-9.7,468,5991,0.00,2.47,0.00,0.000,6,0.000,0.106,2339,2121,3332,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6313,-1.50,-136.9,725.1,-9.8,479,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6368,begin apogee
$GC,6380,-0.38,0.0,731.1,-9.9,481,6523,0.90,0.00,137.12,2.435,6,0.269,0.000,2590,2201,2773,0,0,0,0,0,0,14.78,28.83,13.12
$STATE,6529,end apogee,CONTROL_FINISHED_OK
$STATE,6529,begin climb
$GC,6535,1.50,136.9,735.7,0.0,486,6697,1.38,3.05,147.38,2.391,4,0.168,0.148,3002,3608,2214,0,0,0,0,0,0,13.93,13.33,12.64
$GC,6741,1.50,136.9,718.5,10.8,493,6746,0.00,2.75,0.00,0.000,6,0.000,0.105,3013,2198,2210,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7068,1.50,136.9,676.4,12.8,504,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2197,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7369,1.50,136.9,638.4,12.7,514,7374,0.00,2.75,0.00,0.000,4,0.000,0.147,3013,3614,2203,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7414,1.50,136.9,634.1,12.9,515,7419,0.00,2.58,0.00,0.000,6,0.000,0.103,3023,2197,2203,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7731,1.50,136.9,589.3,13.9,526,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8030,1.50,136.9,549.3,13.1,536,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8331,1.50,136.9,510.6,12.9,546,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2196,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8630,1.50,136.9,473.7,12.3,556,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8931,1.50,136.9,435.2,13.1,566,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9231,1.50,136.9,395.6,13.3,578,9240,0.00,2.65,0.00,0.000,4,0.000,0.145,3023,3607,2201,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9265,1.50,136.9,390.9,13.9,581,9275,0.08,2.53,0.00,0.000,6,0.281,0.112,3013,2200,2201,0,0,0,0,0,0,14.69,14.78,28.83
$GC,9577,1.50,136.9,351.2,12.5,612,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2200,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9891,1.50,136.9,312.5,12.8,643,9900,0.00,2.53,0.00,0.000,4,0.000,0.136,3022,790,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9938,1.50,136.9,306.3,12.8,647,9945,0.00,2.58,0.00,0.000,6,0.000,0.125,3022,2205,2200,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10246,1.50,136.9,268.5,12.0,678,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2205,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10556,1.50,136.9,233.7,11.0,709,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2205,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10871,1.50,136.9,199.9,10.9,740,10879,0.00,2.58,0.00,0.000,4,0.000,0.135,3032,790,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10906,1.50,136.9,195.4,11.3,743,10915,0.08,2.55,0.00,0.000,6,0.269,0.126,3010,2204,2200,0,0,0,0,0,0,14.72,14.76,28.83
$GC,11216,1.50,136.9,162.7,10.2,774,11225,0.00,2.62,0.00,0.000,4,0.000,0.145,3010,3618,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,11240,1.50,136.9,160.0,10.6,776,11249,0.00,2.50,0.00,0.000,6,0.000,0.103,3020,2199,2200,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11551,1.50,136.9,126.4,10.5,807,11559,0.00,2.67,0.00,0.000,4,0.000,0.145,3020,3617,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11586,1.50,136.9,122.6,11.0,810,11595,0.08,2.53,0.00,0.000,6,0.276,0.103,3009,2190,2200,0,0,0,0,0,0,14.71,14.81,28.83
$GC,11896,1.51,148.8,94.7,8.4,847,11909,0.00,2.70,4.53,0.507,4,0.000,0.145,3010,3617,2165,0,0,0,0,0,0,28.83,14.76,14.60
$GC,11975,1.51,148.8,87.2,10.1,861,11983,0.00,2.53,0.00,0.000,6,0.000,0.103,3019,2195,2164,0,0,0,0,0,0,28.83,14.81,28.83
$GC,12293,1.51,148.8,56.9,9.0,922,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2195,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12609,1.60,217.1,31.6,5.9,983,12652,0.00,2.55,35.22,0.273,4,0.000,0.129,3028,783,1883,0,0,0,0,0,0,28.83,14.70,14.62
$GC,12887,1.63,243.2,12.3,7.8,1035,12907,0.00,2.60,11.98,0.221,6,0.000,0.125,3029,2203,1777,0,0,0,0,0,0,28.83,14.71,14.66
$STATE,12988,end climb,SURFACE_DEPTH_REACHED
$STATE,12988,begin surface coast
$FINISH,2.0,1.014864
$STATE,13029,end surface coast,CONTROL_FINISHED_OK
$STATE,13029,begin surface
$SM_CCo,13057,22.23,0.184,0,0,1589,290.19
$SM_GC,2.48,8.55,0.20,22.23,0.110,0.142,0.184,134,2111,1589,-11.62,0.37,290.19,0,0,0,0,0,0,14.76,14.73,14.66
$RAFOS_CLK,555
$RAFOS,6,1349095743,12.833333,12.817500,96,59,56,55,54,53,749,219,165,195,132,204
$RAFOS,5,1349095263,12.700000,12.684167,160,58,55,54,52,52,602,210,219,130,184,144
$RAFOS,4,1349094794,12.566667,12.553889,114,66,58,55,53,52,753,216,192,156,174,124
$RAFOS,3,1349094304,12.433333,12.417778,122,62,61,58,55,54,945,182,215,197,137,156
$RAFOS,2,1349093824,12.300000,12.284445,111,61,57,53,53,51,914,167,220,128,203,142
$RAFOS,1,1349093344,12.166667,12.151111,89,64,56,55,53,50,948,147,169,202,223,184
$RAFOS,0,1349092865,12.033333,12.018056,59,56,56,56,55,53,204,171,194,152,181,217
$RAFOS_FIX,6705.350586,-5736.626953,011012,121217,6,115,2.10
$IRIDIUM_FIX,6636.54,-5730.46,011012,050538
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.29
$INTERNAL_PRESSURE,8.7428
$TCM_TEMP,13.10
$XPDR_PINGS,3
$24V_AH,12.6,43.441
$10V_AH,13.0,0.000
$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,22.650,99.250,336.225,22.225,0.000,0.000,0.000,242.275,0.750,0.000,5.617,2708.454,7772.806,511.556,1948.346,574.857,0.000,1741.997,0.000,1745.527,2520.000,0.537,0.000
$DEVICE_MAMPS,468.180,188.190,2434.995,184.365,0.000,0.000,0.000,149.175,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.308,739.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188768
$DATA_FILE_SIZE,50051,1061
$CAP_FILE_SIZE,117829,0
$CFSIZE,259252224,241676288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.5
$CURRENT,0.047, 31.8,1
$GPS,011012,130158,6701.354,-5705.424,38,0.8,38,-33.5