version: 66.11
glider: 193
mission: 2
dive: 131
start: 10 1 112 20 34 10
data:
$ID,193
$MISSION,2
$DIVE,131
$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,-1001.3705
$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,15
$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
$GPS1,011012,202634,6701.187,-5659.174,38,0.9,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-68.9
$GPS2,011012,203327,6701.218,-5659.090,5,0.8,5,-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,79.7,8662,-17.3,-8.919,-19.96
$D_GRID,676
$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,-136.9,0.0,0.0,0,43,0.00,0.00,-22.52,0.000,2,0.000,0.000,138,2116,2012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.50,-136.9,3.1,-2.3,4,141,10.95,2.60,-72.60,0.000,4,0.455,0.158,2350,706,3329,0,0,0,0,0,0,14.40,14.54,14.80
$GC,296,-1.50,-136.9,34.9,-21.2,48,302,0.00,2.67,0.00,0.000,6,0.000,0.145,2342,2124,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,612,-1.50,-136.9,78.6,-12.4,109,619,0.00,2.67,0.00,0.000,4,0.000,0.157,2332,3528,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,675,-1.50,-136.9,87.0,-13.5,120,682,0.10,2.53,0.00,0.000,6,0.311,0.103,2349,2117,3331,0,0,0,0,0,0,14.57,14.68,28.83
$GC,988,-1.50,-136.9,126.9,-12.1,160,996,0.00,2.53,0.00,0.000,4,0.000,0.132,2350,710,3331,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1062,-1.50,-136.9,136.4,-13.2,167,1071,0.00,2.58,0.00,0.000,6,0.000,0.133,2342,2117,3331,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1373,-1.50,-136.9,176.4,-12.4,198,1381,0.00,2.55,0.00,0.000,4,0.000,0.132,2342,706,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1417,-1.50,-136.9,182.2,-13.0,202,1426,0.00,2.58,0.00,0.000,6,0.000,0.132,2333,2122,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1727,-1.50,-136.9,220.8,-12.3,233,1736,0.00,2.55,0.00,0.000,4,0.000,0.129,2333,710,3329,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1825,-1.50,-136.9,233.5,-13.3,242,1832,0.12,2.60,0.00,0.000,6,0.324,0.132,2349,2132,3329,0,0,0,0,0,0,14.64,14.74,28.83
$GC,2133,-1.50,-136.9,268.8,-10.8,273,2143,0.00,2.60,0.00,0.000,4,0.000,0.148,2340,3528,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2222,-1.50,-136.9,278.2,-11.0,281,2230,0.00,2.50,0.00,0.000,6,0.000,0.099,2340,2114,3328,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2530,-1.50,-136.9,313.0,-11.1,312,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2114,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2845,-1.50,-136.9,346.9,-10.7,343,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2114,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3159,-1.50,-136.9,380.6,-11.0,374,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2114,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3465,-1.50,-136.9,413.0,-10.3,397,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2114,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3766,-1.50,-136.9,444.3,-10.6,407,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2114,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4065,-1.50,-136.9,475.4,-10.2,417,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4365,-1.50,-136.9,505.4,-9.7,427,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4665,-1.50,-136.9,534.5,-9.7,437,4671,0.00,2.67,0.00,0.000,4,0.000,0.156,2330,3531,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4710,-1.50,-136.9,537.7,-9.9,438,4716,0.08,2.47,0.00,0.000,6,0.282,0.107,2349,2126,3331,0,0,0,0,0,0,14.78,14.86,28.83
$GC,5027,-1.50,-136.9,570.0,-9.8,449,5032,0.00,2.53,0.00,0.000,4,0.000,0.138,2349,710,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5076,-1.50,-136.9,573.0,-9.7,450,5085,0.00,2.58,0.00,0.000,6,0.000,0.139,2343,2119,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5388,-1.50,-136.9,604.3,-9.5,461,5394,0.00,2.53,0.00,0.000,4,0.000,0.135,2343,713,3331,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5479,-1.50,-136.9,613.7,-10.2,464,5485,0.00,2.55,0.00,0.000,6,0.000,0.133,2336,2117,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5811,-1.50,-136.9,646.8,-10.2,475,5817,0.00,2.62,0.00,0.000,4,0.000,0.148,2325,3528,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5856,-1.50,-136.9,650.2,-10.2,476,5862,0.08,2.45,0.00,0.000,6,0.277,0.099,2345,2119,3331,0,0,0,0,0,0,14.76,14.86,28.83
$STATE,6107,end dive,NO_VERTICAL_VELOCITY
$STATE,6107,begin apogee
$GC,6120,-0.38,0.0,654.7,0.0,485,6260,0.80,0.00,135.48,2.323,6,0.191,0.000,2596,2202,2772,0,0,0,0,0,0,14.83,28.83,13.19
$STATE,6266,end apogee,CONTROL_FINISHED_OK
$STATE,6266,begin climb
$GC,6271,1.50,136.9,654.7,0.0,490,6432,1.35,2.90,145.25,2.291,4,0.168,0.132,3012,788,2214,0,0,0,0,0,0,13.97,13.47,12.80
$GC,6663,1.50,136.9,613.3,12.9,503,6669,0.00,2.67,0.00,0.000,6,0.000,0.121,3012,2199,2205,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6990,1.50,136.9,569.8,13.2,514,6996,0.00,2.62,0.00,0.000,4,0.000,0.130,3022,788,2204,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7084,1.50,136.9,557.8,13.1,517,7089,0.00,2.60,0.00,0.000,6,0.000,0.120,3022,2200,2203,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7412,1.50,136.9,514.0,12.9,528,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2200,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7712,1.50,136.9,475.2,12.9,538,7717,0.00,2.58,0.00,0.000,4,0.000,0.130,3033,783,2202,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7756,1.50,136.9,471.1,12.7,539,7762,0.08,2.55,0.00,0.000,6,0.265,0.119,3011,2197,2202,0,0,0,0,0,0,14.59,14.65,28.83
$GC,8073,1.50,136.9,430.5,12.1,550,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2197,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8373,1.50,136.9,393.7,12.1,562,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2197,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8689,1.50,136.9,355.8,12.3,593,8698,0.00,2.55,0.00,0.000,4,0.000,0.130,3020,785,2201,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8724,1.50,136.9,350.8,12.4,596,8732,0.00,2.55,0.00,0.000,6,0.000,0.121,3020,2205,2201,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9033,1.50,136.9,312.9,12.1,627,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2205,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9350,1.50,136.9,274.8,12.4,658,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2205,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9661,1.50,136.9,236.8,11.9,689,9670,0.00,2.55,0.00,0.000,4,0.000,0.132,3030,785,2201,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9696,1.50,136.9,232.0,12.0,692,9705,0.08,2.55,0.00,0.000,6,0.265,0.122,3009,2204,2201,0,0,0,0,0,0,14.73,14.78,28.83
$GC,10006,1.50,136.9,198.4,10.8,723,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2204,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10321,1.50,136.9,164.7,10.7,754,10330,0.00,2.62,0.00,0.000,4,0.000,0.144,3009,3615,2201,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10357,1.50,136.9,160.0,11.6,757,10366,0.00,2.50,0.00,0.000,6,0.000,0.102,3019,2192,2201,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10667,1.50,136.9,123.0,11.9,788,10676,0.00,2.47,0.00,0.000,4,0.000,0.128,3029,790,2201,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10772,1.50,136.9,111.0,11.7,798,10781,0.08,2.50,0.00,0.000,6,0.265,0.119,3008,2197,2200,0,0,0,0,0,0,14.73,14.79,28.83
$GC,11086,1.52,157.3,82.7,8.0,849,11106,0.00,2.70,9.68,0.436,4,0.000,0.142,3007,3614,2130,0,0,0,0,0,0,28.83,14.76,14.62
$GC,11152,1.52,157.3,77.0,9.5,860,11159,0.00,2.53,0.00,0.000,6,0.000,0.101,3016,2189,2129,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11468,1.55,175.1,48.9,8.1,921,11480,0.00,0.00,9.40,0.327,6,0.000,0.000,3017,2189,2058,0,0,0,0,0,0,28.83,28.83,14.64
$GC,11791,1.64,249.9,30.6,5.7,983,11840,0.00,2.55,40.53,0.265,4,0.000,0.130,3027,780,1750,0,0,0,0,0,0,28.83,14.69,14.62
$GC,11876,1.64,250.4,23.9,8.9,997,11883,0.00,2.60,0.00,0.000,6,0.000,0.122,3027,2208,1745,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,12107,end climb,SURFACE_DEPTH_REACHED
$STATE,12107,begin surface coast
$FINISH,2.0,1.001243
$STATE,12139,end surface coast,CONTROL_FINISHED_OK
$STATE,12139,begin surface
$SM_CCo,12167,18.90,0.180,0,0,1587,290.19
$SM_GC,2.62,8.38,0.20,18.90,0.093,0.140,0.180,134,2114,1587,-11.62,0.45,290.19,0,0,0,0,0,0,14.76,14.76,14.68
$RAFOS_CLK,504
$RAFOS,6,1349124543,20.833334,20.817499,109,59,59,58,58,53,788,215,167,195,206,141
$RAFOS,5,1349124062,20.700001,20.683889,120,68,63,58,58,57,644,209,220,187,164,155
$RAFOS_FIX,6708.046387,-5722.464844,011012,202012,3,114,216.96
$IRIDIUM_FIX,6636.54,-5702.96,011012,161610
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.18
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,13.80
$XPDR_PINGS,7
$24V_AH,12.8,44.235
$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,22.075,98.325,340.325,18.900,0.000,0.000,0.000,257.950,1.750,0.000,5.599,2644.784,6874.461,499.208,2043.706,555.035,0.000,1777.208,0.000,1823.983,720.000,0.540,0.000
$DEVICE_MAMPS,455.175,181.305,2323.305,179.775,0.000,0.000,0.000,143.055,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.702,722.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188716
$DATA_FILE_SIZE,50092,1048
$CAP_FILE_SIZE,115969,0
$CFSIZE,259252224,241483776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1462.1
$CURRENT,0.112,113.0,1
$GPS,011012,235904,6701.989,-5654.435,35,0.7,35,-33.5