version: 66.11
glider: 193
mission: 2
dive: 245
start: 10 21 112 13 12 29
data:
$ID,193
$MISSION,2
$DIVE,245
$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,-1304.795
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,14
$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
$GPS1,211012,130504,6700.866,-5702.848,38,0.7,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-67.3
$GPS2,211012,131146,6700.842,-5702.949,5,0.9,5,-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,319.6,151784,-17.3,-8.919,-19.96
$D_GRID,713
$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,-136.9,0.0,0.0,0,27,0.00,0.00,-5.53,0.000,2,0.000,0.000,131,2127,1689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.1,0.0,1,151,10.62,2.83,-99.72,0.000,4,0.425,0.177,2342,3528,3329,0,0,0,0,0,0,14.31,14.44,14.80
$GC,301,-1.50,-136.9,25.3,-17.0,49,309,0.00,2.55,0.00,0.000,6,0.000,0.104,2341,2119,3330,0,0,0,0,0,0,28.83,14.55,28.83
$GC,621,-1.50,-136.9,74.3,-13.6,110,628,0.00,2.58,0.00,0.000,4,0.000,0.131,2341,706,3330,0,0,0,0,0,0,28.83,14.54,28.83
$GC,729,-1.50,-136.9,90.0,-14.4,130,736,0.00,2.65,0.00,0.000,6,0.000,0.132,2333,2121,3330,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1047,-1.50,-136.9,133.0,-12.9,168,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1362,-1.50,-136.9,176.5,-14.6,199,1370,0.00,2.70,0.00,0.000,4,0.000,0.148,2322,3524,3329,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1439,-1.50,-136.9,188.0,-14.5,206,1447,0.12,2.53,0.00,0.000,6,0.295,0.101,2348,2113,3330,0,0,0,0,0,0,14.45,14.66,28.83
$GC,1747,-1.50,-136.9,224.7,-10.7,237,1757,0.00,2.72,0.00,0.000,4,0.000,0.151,2340,3534,3330,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1783,-1.50,-136.9,228.3,-10.5,240,1792,0.00,2.50,0.00,0.000,6,0.000,0.099,2340,2118,3330,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2093,-1.50,-136.9,262.0,-10.8,271,2102,0.00,2.50,0.00,0.000,4,0.000,0.125,2339,715,3329,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2158,-1.50,-136.9,269.3,-11.6,277,2168,0.08,2.58,0.00,0.000,6,0.285,0.125,2351,2119,3329,0,0,0,0,0,0,14.43,14.55,28.83
$GC,2469,-1.50,-136.9,300.3,-9.6,308,2478,0.00,2.67,0.00,0.000,4,0.000,0.148,2342,3530,3329,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2524,-1.50,-136.9,305.7,-10.4,313,2533,0.00,2.50,0.00,0.000,6,0.000,0.098,2342,2115,3329,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2834,-1.50,-136.9,338.2,-10.7,344,2843,0.00,2.53,0.00,0.000,4,0.000,0.123,2342,700,3329,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2900,-1.50,-136.9,345.6,-11.7,350,2908,0.00,2.60,0.00,0.000,6,0.000,0.123,2334,2118,3329,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3209,-1.50,-136.9,380.1,-10.9,381,3219,0.00,2.70,0.00,0.000,4,0.000,0.147,2323,3528,3329,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3287,-1.50,-136.9,388.7,-11.7,388,3294,0.12,2.50,0.00,0.000,6,0.297,0.096,2349,2117,3329,0,0,0,0,0,0,14.47,14.70,28.83
$GC,3606,-1.50,-136.9,422.2,-10.4,406,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3905,-1.50,-136.9,452.4,-9.9,416,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4206,-1.50,-136.9,480.3,-9.0,426,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4505,-1.50,-136.9,508.2,-9.3,436,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4806,-1.50,-136.9,537.0,-9.7,446,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5105,-1.50,-136.9,566.0,-9.6,456,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5406,-1.50,-136.9,594.5,-9.4,466,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5705,-1.50,-136.9,622.2,-9.2,476,5711,0.00,2.72,0.00,0.000,4,0.000,0.154,2340,3526,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5744,-1.50,-136.9,625.2,-9.2,477,5750,0.00,2.50,0.00,0.000,6,0.000,0.106,2340,2119,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6067,-1.50,-136.9,657.3,-9.9,488,6073,0.00,2.75,0.00,0.000,4,0.000,0.160,2330,3527,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6111,-1.50,-136.9,660.6,-9.9,489,6117,0.08,2.50,0.00,0.000,6,0.270,0.105,2349,2114,3331,0,0,0,0,0,0,14.50,14.71,28.83
$GC,6428,-1.50,-136.9,691.2,-9.2,500,6434,0.00,2.53,0.00,0.000,4,0.000,0.133,2349,707,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6473,-1.50,-136.9,694.3,-9.4,501,6479,0.00,2.65,0.00,0.000,6,0.000,0.138,2343,2125,3330,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,6664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6664,begin apogee
$GC,6677,-0.38,0.0,715.3,-9.9,508,6829,0.90,0.00,140.05,2.583,6,0.256,0.000,2592,2149,2773,0,0,0,0,0,0,14.51,28.83,13.05
$STATE,6830,end apogee,CONTROL_FINISHED_OK
$STATE,6830,begin climb
$GC,6835,1.50,136.9,719.3,0.0,513,6998,1.38,0.00,153.02,2.492,6,0.161,0.000,3004,2149,2214,0,0,0,0,0,0,13.87,28.83,12.54
$GC,7300,1.50,136.9,671.3,12.0,529,7305,0.00,2.83,0.00,0.000,4,0.000,0.151,3004,3565,2205,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7325,1.50,136.9,671.3,12.0,529,7332,0.00,2.65,0.00,0.000,6,0.000,0.106,3015,2147,2205,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7631,1.50,136.9,629.4,12.3,540,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2147,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,1.50,136.9,592.5,12.4,550,7937,0.00,2.75,0.00,0.000,4,0.000,0.150,3015,3561,2202,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7986,1.50,136.9,588.3,12.6,551,7993,0.00,2.55,0.00,0.000,6,0.000,0.102,3025,2148,2202,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8292,1.50,136.9,545.2,12.7,562,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2148,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8592,1.50,136.9,508.1,12.6,572,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2148,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8892,1.50,136.9,467.8,13.3,582,8898,0.00,2.72,0.00,0.000,4,0.000,0.145,3025,3567,2201,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8917,1.50,136.9,467.8,13.3,582,8926,0.12,2.55,0.00,0.000,6,0.297,0.106,3009,2148,2200,0,0,0,0,0,0,14.54,14.70,28.83
$GC,9224,1.50,136.9,426.7,12.1,593,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2147,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9524,1.50,136.9,390.5,12.2,607,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2147,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9840,1.50,136.9,352.5,11.8,638,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2147,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10152,1.50,136.9,313.9,12.2,669,10161,0.00,2.70,0.00,0.000,4,0.000,0.143,3009,3561,2199,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10200,1.50,136.9,307.3,13.3,673,10207,0.00,2.55,0.00,0.000,6,0.000,0.104,3018,2137,2199,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10507,1.50,136.9,266.2,13.2,704,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2137,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10823,1.50,136.9,228.6,11.3,735,10832,0.00,2.75,0.00,0.000,4,0.000,0.145,3018,3568,2199,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10897,1.50,136.9,219.2,12.3,742,10907,0.08,2.53,0.00,0.000,6,0.270,0.103,3008,2145,2200,0,0,0,0,0,0,14.51,14.66,28.83
$GC,11208,1.50,136.9,186.3,10.7,773,11216,0.00,2.70,0.00,0.000,4,0.000,0.142,3007,3560,2199,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11262,1.50,136.9,179.6,12.6,778,11271,0.00,2.53,0.00,0.000,6,0.000,0.100,3017,2142,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11572,1.50,136.9,146.2,9.7,809,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2142,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11887,1.50,136.9,117.3,9.0,840,11896,0.00,2.53,0.00,0.000,4,0.000,0.126,3027,736,2199,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11934,1.50,136.9,112.7,9.5,844,11941,0.00,2.58,0.00,0.000,6,0.000,0.113,3027,2161,2198,0,0,0,0,0,0,28.83,14.67,28.83
$GC,12245,1.50,136.9,82.4,9.4,892,12251,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2161,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12563,1.51,147.9,52.9,8.4,953,12576,0.00,2.72,4.28,0.353,4,0.000,0.142,3027,3563,2168,0,0,0,0,0,0,28.83,14.59,14.44
$GC,12632,1.51,147.9,45.8,10.2,965,12640,0.12,2.55,0.00,0.000,6,0.288,0.103,3010,2141,2168,0,0,0,0,0,0,14.51,14.68,28.83
$GC,12956,1.59,211.4,24.3,6.2,1026,13002,0.00,2.58,34.55,0.237,4,0.000,0.129,3020,727,1906,0,0,0,0,0,0,28.83,14.59,14.50
$GC,13019,1.61,230.6,19.6,8.1,1035,13037,0.00,2.60,9.90,0.237,6,0.000,0.112,3020,2151,1830,0,0,0,0,0,0,28.83,14.59,14.52
$STATE,13207,end climb,SURFACE_DEPTH_REACHED
$STATE,13207,begin surface coast
$FINISH,2.2,1.020326
$STATE,13254,end surface coast,CONTROL_FINISHED_OK
$STATE,13254,begin surface
$SM_CCo,13282,29.65,0.173,0,0,1586,290.19
$SM_GC,3.47,8.30,0.10,29.65,0.083,0.172,0.173,134,2115,1586,-11.61,0.40,290.19,0,0,0,0,0,0,14.69,14.66,14.52
$RAFOS_CLK,557
$RAFOS,5,1350837665,16.700001,16.684723,115,60,59,56,55,52,572,118,188,174,227,218
$RAFOS,4,1350837186,16.566668,16.551666,66,61,60,57,53,53,809,211,228,199,148,171
$RAFOS,3,1350836706,16.433332,16.418333,65,63,63,58,57,53,923,209,196,177,187,220
$RAFOS,2,1350836222,16.299999,16.283890,78,59,55,53,53,53,906,220,137,190,162,173
$RAFOS,1,1350835741,16.166666,16.150278,60,59,58,55,55,55,211,137,181,157,223,951
$RAFOS,0,1350835261,16.033333,16.016945,61,55,51,51,50,48,214,196,118,144,182,157
$RAFOS_FIX,6654.329102,-5723.932617,211012,161628,4,81,1.62
$IRIDIUM_FIX,6636.54,-5659.96,211012,090941
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.22
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,14.10
$XPDR_PINGS,7
$24V_AH,12.5,78.682
$10V_AH,12.9,0.000
$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,21.925,104.775,341.800,29.650,0.000,0.000,0.000,243.125,1.750,0.000,6.682,2735.869,7876.034,566.367,1960.829,596.747,0.000,1798.834,0.000,1762.572,2520.000,0.539,0.000
$DEVICE_MAMPS,425.340,292.230,2582.640,172.890,0.000,0.000,0.000,148.410,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,792.649,750.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188736
$DATA_FILE_SIZE,50080,1080
$CAP_FILE_SIZE,120337,0
$CFSIZE,259252224,233783296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.7
$CURRENT,0.036,308.9,1
$GPS,211012,165614,6701.412,-5707.912,33,0.8,33,-33.5