version: 66.11
glider: 193
mission: 2
dive: 290
start: 10 30 112 5 7 11
data:
$ID,193
$MISSION,2
$DIVE,290
$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,-1438.7828
$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,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
$GPS1,301012,045958,6642.800,-6005.556,37,0.8,37,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.44
$_SM_ANGLEo,-69.0
$GPS2,301012,050628,6642.779,-6005.613,5,0.9,5,-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,330.5,15085,-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,-136.9,0.0,0.0,0,26,0.00,0.00,-5.57,0.000,2,0.000,0.000,127,2120,1686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.5,0.0,1,148,11.65,2.88,-94.40,0.000,4,0.464,0.184,2342,3537,3330,0,0,0,0,0,0,14.18,14.31,14.74
$GC,277,-1.50,-136.9,29.2,-18.8,44,284,0.00,2.60,0.00,0.000,6,0.000,0.107,2342,2118,3331,0,0,0,0,0,0,28.83,14.44,28.83
$GC,594,-1.50,-136.9,83.1,-15.2,105,601,0.00,2.60,0.00,0.000,4,0.000,0.135,2342,707,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,715,-1.50,-136.9,101.4,-15.4,127,722,0.00,2.70,0.00,0.000,6,0.000,0.140,2334,2122,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1022,-1.50,-136.9,145.4,-13.7,158,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1338,-1.50,-136.9,189.6,-13.9,189,1347,0.00,2.75,0.00,0.000,4,0.000,0.158,2323,3525,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1404,-1.50,-136.9,199.9,-14.9,195,1414,0.10,2.53,0.00,0.000,6,0.288,0.105,2348,2123,3331,0,0,0,0,0,0,14.19,14.45,28.83
$GC,1714,-1.50,-136.9,240.5,-12.9,226,1724,0.00,2.60,0.00,0.000,4,0.000,0.136,2348,703,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1780,-1.50,-136.9,249.5,-14.0,232,1789,0.00,2.67,0.00,0.000,6,0.000,0.138,2340,2119,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2090,-1.50,-136.9,288.7,-12.5,263,2099,0.00,2.72,0.00,0.000,4,0.000,0.152,2330,3530,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2233,-1.50,-136.9,306.3,-12.8,276,2240,0.10,2.55,0.00,0.000,6,0.310,0.101,2348,2114,3330,0,0,0,0,0,0,14.32,14.55,28.83
$GC,2542,-1.50,-136.9,343.3,-11.5,307,2551,0.00,2.80,0.00,0.000,4,0.000,0.156,2339,3527,3330,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2597,-1.50,-136.9,350.0,-12.2,312,2606,0.00,2.53,0.00,0.000,6,0.000,0.101,2339,2114,3330,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2907,-1.50,-136.9,386.7,-11.5,343,2916,0.00,2.83,0.00,0.000,4,0.000,0.158,2329,3533,3330,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2955,-1.50,-136.9,391.9,-11.6,347,2962,0.10,2.55,0.00,0.000,6,0.308,0.100,2348,2115,3330,0,0,0,0,0,0,14.31,14.55,28.83
$GC,3263,-1.50,-136.9,425.4,-10.6,362,3269,0.00,2.55,0.00,0.000,4,0.000,0.131,2349,710,3330,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3327,-1.50,-136.9,432.7,-11.5,364,3333,0.00,2.65,0.00,0.000,6,0.000,0.137,2342,2125,3330,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3656,-1.50,-136.9,469.2,-11.1,375,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2125,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3955,-1.50,-136.9,501.2,-10.7,385,3960,0.00,2.60,0.00,0.000,4,0.000,0.132,2342,710,3331,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3979,-1.50,-136.9,501.2,-10.7,385,3986,0.00,2.67,0.00,0.000,6,0.000,0.135,2335,2122,3331,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4286,-1.50,-136.9,536.7,-10.8,396,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4586,-1.50,-136.9,568.0,-10.4,406,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4791,begin apogee
$GC,4803,-0.38,0.0,589.6,-10.2,413,4950,0.95,0.00,137.18,2.380,6,0.272,0.000,2587,2152,2772,0,0,0,0,0,0,14.31,28.83,12.96
$STATE,4951,end apogee,CONTROL_FINISHED_OK
$STATE,4952,begin climb
$GC,4957,1.50,136.9,594.4,0.0,418,5129,1.42,3.03,151.68,2.346,4,0.181,0.137,3010,734,2212,0,0,0,0,0,0,13.74,13.19,12.45
$GC,5173,1.51,143.2,580.1,8.6,425,5191,0.00,2.88,7.47,1.936,6,0.000,0.128,3010,2154,2188,0,0,0,0,0,0,28.83,13.52,12.75
$GC,5495,1.51,143.2,540.4,11.9,436,5501,0.00,2.83,0.00,0.000,4,0.000,0.150,3010,3563,2184,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5549,1.51,143.2,536.5,11.8,437,5556,0.00,2.67,0.00,0.000,6,0.000,0.108,3020,2141,2184,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5857,1.51,143.2,496.6,12.2,448,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2141,2182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6156,1.51,143.2,459.4,12.2,458,6162,0.00,2.55,0.00,0.000,4,0.000,0.134,3030,744,2181,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6211,1.51,143.2,455.5,12.3,459,6219,0.10,2.62,0.00,0.000,6,0.302,0.121,3012,2154,2181,0,0,0,0,0,0,14.31,14.45,28.83
$GC,6518,1.51,143.2,417.5,11.2,470,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2154,2181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6818,1.51,143.2,384.9,11.2,488,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2154,2181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7133,1.51,143.2,351.5,10.6,519,7142,0.00,2.70,0.00,0.000,4,0.000,0.148,3012,3562,2181,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7202,1.51,143.2,343.4,11.8,525,7209,0.00,2.58,0.00,0.000,6,0.000,0.106,3021,2141,2181,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7511,1.51,143.2,309.0,11.1,556,7520,0.00,2.75,0.00,0.000,4,0.000,0.148,3020,3565,2181,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7539,1.51,143.2,306.1,11.2,558,7546,0.10,2.58,0.00,0.000,6,0.313,0.104,3011,2139,2181,0,0,0,0,0,0,14.39,14.58,28.83
$GC,7847,1.51,143.2,275.3,9.1,589,7856,0.00,2.53,0.00,0.000,4,0.000,0.130,3020,741,2180,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7884,1.51,143.2,272.1,9.5,592,7891,0.00,2.60,0.00,0.000,6,0.000,0.115,3020,2153,2179,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8191,1.51,143.2,241.9,9.5,623,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2153,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8509,1.52,157.8,214.2,8.3,654,8528,0.00,0.00,14.57,1.955,6,0.000,0.000,3020,2153,2128,0,0,0,0,0,0,28.83,28.83,13.83
$GC,8832,1.52,157.8,182.9,10.4,687,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2153,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9148,1.52,157.8,151.5,9.6,718,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2153,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9460,1.53,165.0,123.6,8.6,749,9470,0.00,2.80,4.18,1.421,4,0.000,0.152,3020,3562,2100,0,0,0,0,0,0,28.83,14.62,13.78
$GC,9526,1.54,167.6,117.3,8.8,755,9537,0.00,2.58,1.62,0.529,6,0.000,0.110,3030,2145,2088,0,0,0,0,0,0,28.83,14.50,14.21
$GC,9843,1.55,176.3,89.7,8.5,797,9856,0.00,2.58,4.90,0.450,4,0.000,0.135,3040,740,2052,0,0,0,0,0,0,28.83,14.56,14.28
$GC,9908,1.55,178.8,84.3,8.8,808,9915,0.10,2.65,0.00,0.000,6,0.296,0.128,3020,2153,2050,0,0,0,0,0,0,14.39,14.50,28.83
$GC,10227,1.62,231.9,62.0,6.6,869,10264,0.00,2.83,31.10,0.365,4,0.000,0.153,3020,3567,1825,0,0,0,0,0,0,28.83,14.50,14.33
$GC,10285,1.62,231.9,56.8,10.3,878,10292,0.00,2.58,0.00,0.000,6,0.000,0.106,3028,2149,1822,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10604,1.64,252.8,29.4,8.0,939,10624,0.00,2.65,10.35,0.284,4,0.000,0.135,3039,735,1739,0,0,0,0,0,0,28.83,14.46,14.34
$GC,10830,1.64,252.8,8.7,9.2,981,10836,0.00,2.67,0.00,0.000,6,0.000,0.129,3039,2158,1733,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,10891,end climb,SURFACE_DEPTH_REACHED
$STATE,10891,begin surface coast
$FINISH,2.6,1.009686
$STATE,10929,end surface coast,CONTROL_FINISHED_OK
$STATE,10929,begin surface
$SM_CCo,10957,18.62,0.199,0,0,1588,290.19
$SM_GC,3.06,8.77,0.10,18.62,0.116,0.183,0.199,139,2122,1588,-11.59,0.62,290.19,0,0,0,0,0,0,14.61,14.55,14.42
$RAFOS_CLK,484
$RAFOS,0,1351584069,8.033334,8.019167,63,60,58,50,50,50,189,225,171,146,204,127
$RAFOS_FIX,6656.532227,-5957.996094,301012,040444,3,79,2.28
$IRIDIUM_FIX,6614.97,-5959.11,301012,010134
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.00
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.50
$XPDR_PINGS,7
$24V_AH,12.4,93.671
$10V_AH,12.8,0.000
$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,23.400,101.575,363.050,18.625,0.000,0.000,0.000,235.650,1.750,0.000,6.500,2529.897,5891.518,539.364,1864.139,544.281,0.000,1716.832,0.000,1664.281,720.000,0.535,0.000
$DEVICE_MAMPS,463.590,241.740,2379.915,198.900,0.000,0.000,0.000,149.175,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.851,699.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188756
$DATA_FILE_SIZE,46866,999
$CAP_FILE_SIZE,109223,0
$CFSIZE,259252224,230617088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.7
$CURRENT,0.262,172.6,1
$GPS,301012,081134,6641.936,-6008.166,27,0.8,27,-33.8