version: 66.11
glider: 193
mission: 2
dive: 295
start: 10 30 112 20 29 35
data:
$ID,193
$MISSION,2
$DIVE,295
$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,-1454.5599
$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,13
$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
$GPS1,301012,202234,6642.602,-6006.017,26,0.8,26,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-67.3
$GPS2,301012,202852,6642.542,-6005.864,5,1.1,5,-33.8
$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,63.9,147825,-17.3,-8.919,-19.96
$D_GRID,600
$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,-136.9,0.0,0.0,0,26,0.00,0.00,-5.97,0.000,2,0.000,0.000,132,2119,1695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.4,0.0,1,158,11.65,2.92,-105.18,0.000,4,0.466,0.182,2342,3534,3330,0,0,0,0,0,0,14.18,14.32,14.76
$GC,173,-1.50,-136.9,3.8,-4.5,23,180,0.00,2.60,0.00,0.000,6,0.000,0.104,2342,2112,3331,0,0,0,0,0,0,28.83,14.44,28.83
$GC,492,-1.50,-136.9,61.1,-15.9,84,499,0.00,2.60,0.00,0.000,4,0.000,0.135,2342,709,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,619,-1.50,-136.9,81.5,-15.4,108,626,0.00,2.72,0.00,0.000,6,0.000,0.141,2333,2123,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,938,-1.50,-136.9,128.7,-15.1,151,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1255,-1.50,-136.9,172.9,-14.5,182,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1566,-1.50,-136.9,215.3,-13.9,213,1576,0.00,2.62,0.00,0.000,4,0.000,0.137,2333,709,3331,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1632,-1.50,-136.9,225.3,-14.6,219,1641,0.08,2.72,0.00,0.000,6,0.301,0.143,2344,2126,3331,0,0,0,0,0,0,14.21,14.38,28.83
$GC,1942,-1.50,-136.9,265.0,-12.3,250,1951,0.00,2.78,0.00,0.000,4,0.000,0.158,2335,3533,3330,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1996,-1.50,-136.9,272.1,-13.0,255,2005,0.00,2.55,0.00,0.000,6,0.000,0.103,2335,2119,3331,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2307,-1.50,-136.9,310.4,-12.1,286,2315,0.00,2.80,0.00,0.000,4,0.000,0.158,2325,3534,3330,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2392,-1.50,-136.9,321.1,-13.0,294,2401,0.10,2.55,0.00,0.000,6,0.289,0.100,2349,2113,3330,0,0,0,0,0,0,14.23,14.47,28.83
$GC,2702,-1.50,-136.9,357.5,-11.9,325,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2113,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3016,-1.50,-136.9,393.2,-11.0,356,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2113,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3343,-1.50,-136.9,429.1,-10.3,371,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2113,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3643,-1.50,-136.9,460.3,-10.5,381,3648,0.00,2.80,0.00,0.000,4,0.000,0.157,2340,3529,3330,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3676,-1.50,-136.9,463.6,-10.6,382,3682,0.00,2.53,0.00,0.000,6,0.000,0.100,2340,2116,3330,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4004,-1.50,-136.9,498.4,-10.4,393,4010,0.00,2.55,0.00,0.000,4,0.000,0.130,2340,712,3330,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4069,-1.50,-136.9,505.2,-10.6,395,4074,0.00,2.67,0.00,0.000,6,0.000,0.138,2333,2118,3330,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4397,-1.50,-136.9,538.6,-9.9,406,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4697,-1.50,-136.9,568.4,-10.0,416,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4991,begin apogee
$GC,5004,-0.38,0.0,600.7,-11.5,426,5154,0.98,0.00,138.45,2.387,6,0.269,0.000,2592,2150,2773,0,0,0,0,0,0,14.31,28.83,12.95
$STATE,5155,end apogee,CONTROL_FINISHED_OK
$STATE,5155,begin climb
$GC,5161,1.50,136.9,606.4,0.0,431,5323,1.42,0.00,152.32,2.327,6,0.181,0.000,3003,2150,2214,0,0,0,0,0,0,13.74,28.83,12.45
$GC,5626,1.50,136.9,560.2,11.6,447,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2150,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5926,1.50,136.9,527.1,10.8,457,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2150,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6227,1.50,136.9,492.9,11.3,467,6232,0.00,2.62,0.00,0.000,4,0.000,0.138,3014,743,2203,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6266,1.50,136.9,489.4,11.2,468,6271,0.00,2.65,0.00,0.000,6,0.000,0.128,3014,2149,2202,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6588,1.50,136.9,452.9,11.2,479,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2149,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6888,1.50,136.9,420.0,10.8,489,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2149,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7188,1.50,136.9,386.1,11.4,507,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2149,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7503,1.50,136.9,350.7,11.3,538,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2149,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7814,1.50,136.9,317.0,10.2,569,7824,0.00,2.78,0.00,0.000,4,0.000,0.149,3013,3560,2203,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7860,1.50,136.9,311.5,11.1,573,7869,0.00,2.55,0.00,0.000,6,0.000,0.107,3024,2144,2202,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8170,1.50,136.9,277.6,11.0,604,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2144,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8486,1.50,136.9,246.2,9.8,635,8494,0.00,2.78,0.00,0.000,4,0.000,0.149,3024,3556,2202,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8531,1.50,136.9,240.8,10.5,639,8540,0.10,2.53,0.00,0.000,6,0.275,0.105,3007,2151,2203,0,0,0,0,0,0,14.33,14.51,28.83
$GC,8842,1.51,146.9,215.0,8.5,670,8859,0.00,2.50,8.77,1.849,4,0.000,0.131,3017,729,2174,0,0,0,0,0,0,28.83,14.65,13.83
$GC,8895,1.51,146.9,210.3,9.2,675,8903,0.00,2.60,0.00,0.000,6,0.000,0.117,3017,2148,2173,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9205,1.51,146.9,181.6,9.1,706,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2148,2173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9521,1.52,152.2,154.1,8.7,737,9537,0.00,2.58,7.05,1.733,4,0.000,0.132,3027,714,2151,0,0,0,0,0,0,28.83,14.64,13.83
$GC,9566,1.52,154.0,149.9,8.8,741,9574,0.00,2.67,0.00,0.000,6,0.000,0.121,3026,2151,2151,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9874,1.54,167.9,123.1,8.3,772,9892,0.00,2.62,9.73,1.723,4,0.000,0.134,3036,730,2087,0,0,0,0,0,0,28.83,14.59,13.85
$GC,9918,1.54,167.9,119.2,9.1,776,9927,0.08,2.62,0.00,0.000,6,0.259,0.119,3016,2146,2085,0,0,0,0,0,0,14.41,14.50,28.83
$GC,10228,1.57,195.6,94.7,7.7,813,10253,0.00,2.80,15.80,0.468,4,0.000,0.145,3016,3558,1973,0,0,0,0,0,0,28.83,14.47,14.24
$GC,10274,1.57,195.6,90.9,9.3,820,10281,0.00,2.55,0.00,0.000,6,0.000,0.101,3024,2146,1971,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10593,1.58,200.0,63.4,8.7,881,10601,0.00,2.65,1.75,0.450,4,0.000,0.130,3034,728,1955,0,0,0,0,0,0,28.83,14.51,14.28
$GC,10648,1.58,200.0,58.5,9.1,890,10655,0.00,2.65,0.00,0.000,6,0.000,0.119,3034,2157,1954,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10965,1.62,235.3,33.9,7.4,951,10991,0.00,2.70,19.73,0.285,4,0.000,0.133,3044,738,1810,0,0,0,0,0,0,28.83,14.51,14.36
$GC,11150,1.62,236.8,18.5,8.9,985,11158,0.00,2.67,0.00,0.000,6,0.000,0.125,3044,2155,1803,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,11307,end climb,SURFACE_DEPTH_REACHED
$STATE,11307,begin surface coast
$FINISH,2.6,1.015744
$STATE,11336,end surface coast,CONTROL_FINISHED_OK
$STATE,11336,begin surface
$SM_CCo,11364,28.12,0.195,0,0,1587,290.19
$SM_GC,3.73,8.90,0.10,28.12,0.126,0.180,0.195,135,2119,1587,-11.60,0.51,290.19,0,0,0,0,0,0,14.63,14.57,14.42
$RAFOS_CLK,503
$RAFOS,6,1351630148,20.833334,20.818890,76,70,59,56,54,53,739,198,152,128,180,223
$RAFOS,5,1351629666,20.700001,20.684999,61,58,57,55,55,54,128,115,139,201,875,170
$RAFOS,4,1351629185,20.566668,20.551390,83,60,58,51,50,49,670,207,221,115,151,165
$RAFOS,2,1351628221,20.299999,20.283611,82,62,60,57,55,50,503,194,213,130,153,230
$RAFOS_FIX,6655.921875,-5959.634766,301012,202044,2,80,28.46
$IRIDIUM_FIX,6620.33,-6008.55,301012,171753
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.81
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.50
$XPDR_PINGS,6
$24V_AH,12.5,95.122
$10V_AH,12.7,0.000
$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,23.300,85.125,353.600,28.125,0.000,0.000,0.000,223.925,1.500,0.000,6.325,2531.939,6345.220,550.320,1814.135,542.807,0.000,1687.050,0.000,1632.020,1080.000,0.536,0.000
$DEVICE_MAMPS,465.885,237.915,2386.800,195.075,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.835,716.933,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188732
$DATA_FILE_SIZE,46745,1020
$CAP_FILE_SIZE,106150,0
$CFSIZE,259252224,230318080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.6
$CURRENT,0.144,161.6,1
$GPS,301012,234104,6642.987,-6003.251,26,0.9,26,-33.8