version: 66.11
glider: 193
mission: 2
dive: 298
start: 10 31 112 6 50 51
data:
$ID,193
$MISSION,2
$DIVE,298
$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,-1463.1464
$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,16
$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
$GPS1,311012,064305,6643.388,-5956.023,42,0.8,42,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.35
$_SM_ANGLEo,-65.4
$GPS2,311012,065007,6643.338,-5956.000,5,1.0,5,-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,63.8,140562,-17.3,-8.919,-19.96
$D_GRID,695
$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,-5.57,0.000,2,0.000,0.000,131,2120,1690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.5,0.0,1,152,11.55,2.62,-98.78,0.000,4,0.461,0.151,2347,706,3329,0,0,0,0,0,0,14.16,14.35,14.75
$GC,221,-1.50,-136.9,17.4,-17.7,33,229,0.00,2.78,0.00,0.000,6,0.000,0.147,2346,2128,3331,0,0,0,0,0,0,28.83,14.33,28.83
$GC,541,-1.50,-136.9,70.0,-14.9,94,548,0.00,2.78,0.00,0.000,4,0.000,0.156,2339,3534,3331,0,0,0,0,0,0,28.83,14.35,28.83
$GC,629,-1.50,-136.9,82.8,-14.4,110,636,0.00,2.55,0.00,0.000,6,0.000,0.098,2339,2119,3331,0,0,0,0,0,0,28.83,14.49,28.83
$GC,941,-1.50,-136.9,128.5,-14.3,152,950,0.00,2.58,0.00,0.000,4,0.000,0.130,2339,705,3330,0,0,0,0,0,0,28.83,14.34,28.83
$GC,989,-1.50,-136.9,135.5,-15.5,156,996,0.10,2.70,0.00,0.000,6,0.334,0.134,2347,2127,3331,0,0,0,0,0,0,14.26,14.44,28.83
$GC,1297,-1.50,-136.9,179.3,-13.5,187,1306,0.00,2.70,0.00,0.000,4,0.000,0.149,2340,3521,3331,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1392,-1.50,-136.9,192.3,-13.6,196,1400,0.00,2.50,0.00,0.000,6,0.000,0.096,2340,2119,3330,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1702,-1.50,-136.9,233.7,-13.4,227,1710,0.00,2.58,0.00,0.000,4,0.000,0.129,2340,703,3330,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1746,-1.50,-136.9,240.1,-14.6,231,1755,0.00,2.67,0.00,0.000,6,0.000,0.132,2333,2123,3330,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2057,-1.50,-136.9,282.6,-13.1,262,2066,0.00,2.60,0.00,0.000,4,0.000,0.130,2333,710,3330,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2085,-1.50,-136.9,286.0,-13.2,264,2092,0.12,2.67,0.00,0.000,6,0.327,0.132,2349,2120,3330,0,0,0,0,0,0,14.26,14.46,28.83
$GC,2393,-1.50,-136.9,325.3,-12.1,295,2402,0.00,2.75,0.00,0.000,4,0.000,0.151,2340,3535,3330,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2441,-1.50,-136.9,330.7,-12.0,299,2448,0.00,2.55,0.00,0.000,6,0.000,0.097,2340,2115,3330,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2749,-1.50,-136.9,367.0,-11.6,330,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2115,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3085,-1.50,-136.9,403.5,-11.2,361,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3379,-1.50,-136.9,436.1,-10.6,371,3385,0.00,2.55,0.00,0.000,4,0.000,0.128,2340,715,3329,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3418,-1.50,-136.9,439.6,-10.6,372,3424,0.00,2.65,0.00,0.000,6,0.000,0.132,2333,2118,3329,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3741,-1.50,-136.9,476.0,-11.0,383,3747,0.00,2.72,0.00,0.000,4,0.000,0.146,2323,3531,3330,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3802,-1.50,-136.9,482.9,-11.1,385,3809,0.10,2.53,0.00,0.000,6,0.282,0.094,2348,2114,3329,0,0,0,0,0,0,14.26,14.54,28.83
$GC,4135,-1.50,-136.9,517.0,-10.1,396,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4435,-1.50,-136.9,547.3,-10.1,406,4441,0.00,2.55,0.00,0.000,4,0.000,0.128,2348,713,3330,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4469,-1.50,-136.9,550.7,-10.3,407,4474,0.00,2.67,0.00,0.000,6,0.000,0.135,2342,2122,3330,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4797,-1.50,-136.9,585.4,-10.6,418,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5097,-1.50,-136.9,617.5,-10.4,428,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5397,-1.50,-136.9,649.0,-10.7,438,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5696,-1.50,-136.9,679.9,-10.5,448,5702,0.00,2.60,0.00,0.000,4,0.000,0.130,2342,706,3332,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5730,-1.50,-136.9,683.3,-10.7,449,5736,0.00,2.67,0.00,0.000,6,0.000,0.133,2336,2117,3332,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,5842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5842,begin apogee
$GC,5854,-0.38,0.0,695.4,-10.1,453,6006,0.95,0.00,141.52,2.496,6,0.272,0.000,2588,2149,2773,0,0,0,0,0,0,14.30,28.83,12.85
$STATE,6007,end apogee,CONTROL_FINISHED_OK
$STATE,6007,begin climb
$GC,6013,1.50,136.9,699.5,0.0,458,6175,1.42,0.00,156.60,2.443,6,0.176,0.000,2999,2149,2215,0,0,0,0,0,0,13.66,28.83,12.41
$GC,6478,1.50,136.9,655.8,11.3,474,6483,0.00,2.83,0.00,0.000,4,0.000,0.140,2999,3561,2206,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6512,1.50,136.9,651.8,11.8,475,6517,0.00,2.60,0.00,0.000,6,0.000,0.101,3009,2154,2206,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6843,1.50,136.9,611.5,11.8,486,6849,0.00,2.62,0.00,0.000,4,0.000,0.134,3020,740,2203,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6877,1.50,136.9,607.8,11.8,487,6882,0.00,2.67,0.00,0.000,6,0.000,0.119,3020,2149,2202,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7205,1.50,136.9,567.7,12.0,498,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2149,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7505,1.50,136.9,530.3,12.4,508,7511,0.00,2.72,0.00,0.000,4,0.000,0.142,3020,3557,2203,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7550,1.50,136.9,526.2,12.4,509,7556,0.08,2.55,0.00,0.000,6,0.272,0.101,3010,2141,2203,0,0,0,0,0,0,14.31,14.49,28.83
$GC,7867,1.50,136.9,487.2,11.6,520,7873,0.00,2.78,0.00,0.000,4,0.000,0.140,3010,3563,2202,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7902,1.50,136.9,483.3,11.7,521,7908,0.00,2.53,0.00,0.000,6,0.000,0.096,3019,2146,2202,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8229,1.50,136.9,446.5,11.0,532,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2145,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8530,1.50,136.9,413.0,11.3,542,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2146,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8829,1.50,136.9,379.5,11.2,564,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2146,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9144,1.50,136.9,345.3,10.6,595,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2146,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9456,1.50,136.9,313.0,10.0,626,9465,0.00,2.55,0.00,0.000,4,0.000,0.129,3029,742,2201,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9483,1.50,136.9,310.0,10.1,628,9491,0.10,2.60,0.00,0.000,6,0.300,0.113,3009,2151,2200,0,0,0,0,0,0,14.40,14.57,28.83
$GC,9792,1.50,136.9,280.4,9.3,659,9800,0.00,2.67,0.00,0.000,4,0.000,0.135,3009,3560,2201,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9876,1.50,136.9,271.6,10.7,667,9885,0.00,2.53,0.00,0.000,6,0.000,0.096,3018,2140,2200,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10187,1.50,136.9,238.9,10.4,698,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2140,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10503,1.50,136.9,206.6,10.0,729,10512,0.00,2.53,0.00,0.000,4,0.000,0.126,3028,740,2200,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10578,1.50,136.9,197.8,10.8,736,10587,0.08,2.58,0.00,0.000,6,0.257,0.116,3008,2151,2199,0,0,0,0,0,0,14.32,14.45,28.83
$GC,10889,1.51,145.3,169.5,8.5,767,10901,0.00,2.67,6.88,1.735,4,0.000,0.139,3008,3562,2180,0,0,0,0,0,0,28.83,14.65,13.81
$GC,10963,1.51,145.3,162.6,9.6,774,10971,0.00,2.53,0.00,0.000,6,0.000,0.098,3016,2145,2180,0,0,0,0,0,0,28.83,14.51,28.83
$GC,11273,1.54,167.7,137.1,7.9,805,11302,0.00,2.58,23.98,1.896,4,0.000,0.130,3027,734,2088,0,0,0,0,0,0,28.83,14.50,13.78
$GC,11374,1.54,171.4,129.3,8.8,814,11383,0.00,2.65,1.80,0.601,6,0.000,0.122,3027,2154,2073,0,0,0,0,0,0,28.83,14.39,14.16
$GC,11684,1.56,189.4,103.4,8.1,845,11702,0.00,0.00,11.23,1.653,6,0.000,0.000,3027,2154,1998,0,0,0,0,0,0,28.83,28.83,13.79
$GC,12008,1.58,199.7,76.1,8.5,905,12022,0.00,2.65,5.47,0.431,4,0.000,0.135,3037,739,1957,0,0,0,0,0,0,28.83,14.47,14.22
$GC,12043,1.58,199.7,73.1,8.9,910,12050,0.00,2.65,0.00,0.000,6,0.000,0.122,3037,2156,1955,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12361,1.60,221.3,46.5,8.0,971,12380,0.00,2.62,11.98,0.336,4,0.000,0.133,3046,739,1869,0,0,0,0,0,0,28.83,14.50,14.31
$GC,12461,1.65,259.2,38.0,7.3,989,12493,0.00,2.62,20.98,0.308,6,0.000,0.119,3046,2152,1713,0,0,0,0,0,0,28.83,14.47,14.29
$GC,12808,1.65,259.2,4.6,10.8,1054,12815,0.00,2.72,0.00,0.000,4,0.000,0.140,3046,3559,1703,0,0,0,0,0,0,28.83,14.41,28.83
$STATE,12820,end climb,SURFACE_DEPTH_REACHED
$STATE,12820,begin surface coast
$FINISH,2.7,1.025720
$STATE,12826,end surface coast,CONTROL_FINISHED_OK
$STATE,12826,begin surface
$SM_CCo,12856,15.05,0.204,0,0,1588,290.19
$SM_GC,3.30,8.38,2.67,15.05,0.073,0.102,0.204,137,2122,1588,-11.60,0.62,290.19,0,0,0,0,0,0,14.60,14.50,14.39
$RAFOS_CLK,568
$RAFOS,6,1351673360,8.833333,8.822222,73,58,55,55,53,53,648,184,201,166,143,157
$RAFOS,5,1351672878,8.700000,8.688334,86,59,58,55,54,52,788,170,135,195,186,219
$RAFOS,4,1351672393,8.566667,8.553611,67,67,62,58,58,58,173,213,161,188,145,613
$RAFOS,3,1351671912,8.433333,8.420000,67,64,56,56,52,50,146,207,184,115,218,162
$RAFOS,2,1351671432,8.300000,8.286667,71,64,63,53,52,52,451,216,152,442,175,141
$RAFOS,1,1351670952,8.166667,8.153334,89,65,63,58,55,55,441,193,211,164,181,126
$RAFOS,0,1351670470,8.033334,8.019444,69,53,51,50,49,46,212,192,156,175,225,136
$RAFOS_FIX,6655.093262,-5945.935547,311012,080856,2,80,3.28
$IRIDIUM_FIX,6614.97,-5956.38,311012,030311
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.45
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,8
$24V_AH,12.4,96.029
$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,22.875,121.175,380.425,15.050,0.000,0.000,0.000,262.525,2.000,0.000,11.366,2709.333,7423.488,561.225,2006.674,605.954,0.000,1837.136,0.000,1778.744,2520.000,0.536,0.000
$DEVICE_MAMPS,461.295,229.500,2496.195,204.255,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.259,745.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188712
$DATA_FILE_SIZE,50051,1057
$CAP_FILE_SIZE,122139,0
$CFSIZE,259252224,230109184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.0
$CURRENT,0.202,170.1,1
$GPS,311012,102734,6643.445,-5953.093,60,0.9,61,-33.8