version: 66.11
glider: 193
mission: 2
dive: 364
start: 11 9 112 1 54 46
data:
$ID,193
$MISSION,2
$DIVE,364
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,150
$T_MISSION,180
$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,-1769.6962
$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,360
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,0
$R_STBD_OVSHOOT,0
$ROLL_AD_RATE,20
$ROLL_MAXERRORS,200
$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,720
$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
$GPS1,091112,014453,6619.669,-5959.893,36,0.9,36,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-66.6
$GPS2,091112,015346,6619.557,-6000.062,5,1.2,5,-33.4
$SPEED_LIMITS,0.067,0.237
$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,48.3,160344,-15.8,-8.000,-18.68
$D_GRID,527
$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,-1.38,-136.9,0.0,0.0,0,27,0.00,0.00,-5.62,0.000,2,0.000,0.000,127,2062,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.38,-136.9,3.1,0.0,1,161,11.82,0.00,-109.15,0.000,6,0.461,0.000,2376,2062,3331,0,0,0,0,0,0,14.08,28.83,14.73
$GC,475,-1.38,-136.9,53.7,-16.8,82,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2062,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-1.38,-136.9,98.4,-14.7,143,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2062,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1113,-1.38,-136.9,138.8,-11.9,175,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2062,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1425,-1.38,-136.9,176.4,-12.3,206,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2062,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1737,-1.38,-136.9,215.3,-11.8,237,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2062,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-1.38,-136.9,249.3,-10.3,268,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2062,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2362,-1.38,-136.9,277.9,-9.0,299,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2062,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2675,-1.38,-136.9,306.6,-9.5,330,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2062,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2987,-1.38,-136.9,337.8,-10.4,361,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2062,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3200,begin apogee
$GC,3227,-0.38,0.0,360.5,-10.1,383,3388,0.80,14.85,135.62,2.252,6,0.276,0.081,2587,2062,2773,0,0,6,1,0,0,14.20,13.71,12.89
$STATE,3389,end apogee,CONTROL_FINISHED_OK
$STATE,3389,begin climb
$GC,3395,1.38,136.9,368.2,0.0,401,3552,1.38,0.00,150.23,2.183,6,0.193,0.000,2974,2062,2214,0,0,0,0,0,0,13.68,28.83,12.43
$GC,3855,1.40,153.0,337.9,7.4,448,3874,0.00,0.00,16.77,2.046,6,0.000,0.000,2975,2062,2148,0,0,0,0,0,0,28.83,28.83,13.07
$GC,4175,1.40,153.0,311.1,8.8,480,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2062,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4492,1.40,153.0,283.9,8.7,511,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2062,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4803,1.40,153.0,256.1,8.6,542,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2062,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5116,1.40,153.0,229.9,8.3,573,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2062,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5429,1.43,174.8,206.5,7.1,604,5459,0.00,0.00,22.98,2.016,6,0.000,0.000,2975,2062,2059,0,0,0,0,0,0,28.83,28.83,13.65
$GC,5763,1.43,176.9,181.3,7.9,638,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2062,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6079,1.45,190.6,155.8,7.5,669,6099,0.00,0.00,16.45,1.968,6,0.000,0.000,2975,2062,1995,0,0,0,0,0,0,28.83,28.83,13.68
$GC,6403,1.47,206.1,131.5,7.4,702,6422,0.10,0.00,16.55,1.943,6,0.182,0.000,3015,2062,1930,0,0,0,0,0,0,14.55,28.83,13.64
$GC,6723,1.47,206.1,105.2,8.4,734,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2062,1928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7037,1.47,206.1,79.1,8.4,789,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2062,1927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7353,1.47,209.5,53.9,7.9,850,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2062,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7671,1.50,236.5,30.8,6.9,911,7695,0.00,0.00,16.95,0.284,6,0.000,0.000,3015,2062,1805,0,0,0,0,0,0,28.83,28.83,14.28
$GC,8007,1.50,236.5,5.8,8.0,975,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2062,1800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8038,end climb,SURFACE_DEPTH_REACHED
$STATE,8038,begin surface coast
$FINISH,2.1,1.017134
$STATE,8075,end surface coast,CONTROL_FINISHED_OK
$STATE,8075,begin surface
$SM_CCo,8118,27.85,0.196,0,0,1588,290.19
$SM_GC,3.44,8.82,14.85,27.85,0.125,0.087,0.196,138,2062,1588,-11.61,-1.64,290.19,0,0,6,1,0,0,14.57,14.54,14.38
$RAFOS_CLK,355
$RAFOS,0,1352433665,4.033333,4.018055,68,61,54,53,52,52,215,141,200,175,113,125
$RAFOS_FIX,6634.362305,-6017.256348,091112,000024,2,78,9.09
$IRIDIUM_FIX,6553.70,-5916.87,081112,232309
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.03
$INTERNAL_PRESSURE,8.65491
$TCM_TEMP,12.40
$XPDR_PINGS,4
$24V_AH,12.4,116.292
$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,22.925,59.400,375.550,27.850,0.000,0.000,0.000,345.750,1.000,0.000,5.954,2357.589,3567.372,565.329,1726.167,482.119,0.000,1678.242,0.000,1441.725,720.000,0.536,0.000
$DEVICE_MAMPS,460.530,87.210,2252.160,195.840,0.000,0.000,0.000,162.945,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.496,680.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188696
$DATA_FILE_SIZE,43351,988
$CAP_FILE_SIZE,79749,32
$CFSIZE,259252224,226705408
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1446.6
$CURRENT,0.251,192.6,1
$GPS,091112,041158,6617.949,-6000.298,35,0.8,35,-33.3