version: 66.11
glider: 193
mission: 2
dive: 379
start: 11 10 112 14 2 50
data:
$ID,193
$MISSION,2
$DIVE,379
$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,-1804.1257
$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
$GPS1,101112,135228,6613.583,-6003.889,36,0.9,36,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-66.0
$GPS2,101112,140153,6613.411,-6004.013,4,0.8,5,-33.2
$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,83.5,168733,-15.8,-8.000,-18.68
$D_GRID,465
$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,-1.38,-136.9,0.0,0.0,0,43,0.00,0.00,-22.77,0.000,2,0.000,0.000,128,2138,1972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.38,-136.9,3.1,-1.3,4,141,12.18,0.00,-73.82,0.000,6,0.474,0.000,2374,2109,3331,0,0,0,0,0,0,14.03,28.83,14.71
$GC,455,-1.38,-136.9,56.9,-15.7,79,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2109,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,775,-1.38,-136.9,101.5,-14.0,140,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2109,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1090,-1.38,-136.9,143.4,-13.2,171,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2109,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1404,-1.38,-136.9,183.1,-12.5,202,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2109,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1715,-1.38,-136.9,221.9,-12.2,233,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2109,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2028,-1.38,-136.9,257.0,-10.8,264,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2109,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-1.38,-136.9,291.8,-11.0,295,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2109,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2653,-1.38,-136.9,324.9,-10.2,326,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2109,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2964,-1.38,-136.9,356.6,-10.0,357,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2109,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2996,begin apogee
$GC,3023,-0.38,0.0,361.0,-10.3,361,3187,0.82,14.85,137.73,2.274,6,0.275,0.091,2591,2109,2772,0,0,6,1,0,0,14.18,13.66,12.85
$STATE,3188,end apogee,CONTROL_FINISHED_OK
$STATE,3188,begin climb
$GC,3193,1.38,136.9,368.9,0.0,379,3351,1.38,0.00,152.73,2.174,6,0.191,0.000,2977,2109,2214,0,0,0,0,0,0,13.64,28.83,12.41
$GC,3652,1.38,136.9,338.4,8.4,426,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2109,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3968,1.38,136.9,310.5,9.2,457,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2109,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4280,1.38,136.9,282.6,8.6,488,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2109,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4592,1.38,136.9,256.7,8.1,519,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2109,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4906,1.38,136.9,233.0,8.1,550,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2109,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5218,1.41,163.6,209.3,7.0,581,5249,0.00,0.00,26.08,2.011,6,0.000,0.000,2977,2109,2105,0,0,0,0,0,0,28.83,28.83,13.64
$GC,5552,1.46,199.4,186.5,6.6,615,5592,0.00,0.00,37.85,2.017,6,0.000,0.000,2978,2109,1958,0,0,0,0,0,0,28.83,28.83,13.48
$GC,5893,1.48,214.6,161.4,7.4,649,5912,0.10,0.00,16.25,1.944,6,0.178,0.000,3019,2109,1897,0,0,0,0,0,0,14.49,28.83,13.55
$GC,6214,1.48,214.6,131.1,9.5,681,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2109,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6529,1.48,214.6,101.3,9.3,712,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2109,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6841,1.48,214.6,72.6,9.1,772,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2109,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7159,1.50,232.3,47.2,7.3,833,7172,0.00,0.00,9.68,0.340,6,0.000,0.000,3018,2109,1823,0,0,0,0,0,0,28.83,28.83,13.19
$GC,7482,1.52,248.1,21.8,7.4,895,7494,0.00,0.00,8.57,0.265,6,0.000,0.000,3019,2109,1758,0,0,0,0,0,0,28.83,28.83,14.32
$STATE,7724,end climb,SURFACE_DEPTH_REACHED
$STATE,7724,begin surface coast
$FINISH,1.9,1.025569
$STATE,7761,end surface coast,CONTROL_FINISHED_OK
$STATE,7761,begin surface
$SM_CCo,7804,22.05,0.194,0,0,1587,290.19
$SM_GC,2.65,9.23,14.85,22.05,0.160,0.090,0.194,139,2109,1587,-11.61,-0.31,290.19,0,0,6,1,0,0,14.57,14.54,14.38
$RAFOS_CLK,335
$RAFOS,0,1352563262,16.033333,16.017221,57,54,54,51,50,50,212,195,237,1899,154,222
$RAFOS_FIX,6625.270508,-6009.579102,101112,121244,4,106,6.31
$IRIDIUM_FIX,6543.17,-5956.13,101112,111103
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.36
$INTERNAL_PRESSURE,8.65491
$TCM_TEMP,12.30
$XPDR_PINGS,3
$24V_AH,12.4,120.635
$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,23.700,59.400,388.875,22.050,0.000,0.000,0.000,374.575,0.750,0.000,5.924,2240.695,3442.045,546.421,1695.169,480.327,0.000,1658.190,0.000,1385.145,720.000,0.536,0.000
$DEVICE_MAMPS,473.535,100.215,2274.345,193.545,0.000,0.000,0.000,166.005,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.784,652.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188676
$DATA_FILE_SIZE,43435,949
$CAP_FILE_SIZE,76746,32
$CFSIZE,259252224,225980416
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1446.2
$CURRENT,0.240,190.8,1
$GPS,101112,161423,6613.000,-6004.664,15,0.8,15,-33.2