version: 66.11
glider: 193
mission: 2
dive: 385
start: 11 11 112 4 31 46
data:
$ID,193
$MISSION,2
$DIVE,385
$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,-1825.0149
$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
$GPS1,111112,041734,6610.429,-6009.528,54,1.2,54,-33.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-62.1
$GPS2,111112,043054,6610.187,-6009.798,5,1.2,5,-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,44.3,175508,-15.8,-8.000,-18.68
$D_GRID,425
$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,-136.9,0.0,0.0,0,88,0.00,0.00,-67.00,0.000,2,0.000,0.000,94,1678,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-1.38,-136.9,3.1,-0.9,11,155,12.38,0.00,-42.12,0.000,6,0.474,0.000,2372,1676,3331,0,0,0,0,0,0,14.04,28.83,14.69
$GC,469,-1.38,-136.9,59.1,-14.4,81,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1676,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,787,-1.38,-136.9,104.4,-13.7,139,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1676,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1103,-1.38,-136.9,144.5,-12.4,170,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1676,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1415,-1.38,-136.9,181.0,-11.4,201,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1676,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1729,-1.38,-136.9,216.2,-11.3,232,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1676,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2040,-1.38,-136.9,252.3,-11.2,263,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1676,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2354,-1.38,-136.9,286.0,-10.6,294,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1676,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-1.38,-136.9,319.3,-10.7,325,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1676,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-1.38,-136.9,351.2,-9.9,356,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1676,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3059,begin apogee
$GC,3086,-0.38,0.0,360.2,-9.8,365,3257,0.82,14.85,140.27,2.363,6,0.275,0.080,2589,1676,2772,0,0,6,1,0,0,14.16,13.60,12.75
$STATE,3258,end apogee,CONTROL_FINISHED_OK
$STATE,3258,begin climb
$GC,3264,1.38,136.9,367.2,0.0,384,3423,1.38,0.00,154.43,2.260,6,0.192,0.000,2973,1676,2214,0,0,0,0,0,0,13.57,28.83,12.35
$GC,3724,1.38,136.9,332.0,9.0,431,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1676,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4041,1.38,136.9,304.5,8.7,462,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1676,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4353,1.39,141.9,278.7,7.8,493,4361,0.00,0.00,4.12,1.541,6,0.000,0.000,2973,1676,2193,0,0,0,0,0,0,28.83,28.83,13.43
$GC,4662,1.40,155.9,253.4,7.5,524,4681,0.00,0.00,16.65,2.071,6,0.000,0.000,2973,1676,2135,0,0,0,0,0,0,28.83,28.83,13.58
$GC,4982,1.43,178.0,228.5,7.1,556,5008,0.00,0.00,24.33,2.101,6,0.000,0.000,2973,1676,2046,0,0,0,0,0,0,28.83,28.83,13.53
$GC,5312,1.47,208.9,204.0,6.8,589,5349,0.10,0.00,33.30,2.089,6,0.180,0.000,3013,1675,1920,0,0,0,0,0,0,14.52,28.83,13.45
$GC,5651,1.47,208.9,174.2,9.1,623,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1676,1914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5969,1.47,208.9,146.4,9.2,654,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1675,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6281,1.47,208.9,117.3,9.1,685,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1676,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6591,1.47,208.9,90.1,9.3,727,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1676,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6908,1.49,225.0,65.0,7.4,788,6921,0.00,0.00,8.20,0.383,6,0.000,0.000,3013,1676,1853,0,0,0,0,0,0,28.83,28.83,14.21
$GC,7232,1.49,225.0,40.0,8.6,850,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1676,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7548,1.49,225.0,14.7,11.2,911,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1676,1849,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7759,end climb,SURFACE_DEPTH_REACHED
$STATE,7759,begin surface coast
$FINISH,1.7,1.015423
$STATE,7791,end surface coast,CONTROL_FINISHED_OK
$STATE,7791,begin surface
$SM_CCo,7835,34.97,0.188,0,0,1588,290.19
$SM_GC,2.51,8.95,14.85,34.97,0.139,0.082,0.188,134,1676,1588,-11.61,-12.55,290.19,0,0,6,1,0,0,14.59,14.57,14.40
$RAFOS_CLK,377
$RAFOS,6,1352609348,4.833333,4.818889,64,63,62,59,54,51,203,220,186,159,138,126
$RAFOS,5,1352608862,4.700000,4.683889,67,65,61,56,54,53,220,193,181,152,127,170
$RAFOS,4,1352608384,4.566667,4.551111,73,68,61,57,55,55,217,194,139,162,206,120
$RAFOS,1,1352606943,4.166667,4.150833,61,58,54,53,51,51,211,136,279,149,115,160
$RAFOS_FIX,6625.270508,-6009.579102,101112,121244,4,106,6.31
$IRIDIUM_FIX,6543.17,-6013.33,111112,040446
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.99
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.40
$XPDR_PINGS,5
$24V_AH,12.3,122.442
$10V_AH,12.6,0.000
$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,23.625,59.400,381.300,34.975,0.000,0.000,0.000,543.800,1.250,0.000,13.977,2272.601,3471.816,566.354,1863.010,507.117,0.000,1856.797,0.000,1400.152,1080.000,0.536,0.000
$DEVICE_MAMPS,474.300,82.620,2363.085,188.190,0.000,0.000,0.000,166.770,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.633,658.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188624
$DATA_FILE_SIZE,43469,958
$CAP_FILE_SIZE,80347,32
$CFSIZE,259252224,225693696
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1446.2
$CURRENT,0.276,202.1,1
$GPS,111112,064458,6609.111,-6010.981,69,0.8,69,-33.2