version: 66.11
glider: 193
mission: 2
dive: 438
start: 11 16 112 11 14 58
data:
$ID,193
$MISSION,2
$DIVE,438
$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,-1930.3989
$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
$GPS1,161112,110504,6607.198,-6038.396,25,0.7,25,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-69.0
$GPS2,161112,111357,6607.332,-6038.427,6,0.7,6,-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,100.4,195752,-15.8,-8.000,-18.68
$D_GRID,369
$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,13,begin dive
$GC,19,-1.38,-136.9,0.0,0.0,0,49,0.00,0.00,-28.33,0.000,2,0.000,0.000,136,2320,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-1.38,-136.9,3.2,-1.1,5,146,12.27,0.00,-73.38,0.000,6,0.478,0.000,2372,2320,3330,1,0,0,0,0,0,13.82,28.83,14.74
$GC,459,-1.38,-136.9,55.1,-16.7,80,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2320,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,775,-1.38,-136.9,101.9,-13.7,140,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2320,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1091,-1.38,-136.9,139.7,-12.1,171,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2320,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1404,-1.38,-136.9,178.3,-12.7,202,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2320,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1716,-1.38,-136.9,216.4,-11.8,233,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2320,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2028,-1.38,-136.9,254.7,-11.7,264,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2320,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-1.38,-136.9,290.2,-11.4,295,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2320,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2654,-1.38,-136.9,323.9,-10.3,326,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2320,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,-1.38,-136.9,355.2,-9.8,357,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2320,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3007,begin apogee
$GC,3035,-0.38,0.0,360.2,-9.5,362,3204,0.82,14.85,138.40,2.276,6,0.272,0.080,2590,2320,2771,0,0,6,1,0,0,14.15,13.64,12.78
$STATE,3205,end apogee,CONTROL_FINISHED_OK
$STATE,3205,begin climb
$GC,3211,1.38,136.9,367.6,0.0,381,3370,1.38,0.00,153.88,2.255,6,0.194,0.000,2973,2320,2214,0,0,0,0,0,0,13.58,28.83,12.28
$GC,3672,1.38,136.9,335.7,8.1,428,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2320,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3988,1.39,143.1,311.2,7.8,459,4000,0.00,0.00,5.90,1.834,6,0.000,0.000,2974,2320,2189,0,0,0,0,0,0,28.83,28.83,13.28
$GC,4304,1.43,175.8,287.9,6.7,491,4342,0.00,0.00,36.05,2.199,6,0.000,0.000,2973,2320,2055,0,0,0,0,0,0,28.83,28.83,13.37
$GC,4644,1.43,179.8,262.1,7.8,525,4652,0.00,0.00,5.20,1.740,6,0.000,0.000,2974,2321,2038,0,0,0,0,0,0,28.83,28.83,13.40
$GC,4954,1.44,185.9,236.9,7.8,556,4964,0.00,0.00,8.15,1.943,6,0.000,0.000,2974,2320,2012,0,0,0,0,0,0,28.83,28.83,13.52
$GC,5266,1.48,217.3,213.4,6.8,587,5304,0.10,0.00,34.53,2.115,6,0.181,0.000,3016,2320,1885,0,0,0,0,0,0,14.57,28.83,13.47
$GC,5605,1.48,217.3,184.2,8.9,621,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2320,1880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5920,1.48,217.3,155.7,9.6,652,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2320,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6232,1.48,217.3,126.9,9.3,683,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2320,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6544,1.48,217.3,97.7,8.9,716,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2320,1877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6861,1.56,281.5,73.6,5.5,777,6904,0.00,0.00,35.80,0.410,6,0.000,0.000,3016,2320,1623,0,0,0,0,0,0,28.83,28.83,14.20
$GC,7219,1.61,327.8,50.2,6.2,844,7249,0.00,0.00,25.70,0.340,6,0.000,0.000,3016,2320,1433,0,0,0,0,0,0,28.83,28.83,14.21
$GC,7561,1.61,327.8,23.5,8.1,909,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2320,1422,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7786,end climb,SURFACE_DEPTH_REACHED
$STATE,7786,begin surface coast
$FINISH,2.0,1.012834
$STATE,7813,end surface coast,CONTROL_FINISHED_OK
$STATE,7813,begin surface
$SM_CCo,7916,0.00,0.000,0,0,1416,332.38
$SM_GC,2.90,8.73,14.85,0.00,0.115,0.083,0.000,139,2320,1416,-11.60,5.65,332.38,0,0,6,1,0,0,14.57,14.55,28.83
$RAFOS_CLK,349
$RAFOS,6,1353070148,12.833333,12.818889,75,71,58,58,54,53,981,219,139,201,172,129
$RAFOS,5,1353069668,12.700000,12.685555,70,59,56,50,47,47,1063,219,199,228,145,162
$RAFOS,4,1353069187,12.566667,12.551945,63,57,57,53,52,51,208,177,874,164,130,193
$RAFOS,3,1353068705,12.433333,12.418056,58,55,51,50,49,46,216,188,162,176,199,117
$RAFOS,2,1353068225,12.300000,12.284722,65,62,61,60,58,51,581,183,202,147,169,223
$RAFOS,1,1353067745,12.166667,12.151389,59,56,55,55,54,54,723,177,195,165,218,206
$RAFOS,0,1353067263,12.033333,12.017500,59,57,57,56,52,52,129,198,221,161,174,233
$RAFOS_FIX,6610.974609,-6030.922363,161112,121228,3,70,1.71
$IRIDIUM_FIX,6537.93,-6039.69,161112,080841
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.14
$INTERNAL_PRESSURE,8.62561
$TCM_TEMP,12.40
$XPDR_PINGS,7
$24V_AH,12.3,138.583
$10V_AH,12.5,0.000
$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,23.300,59.400,443.600,0.000,0.000,0.000,0.000,341.750,1.750,0.000,6.779,2291.305,3480.511,566.183,1678.001,484.013,0.000,1666.872,0.000,1399.222,2520.000,0.536,0.000
$DEVICE_MAMPS,478.125,82.620,2275.875,0.000,0.000,0.000,0.000,166.005,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.829,658.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188688
$DATA_FILE_SIZE,43426,958
$CAP_FILE_SIZE,78486,32
$CFSIZE,259252224,223117312
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,1,18,0,1,0
$SOUNDSPEED,1445.2
$CURRENT,0.424, 14.6,1
$GPS,161112,132838,6609.148,-6037.427,18,0.9,18,-33.2