version: 66.11
glider: 193
mission: 1
dive: 7
start: 6 27 112 21 4 33
data:
$ID,193
$MISSION,1
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,44
$D_BOOST,30
$T_BOOST,1
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,70
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-343.89197
$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,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,585
$C_ROLL_CLIMB,585
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1966
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.373795
$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,90
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,270612,205322,4743.205,-12224.890,37,1.2,37,16.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.7
$GPS2,270612,210320,4743.227,-12224.904,3,1.2,3,16.6
$SPEED_LIMITS,0.084,0.181
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.044,0.175
$KALMAN_X,-219.3,-53.4,-3.6,53.4,-61.7
$KALMAN_Y,-584.8,-663.1,-312.5,2146.9,157.7
$MHEAD_RNG_PITCHd_Wd,349.4,1253,-26.1,-10.000
$D_GRID,177
$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,14,-1.95,-68.4,0.0,0.0,0,68,0.00,0.00,-51.45,0.000,2,0.000,0.000,147,581,1924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.95,-68.4,3.0,-5.1,9,94,10.57,0.00,-8.88,0.000,6,0.422,0.000,2432,581,2245,0,0,0,0,0,0,14.55,28.83,14.92
$GC,156,-1.95,-68.4,11.2,-8.6,25,162,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,581,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,223,-1.95,-68.4,17.5,-10.4,38,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,581,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,291,-1.95,-68.4,24.2,-8.3,51,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,581,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,358,-1.95,-68.4,30.1,-9.6,64,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,581,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,425,-1.95,-68.4,37.0,-10.3,77,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,581,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,493,-1.95,-68.4,42.5,-7.4,90,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,581,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,620,-1.95,-68.4,56.6,-12.4,115,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,581,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,747,-1.95,-68.4,70.4,-9.5,140,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,581,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,875,-1.95,-68.4,83.2,-10.7,165,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,581,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1004,-1.95,-68.4,97.4,-10.7,190,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,581,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1136,-1.95,-68.4,111.7,-10.9,215,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,581,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1270,-1.95,-68.4,127.0,-11.6,240,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,581,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1403,-1.95,-68.4,141.8,-10.0,265,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,581,2247,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1484,begin apogee
$GC,1487,-0.36,0.0,150.2,-9.9,280,1555,1.23,0.00,63.25,0.910,6,0.270,0.000,2775,582,1962,0,0,0,0,0,0,14.77,28.83,14.26
$STATE,1556,end apogee,CONTROL_FINISHED_OK
$STATE,1556,begin climb
$GC,1558,1.95,68.4,152.3,0.0,292,1626,1.55,0.00,61.65,0.890,6,0.155,0.000,3285,581,1680,0,0,0,0,0,0,14.57,28.83,14.07
$GC,1748,1.95,68.4,131.3,13.0,328,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,581,1673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1875,1.95,68.4,114.7,12.6,353,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,581,1672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2002,1.95,68.4,98.6,13.0,378,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,581,1670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2130,1.95,68.4,83.0,12.2,403,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,581,1670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2257,1.95,68.4,65.7,12.9,428,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,581,1670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2384,1.95,68.4,50.8,11.2,453,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,581,1670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2512,1.96,78.5,38.7,9.0,478,2519,0.00,0.00,2.65,0.491,6,0.000,0.000,3285,581,1647,0,0,0,0,0,0,28.83,28.83,14.31
$GC,2580,1.97,87.3,32.8,9.1,491,2603,0.00,0.00,13.07,0.816,6,0.000,0.000,3285,581,1604,0,0,0,0,1,0,28.83,28.83,14.45
$GC,2665,1.97,87.3,22.8,11.9,507,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,581,1604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,1.97,87.3,14.5,10.9,520,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,581,1604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2800,2.01,120.6,8.8,6.7,533,2818,0.00,0.00,15.45,0.190,6,0.000,0.000,3285,581,1473,0,0,0,0,0,0,28.83,28.83,14.75
$GC,2879,2.18,257.8,7.4,-3.4,548,2953,0.12,0.00,66.72,0.181,6,0.160,0.000,3338,580,912,0,0,0,0,0,0,14.82,28.83,14.70
$GC,3015,2.28,335.3,3.8,2.4,573,3045,0.00,0.00,27.85,0.171,2,0.000,0.000,3338,580,674,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3046,end climb,SURFACE_DEPTH_REACHED
$STATE,3047,begin surface coast
$FINISH,0.4,1.016724
$STATE,3123,end surface coast,CONTROL_FINISHED_OK
$STATE,3123,begin surface
$SM_CCo,3138,16.88,0.170,0,0,538,350.04
$SM_GC,3.10,9.35,0.00,16.88,0.109,0.000,0.170,142,580,538,-12.42,-0.14,350.04,0,0,0,0,0,0,14.78,28.83,14.71
$RAFOS_CLK,89
$RAFOS,0,1340833141,21.666660,21.650278,63,60,55,54,51,51,185,217,151,118,200,169
$RAFOS,0,1340831941,21.333330,21.316944,63,60,58,56,53,51,224,151,175,211,233,187
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4710.21,-12221.92,270612,202038
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.08
$INTERNAL_PRESSURE,8.98695
$TCM_TEMP,17.80
$XPDR_PINGS,1
$24V_AH,14.1,0.757
$10V_AH,14.2,0.348
$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,22.825,2.875,250.650,16.875,0.000,83.344,74.265,203.046,26.000,0.000,5.297,1347.040,686.868,367.094,1326.672,45.848,33.216,864.739,0.000,856.424,600.000,163.316,0.000
$DEVICE_MAMPS,421.515,162.180,910.350,169.830,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.455,277.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321964
$DATA_FILE_SIZE,26794,593
$CAP_FILE_SIZE,72943,0
$CFSIZE,259252224,256708608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1484.9
$GPS,270612,215746,4743.329,-12224.864,6,1.4,6,16.6