version: 66.11
glider: 193
mission: 1
dive: 20
start: 6 28 112 11 28 32
data:
$ID,193
$MISSION,1
$DIVE,20
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-379.7276
$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,2090
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,8
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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
$GPS1,280612,112230,4744.153,-12224.088,3,1.1,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.7
$GPS2,280612,112721,4744.160,-12224.083,5,1.7,5,16.6
$SPEED_LIMITS,0.101,0.314
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.173,-0.055
$KALMAN_X,-4680.5,-291.2,53.2,5956.8,223.5
$KALMAN_Y,-607.0,192.4,2.3,1726.6,238.3
$MHEAD_RNG_PITCHd_Wd,91.2,730,-31.2,-12.000
$D_GRID,173
$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,14,-2.31,-64.5,0.0,0.0,0,79,0.00,0.00,-62.58,0.000,2,0.000,0.000,142,2092,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-2.38,-120.9,3.0,-5.0,11,106,10.30,2.70,-7.62,0.000,4,0.430,0.194,2338,673,2460,0,0,0,0,0,0,14.56,14.64,14.90
$GC,158,-2.38,-120.9,21.9,-21.9,25,165,0.00,2.72,0.00,0.000,6,0.000,0.183,2329,2091,2461,0,0,0,0,0,0,28.83,14.66,28.83
$GC,226,-2.38,-120.9,35.1,-16.9,38,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2092,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,293,-2.38,-120.9,46.9,-18.1,51,300,0.00,2.67,0.00,0.000,4,0.000,0.177,2330,677,2461,0,0,0,0,0,0,28.83,14.71,28.83
$GC,401,-2.38,-120.9,68.7,-19.1,72,409,0.10,2.70,0.00,0.000,6,0.356,0.184,2337,2090,2461,0,0,0,0,0,0,14.67,14.73,28.83
$GC,532,-2.38,-120.9,91.1,-16.4,97,539,0.00,2.70,0.00,0.000,4,0.000,0.183,2328,3508,2461,0,0,0,0,0,0,28.83,14.76,28.83
$GC,659,-2.38,-120.9,114.0,-17.4,121,665,0.00,2.58,0.00,0.000,6,0.000,0.134,2328,2089,2461,0,0,0,0,0,0,28.83,14.78,28.83
$GC,787,-2.38,-120.9,135.1,-16.6,146,794,0.00,2.72,0.00,0.000,4,0.000,0.185,2317,3505,2461,0,0,0,0,0,0,28.83,14.79,28.83
$GC,845,-2.38,-120.9,145.4,-18.1,157,853,0.12,2.58,0.00,0.000,6,0.334,0.135,2341,2085,2461,0,0,0,0,0,0,14.73,14.80,28.83
$GC,975,-2.38,-120.9,167.2,-17.2,182,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2084,2462,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1012,begin apogee
$GC,1016,-0.36,0.0,173.3,-16.2,189,1130,1.55,0.00,107.60,0.919,6,0.285,0.000,2779,1999,1962,0,0,0,0,0,0,14.76,28.83,14.10
$STATE,1131,end apogee,CONTROL_FINISHED_OK
$STATE,1131,begin climb
$GC,1132,2.38,120.9,177.3,0.0,209,1252,1.80,2.85,108.75,0.865,4,0.139,0.177,3379,3416,1463,0,0,1,0,0,0,14.40,14.17,13.93
$GC,1269,2.38,120.9,159.2,21.0,233,1276,0.00,2.72,0.00,0.000,6,0.000,0.145,3389,1997,1460,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1399,2.38,120.9,130.9,21.7,258,1406,0.00,2.80,0.00,0.000,4,0.000,0.179,3389,3419,1456,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1462,2.38,120.9,115.2,24.0,270,1470,0.12,2.67,0.00,0.000,6,0.354,0.147,3377,2000,1455,0,0,0,0,0,0,14.45,14.52,28.83
$GC,1592,2.38,120.9,86.9,20.7,295,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2000,1454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,2.38,120.9,61.1,17.9,320,1726,0.00,2.75,0.00,0.000,4,0.000,0.183,3377,3417,1453,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1772,2.38,120.9,49.2,22.8,330,1779,0.00,2.65,0.00,0.000,6,0.000,0.149,3386,1994,1454,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1901,2.38,120.9,24.0,17.3,355,1908,0.00,2.65,0.00,0.000,4,0.000,0.183,3396,588,1453,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1933,2.38,120.9,18.4,17.1,361,1940,0.00,2.67,0.00,0.000,6,0.000,0.169,3396,2005,1452,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2002,2.38,120.9,7.2,13.4,374,2009,0.00,2.72,0.00,0.000,4,0.000,0.184,3407,582,1452,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,2049,end climb,SURFACE_DEPTH_REACHED
$STATE,2049,begin surface coast
$FINISH,2.2,1.019736
$STATE,2085,end surface coast,CONTROL_FINISHED_OK
$STATE,2085,begin surface
$SM_CCo,2104,114.32,0.165,0,0,537,350.04
$SM_GC,1.66,10.12,2.88,114.32,0.157,0.162,0.165,139,2097,537,-12.43,-0.20,350.04,0,0,1,0,0,0,14.78,14.74,14.66
$RAFOS_CLK,59
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,280612,101031
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.54
$INTERNAL_PRESSURE,8.94789
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,110.0,74.3
$24V_AH,13.9,2.472
$10V_AH,14.1,0.818
$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,24.125,48.925,216.350,114.325,0.000,26.465,33.061,149.673,1.250,0.000,6.804,884.495,392.428,432.861,790.303,34.946,33.227,788.137,0.000,570.977,0.000,8.780,0.000
$DEVICE_MAMPS,429.930,203.490,918.765,165.240,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.756,169.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321980
$DATA_FILE_SIZE,16754,390
$CAP_FILE_SIZE,47507,0
$CFSIZE,259252224,256217088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$SOUNDSPEED,1484.6
$GPS,280612,120652,4744.208,-12223.736,23,1.4,41,16.6