version: 66.11
glider: 193
mission: 2
dive: 337
start: 11 6 112 9 4 2
data:
$ID,193
$MISSION,2
$DIVE,337
$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,-1707.6698
$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
$GPS1,061112,085404,6628.143,-5952.405,24,0.8,24,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-67.6
$GPS2,061112,090301,6628.046,-5952.546,5,0.7,5,-33.5
$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,76.0,148160,-15.8,-8.000,-18.68
$D_GRID,642
$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,-136.9,0.0,0.0,0,38,0.00,0.00,-17.75,0.000,2,0.000,0.000,125,1836,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.38,-136.9,3.1,-3.0,3,161,11.70,0.00,-96.93,0.000,6,0.457,0.000,2374,1836,3330,0,0,0,0,0,0,14.11,28.83,14.71
$GC,476,-1.38,-136.9,52.7,-15.1,82,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-1.38,-136.9,95.4,-13.2,143,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1113,-1.38,-136.9,136.1,-12.8,177,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1426,-1.38,-136.9,176.5,-13.0,208,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1739,-1.38,-136.9,213.4,-11.0,239,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-1.38,-136.9,246.2,-10.8,270,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2362,-1.38,-136.9,279.3,-10.5,301,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,-1.38,-136.9,310.5,-9.4,332,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2988,-1.38,-136.9,341.4,-10.3,363,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3169,begin apogee
$GC,3197,-0.38,0.0,360.2,-9.9,382,3357,0.82,14.85,134.95,2.264,6,0.273,0.086,2592,1836,2774,0,0,6,1,0,0,14.19,13.72,12.94
$STATE,3358,end apogee,CONTROL_FINISHED_OK
$STATE,3359,begin climb
$GC,3364,1.38,136.9,366.8,0.0,400,3521,1.35,0.00,150.85,2.182,6,0.190,0.000,2976,1836,2215,0,0,0,0,0,0,13.71,28.83,12.45
$GC,3824,1.38,136.9,330.9,9.5,447,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1836,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4141,1.38,136.9,302.4,9.0,478,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1836,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4453,1.38,136.9,273.5,8.8,509,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1836,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4765,1.38,139.0,247.4,7.9,540,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1836,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5079,1.42,167.0,226.0,6.9,571,5110,0.00,0.00,29.70,2.074,6,0.000,0.000,2976,1836,2091,0,0,0,0,0,0,28.83,28.83,13.61
$GC,5412,1.42,169.5,200.1,7.9,605,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1836,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5729,1.43,180.1,176.4,7.6,636,5749,0.00,0.00,14.15,1.946,6,0.000,0.000,2976,1836,2037,0,0,0,0,0,0,28.83,28.83,13.69
$GC,6052,1.45,196.1,151.2,7.4,669,6072,0.00,0.00,17.55,1.945,6,0.000,0.000,2976,1836,1971,0,0,0,0,0,0,28.83,28.83,13.66
$GC,6373,1.47,213.0,127.9,7.3,701,6390,0.10,0.00,13.68,1.884,6,0.179,0.000,3017,1836,1902,0,0,0,0,0,0,14.54,28.83,13.66
$GC,6693,1.47,213.0,100.1,8.6,733,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1836,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7010,1.47,213.0,72.5,8.6,794,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1836,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7326,1.50,233.7,45.3,7.2,855,7345,0.00,0.00,11.23,0.332,6,0.000,0.000,3017,1836,1817,0,0,0,0,0,0,28.83,28.83,14.26
$GC,7657,1.50,234.6,22.1,8.0,918,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1836,1812,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7892,end climb,SURFACE_DEPTH_REACHED
$STATE,7893,begin surface coast
$FINISH,2.2,1.025816
$STATE,7928,end surface coast,CONTROL_FINISHED_OK
$STATE,7928,begin surface
$SM_CCo,7971,29.50,0.194,0,0,1588,290.19
$SM_GC,3.50,8.73,14.85,29.50,0.118,0.086,0.194,138,1835,1588,-11.61,-8.03,290.19,0,0,6,1,0,0,14.59,14.57,14.40
$RAFOS_CLK,344
$RAFOS,6,1352191743,8.833333,8.817500,60,58,58,54,53,51,183,142,215,484,160,169
$RAFOS_FIX,6625.897461,-5934.577148,061112,040428,2,84,9.87
$IRIDIUM_FIX,6558.99,-5956.62,061112,060625
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.26
$INTERNAL_PRESSURE,8.65491
$TCM_TEMP,12.40
$XPDR_PINGS,4
$24V_AH,12.5,108.451
$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,22.700,59.400,372.100,29.500,0.000,0.000,0.000,352.275,1.000,0.000,5.969,2299.598,3515.547,558.323,1709.050,477.893,0.000,1664.471,0.000,1416.441,0.000,0.536,0.000
$DEVICE_MAMPS,457.470,86.445,2263.635,194.310,0.000,0.000,0.000,157.590,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.706,668.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188644
$DATA_FILE_SIZE,43323,971
$CAP_FILE_SIZE,77989,32
$CFSIZE,259252224,228016128
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1446.7
$CURRENT,0.178,185.2,1
$GPS,061112,111829,6627.378,-5952.565,14,0.8,14,-33.5