version: 66.11
glider: 193
mission: 2
dive: 344
start: 11 7 112 1 48 16
data:
$ID,193
$MISSION,2
$DIVE,344
$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,-1724.3213
$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
$GPS1,071112,013604,6625.574,-5953.253,30,1.0,30,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-67.6
$GPS2,071112,014716,6625.533,-5953.307,5,0.9,5,-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,51.1,150739,-15.8,-8.000,-18.68
$D_GRID,606
$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,19,-1.38,-136.9,0.0,0.0,0,49,0.00,0.00,-28.65,0.000,2,0.000,0.000,128,1836,2073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.38,-136.9,3.2,-1.5,5,154,11.80,0.00,-81.93,0.000,6,0.461,0.000,2372,1836,3330,0,0,0,0,0,0,14.07,28.83,14.71
$GC,468,-1.38,-136.9,56.3,-17.6,81,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1836,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,786,-1.38,-136.9,97.9,-12.8,142,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1103,-1.38,-136.9,137.3,-12.5,174,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1836,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1415,-1.38,-136.9,177.4,-12.6,205,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1836,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1727,-1.38,-136.9,214.7,-11.5,236,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2040,-1.38,-136.9,248.1,-10.3,267,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-1.38,-136.9,281.3,-10.3,298,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,-1.38,-136.9,314.8,-10.9,329,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2977,-1.38,-136.9,348.7,-10.7,360,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3079,begin apogee
$GC,3106,-0.38,0.0,360.8,-10.5,371,3267,0.82,14.85,135.12,2.230,6,0.272,0.085,2590,1836,2772,0,0,6,1,0,0,14.20,13.74,12.93
$STATE,3268,end apogee,CONTROL_FINISHED_OK
$STATE,3268,begin climb
$GC,3274,1.38,136.9,368.8,0.0,389,3431,1.35,0.00,148.07,2.100,6,0.189,0.000,2975,1836,2214,0,0,0,0,0,0,13.71,28.83,12.49
$GC,3734,1.38,136.9,335.5,9.0,436,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1836,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4051,1.38,136.9,307.5,9.5,467,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1836,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4363,1.38,136.9,278.3,9.6,498,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1836,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4675,1.38,136.9,249.3,9.2,529,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1836,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4989,1.39,143.4,224.3,7.7,560,5001,0.00,0.00,5.68,1.688,6,0.000,0.000,2975,1836,2187,0,0,0,0,0,0,28.83,28.83,13.66
$GC,5302,1.41,160.2,200.0,7.3,592,5329,0.00,0.00,18.73,1.936,6,0.000,0.000,2974,1836,2118,0,0,0,0,0,0,28.83,28.83,13.71
$GC,5632,1.46,201.0,176.9,6.4,625,5679,0.10,0.00,42.58,1.956,6,0.174,0.000,3015,1836,1952,0,0,0,0,0,0,14.57,28.83,13.52
$GC,5982,1.46,201.0,149.2,8.3,660,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1836,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6299,1.46,201.0,121.2,9.4,691,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1836,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6610,1.46,201.0,91.0,9.4,730,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1836,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6929,1.48,215.1,65.9,7.4,791,6941,0.00,0.00,6.97,0.400,6,0.000,0.000,3015,1836,1894,0,0,0,0,0,0,28.83,28.83,14.21
$GC,7252,1.48,215.1,41.8,8.1,853,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1836,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,1.49,225.4,18.8,7.6,914,7577,0.00,0.00,5.43,0.262,6,0.000,0.000,3015,1836,1851,0,0,0,0,0,0,28.83,28.83,14.35
$STATE,7772,end climb,SURFACE_DEPTH_REACHED
$STATE,7772,begin surface coast
$FINISH,2.1,1.013852
$STATE,7807,end surface coast,CONTROL_FINISHED_OK
$STATE,7807,begin surface
$SM_CCo,7850,34.60,0.190,0,0,1588,290.19
$SM_GC,3.48,8.62,14.85,34.60,0.109,0.090,0.190,136,1836,1588,-11.60,-8.03,290.19,0,0,6,1,0,0,14.62,14.56,14.40
$RAFOS_CLK,336
$RAFOS_FIX,6638.632812,-6000.431152,071112,000040,4,112,5.12
$IRIDIUM_FIX,6558.99,-5932.61,071112,010121
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.96
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.50
$XPDR_PINGS,4
$24V_AH,12.5,110.431
$10V_AH,12.8,0.000
$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,22.700,59.400,362.575,34.600,0.000,0.000,0.000,418.275,1.000,0.000,5.996,2296.492,3474.285,559.555,1766.117,477.050,0.000,1721.451,0.000,1400.282,0.000,0.538,0.000
$DEVICE_MAMPS,460.530,90.270,2229.975,189.720,0.000,0.000,0.000,167.535,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.748,662.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188704
$DATA_FILE_SIZE,43416,960
$CAP_FILE_SIZE,78097,32
$CFSIZE,259252224,227676160
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1447.4
$CURRENT,0.135,192.8,1
$GPS,071112,040048,6624.976,-5953.877,16,0.8,16,-33.4