version: 66.11
glider: 193
mission: 2
dive: 345
start: 11 7 112 4 10 34
data:
$ID,193
$MISSION,2
$DIVE,345
$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,-1725.574
$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
$GPS1,071112,040048,6624.976,-5953.877,16,0.8,16,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-68.6
$GPS2,071112,040938,6624.979,-5953.707,5,1.2,5,-33.4
$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,70.0,151471,-15.8,-8.000,-18.68
$D_GRID,590
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-1.38,-136.9,0.0,0.0,0,39,0.00,0.00,-17.42,0.000,2,0.000,0.000,136,1836,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.38,-136.9,3.1,-2.4,3,153,11.60,0.00,-92.57,0.000,6,0.454,0.000,2376,1836,3330,0,0,0,0,0,0,14.11,28.83,14.72
$GC,468,-1.38,-136.9,54.5,-12.7,81,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,786,-1.38,-136.9,98.7,-13.4,142,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1097,-1.38,-136.9,139.4,-12.5,173,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1403,-1.38,-136.9,175.9,-11.7,204,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-1.38,-136.9,212.6,-12.0,235,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2026,-1.38,-136.9,250.6,-12.2,266,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1836,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-1.38,-136.9,288.3,-11.6,297,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-1.38,-136.9,322.8,-10.9,328,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2964,-1.38,-136.9,356.7,-10.3,359,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1836,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2985,begin apogee
$GC,3013,-0.38,0.0,360.0,-10.4,362,3175,0.80,14.85,136.10,2.229,6,0.270,0.083,2588,1836,2772,0,0,6,1,0,0,14.23,13.73,12.93
$STATE,3176,end apogee,CONTROL_FINISHED_OK
$STATE,3176,begin climb
$GC,3182,1.38,136.9,368.0,0.0,380,3337,1.38,0.00,149.23,2.150,6,0.190,0.000,2978,1836,2215,0,0,0,0,0,0,13.71,28.83,12.47
$GC,3640,1.38,136.9,336.9,8.2,427,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1836,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,1.38,136.9,311.7,8.5,458,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1836,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,1.38,136.9,282.9,9.0,489,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1836,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4581,1.38,136.9,255.0,8.7,520,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1836,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4895,1.39,147.8,230.2,7.6,551,4907,0.00,0.00,10.30,1.904,6,0.000,0.000,2979,1836,2169,0,0,0,0,0,0,28.83,28.83,13.71
$GC,5208,1.41,159.4,205.7,7.5,583,5225,0.00,0.00,13.00,1.920,6,0.000,0.000,2978,1836,2122,0,0,0,0,0,0,28.83,28.83,13.69
$GC,5528,1.43,173.9,181.8,7.4,615,5547,0.00,0.00,16.20,1.935,6,0.000,0.000,2978,1836,2063,0,0,0,0,0,0,28.83,28.83,13.66
$GC,5848,1.47,210.2,159.2,6.6,647,5894,0.00,0.00,38.28,1.974,6,0.000,0.000,2978,1836,1915,0,0,0,0,0,0,28.83,28.83,13.52
$GC,6199,1.47,210.2,133.1,8.4,682,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1836,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6514,1.47,210.2,106.7,8.2,713,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1835,1907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6826,1.48,216.0,81.3,7.8,767,6833,0.10,0.00,2.38,0.480,6,0.179,0.000,3017,1836,1891,0,0,0,0,0,0,14.60,28.83,14.21
$GC,7144,1.52,249.5,56.3,6.7,828,7169,0.00,0.00,19.30,0.359,6,0.000,0.000,3017,1836,1753,0,0,0,0,0,0,28.83,28.83,14.30
$GC,7480,1.53,255.8,33.0,7.8,892,7487,0.00,0.00,2.42,0.345,6,0.000,0.000,3017,1836,1727,0,0,0,0,0,0,28.83,28.83,14.30
$GC,7798,1.54,263.6,7.6,7.7,953,7806,0.00,0.00,4.00,0.244,6,0.000,0.000,3017,1836,1695,0,0,0,0,0,0,28.83,28.83,14.40
$STATE,7852,end climb,SURFACE_DEPTH_REACHED
$STATE,7852,begin surface coast
$FINISH,2.0,1.013971
$STATE,7888,end surface coast,CONTROL_FINISHED_OK
$STATE,7888,begin surface
$SM_CCo,7931,13.70,0.201,0,0,1587,290.19
$SM_GC,2.77,8.68,14.85,13.70,0.112,0.089,0.201,134,1835,1587,-11.62,-8.03,290.19,0,0,6,1,0,0,14.60,14.56,14.41
$RAFOS_CLK,346
$RAFOS,6,1352263744,4.833333,4.817778,113,69,62,61,59,53,846,203,171,145,162,131
$RAFOS,5,1352263264,4.700000,4.684444,134,65,63,60,58,49,915,194,173,152,213,118
$RAFOS,4,1352262783,4.566667,4.550833,149,66,64,62,60,59,736,222,200,211,173,153
$RAFOS,3,1352262311,4.433333,4.419722,69,62,60,55,53,49,207,182,220,197,151,129
$RAFOS,2,1352261821,4.300000,4.283611,122,64,61,60,60,56,442,168,199,219,185,119
$RAFOS_FIX,6635.776855,-5956.291504,071112,040444,3,132,9.83
$IRIDIUM_FIX,6553.70,-5908.63,071112,010133
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.83
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.40
$XPDR_PINGS,7
$24V_AH,12.5,110.720
$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,22.550,59.400,391.200,13.700,0.000,0.000,0.000,341.675,1.750,0.000,5.934,2319.838,3455.707,550.249,1696.710,481.677,0.000,1647.363,0.000,1416.729,1800.000,0.536,0.000
$DEVICE_MAMPS,453.645,89.505,2229.210,201.195,0.000,0.000,0.000,167.535,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,710.135,668.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188692
$DATA_FILE_SIZE,43384,970
$CAP_FILE_SIZE,79949,32
$CFSIZE,259252224,227627008
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1446.7
$CURRENT,0.040,345.7,1
$GPS,071112,062434,6625.111,-5954.321,27,0.7,27,-33.5