version: 66.11
glider: 193
mission: 2
dive: 349
start: 11 7 112 13 46 46
data:
$ID,193
$MISSION,2
$DIVE,349
$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,-1738.3569
$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
$GPS1,071112,133622,6624.031,-5953.573,94,0.7,94,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-63.3
$GPS2,071112,134545,6623.924,-5953.678,4,0.8,5,-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,67.7,152370,-15.8,-8.000,-18.68
$D_GRID,578
$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,19,-1.38,-136.9,0.0,0.0,0,26,0.00,0.00,-5.55,0.000,2,0.000,0.000,94,1738,1676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.38,-136.9,3.0,0.0,1,141,11.65,0.00,-93.07,0.000,6,0.448,0.000,2373,1738,3330,0,0,0,0,0,0,14.13,28.83,14.72
$GC,454,-1.38,-136.9,53.9,-17.2,79,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1738,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,770,-1.38,-136.9,97.4,-13.3,140,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1738,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1086,-1.38,-136.9,138.5,-13.0,172,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1738,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1398,-1.38,-136.9,176.5,-11.4,203,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1738,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1710,-1.38,-136.9,213.4,-11.8,234,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1738,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2023,-1.38,-136.9,250.1,-11.5,265,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1738,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2335,-1.38,-136.9,287.4,-12.3,296,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1738,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,-1.38,-136.9,324.4,-11.3,327,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1738,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2960,-1.38,-136.9,357.3,-10.3,358,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1738,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2981,begin apogee
$GC,3008,-0.38,0.0,360.7,-10.6,361,3172,0.82,14.85,136.73,2.241,6,0.275,0.083,2591,1738,2772,0,0,6,1,0,0,14.19,13.71,12.92
$STATE,3173,end apogee,CONTROL_FINISHED_OK
$STATE,3173,begin climb
$GC,3179,1.38,136.9,368.9,0.0,379,3334,1.38,0.00,149.38,2.156,6,0.192,0.000,2978,1737,2215,0,0,0,0,0,0,13.69,28.83,12.45
$GC,3639,1.38,136.9,334.8,9.7,426,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1738,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3952,1.38,136.9,306.4,8.9,457,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1738,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4264,1.38,136.9,280.1,8.3,488,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1737,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4578,1.38,136.9,254.6,8.0,519,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1738,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4890,1.38,136.9,228.4,8.4,550,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1738,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5202,1.42,172.0,205.5,6.6,581,5244,0.00,0.00,34.20,2.055,6,0.000,0.000,2978,1738,2070,0,0,0,0,0,0,28.83,28.83,13.59
$GC,5547,1.43,178.2,179.5,7.8,616,5556,0.00,0.00,7.15,1.799,6,0.000,0.000,2978,1738,2045,0,0,0,0,0,0,28.83,28.83,13.59
$GC,5857,1.43,178.7,154.1,8.0,647,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1738,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6174,1.44,183.4,128.6,7.8,678,6181,0.00,0.00,4.57,1.554,6,0.000,0.000,2978,1738,2024,0,0,0,0,0,0,28.83,28.83,13.64
$GC,6482,1.49,229.0,107.0,6.2,709,6518,0.10,0.00,28.58,1.809,6,0.179,0.000,3019,1738,1837,0,0,0,0,0,0,14.61,28.83,13.71
$GC,6826,1.49,229.0,77.2,8.6,768,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1737,1828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7143,1.51,241.0,49.7,7.5,829,7151,0.00,0.00,5.43,0.363,6,0.000,0.000,3020,1737,1788,0,0,0,0,0,0,28.83,28.83,14.22
$GC,7462,1.55,271.2,29.5,6.8,890,7486,0.00,0.00,16.88,0.284,6,0.000,0.000,3021,1737,1663,0,0,0,0,0,0,28.83,28.83,14.25
$GC,7799,1.75,439.8,6.9,1.4,954,7896,0.12,0.00,89.55,0.209,6,0.165,0.000,3073,1738,975,0,0,0,0,0,0,14.49,28.83,14.33
$STATE,7927,end climb,SURFACE_DEPTH_REACHED
$STATE,7927,begin surface coast
$FINISH,2.0,1.008380
$STATE,7993,end surface coast,CONTROL_FINISHED_OK
$STATE,7994,begin surface
$SM_CCo,8096,0.00,0.000,0,0,960,444.48
$SM_GC,2.91,8.65,14.85,0.00,0.088,0.086,0.000,137,1738,960,-11.62,-10.83,444.48,0,0,6,1,0,0,14.50,14.47,28.83
$RAFOS_CLK,354
$RAFOS_FIX,6636.864258,-6009.162109,071112,080828,2,104,3.70
$IRIDIUM_FIX,6558.99,-5959.31,071112,111115
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.92
$INTERNAL_PRESSURE,8.60608
$TCM_TEMP,12.40
$XPDR_PINGS,9
$24V_AH,12.5,111.875
$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,22.725,59.400,472.450,0.000,0.000,0.000,0.000,373.075,2.250,0.000,5.920,2306.219,3529.279,592.621,1752.426,490.497,0.000,1744.203,0.000,1441.656,0.000,0.536,0.000
$DEVICE_MAMPS,447.525,88.740,2240.685,0.000,0.000,0.000,0.000,171.360,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.057,678.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188688
$DATA_FILE_SIZE,46739,988
$CAP_FILE_SIZE,79360,32
$CFSIZE,259252224,227426304
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1446.8
$CURRENT,0.048,212.1,1
$GPS,071112,160241,6623.773,-5953.933,13,0.8,13,-33.4