version: 66.11
glider: 193
mission: 2
dive: 377
start: 11 10 112 9 14 53
data:
$ID,193
$MISSION,2
$DIVE,377
$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,-1801.6183
$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
$GPS1,101112,090504,6612.396,-6004.885,29,0.8,29,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-66.6
$GPS2,101112,091352,6612.477,-6004.757,5,0.8,5,-33.2
$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,115.7,170130,-15.8,-8.000,-18.68
$D_GRID,459
$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,-17.30,0.000,2,0.000,0.000,131,2091,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-136.9,3.1,-3.3,3,158,11.90,0.00,-97.78,0.000,6,0.466,0.000,2370,2091,3331,0,0,0,0,0,0,14.00,28.83,14.73
$GC,472,-1.38,-136.9,56.4,-17.2,82,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2091,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,793,-1.38,-136.9,102.9,-14.2,142,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2091,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1107,-1.38,-136.9,145.2,-12.9,173,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2091,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1422,-1.38,-136.9,181.0,-10.9,204,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2091,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1733,-1.38,-136.9,214.9,-11.4,235,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2091,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2045,-1.38,-136.9,248.5,-10.5,266,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2091,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-1.38,-136.9,283.6,-10.9,297,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2091,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2671,-1.38,-136.9,317.0,-10.6,328,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2091,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2982,-1.38,-136.9,349.8,-10.5,359,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2091,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3073,begin apogee
$GC,3100,-0.38,0.0,360.3,-10.6,369,3265,0.82,14.85,138.43,2.269,6,0.277,0.086,2587,2091,2772,0,0,6,1,0,0,14.18,13.66,12.86
$STATE,3266,end apogee,CONTROL_FINISHED_OK
$STATE,3266,begin climb
$GC,3271,1.38,136.9,367.2,0.0,387,3430,1.38,0.00,152.52,2.176,6,0.193,0.000,2974,2091,2214,0,0,0,0,0,0,13.63,28.83,12.40
$GC,3734,1.38,136.9,334.9,8.4,434,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2091,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4050,1.38,136.9,308.1,8.8,465,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2091,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4362,1.38,136.9,279.7,9.4,496,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2091,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4674,1.39,145.6,255.3,7.7,527,4687,0.00,0.00,7.95,1.849,6,0.000,0.000,2974,2091,2178,0,0,0,0,0,0,28.83,28.83,13.61
$GC,4989,1.41,162.0,231.0,7.4,559,5015,0.00,0.00,18.65,2.018,6,0.000,0.000,2974,2091,2111,0,0,0,0,0,0,28.83,28.83,13.62
$GC,5319,1.42,171.5,206.2,7.6,592,5336,0.00,0.00,10.95,1.909,6,0.000,0.000,2974,2091,2072,0,0,0,0,0,0,28.83,28.83,13.60
$GC,5640,1.44,186.2,181.5,7.4,624,5658,0.00,0.00,16.60,1.968,6,0.000,0.000,2974,2091,2012,0,0,0,0,0,0,28.83,28.83,13.62
$GC,5959,1.47,207.1,157.2,7.2,656,5986,0.10,0.00,23.05,1.968,6,0.177,0.000,3014,2091,1927,0,0,0,0,0,0,14.55,28.83,13.57
$GC,6289,1.47,207.1,128.1,8.5,689,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2091,1922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6605,1.47,207.1,99.6,9.5,720,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2091,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6922,1.47,207.1,71.2,9.4,781,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2091,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7239,1.54,270.8,47.2,5.5,842,7281,0.00,0.00,35.25,0.327,6,0.000,0.000,3014,2091,1667,0,0,0,0,0,0,28.83,28.83,14.25
$GC,7596,1.55,273.5,21.4,7.9,909,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2091,1656,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7829,end climb,SURFACE_DEPTH_REACHED
$STATE,7829,begin surface coast
$FINISH,1.9,1.015087
$STATE,7872,end surface coast,CONTROL_FINISHED_OK
$STATE,7872,begin surface
$SM_CCo,7915,8.35,0.202,0,0,1587,290.19
$SM_GC,3.55,8.62,14.85,8.35,0.108,0.086,0.202,138,2091,1587,-11.59,-0.82,290.19,0,0,6,1,0,0,14.60,14.55,14.38
$RAFOS_CLK,341
$RAFOS_FIX,6623.827148,-6005.770996,101112,080840,2,73,3.63
$IRIDIUM_FIX,6543.17,-6003.41,101112,060641
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.28
$INTERNAL_PRESSURE,8.65491
$TCM_TEMP,12.40
$XPDR_PINGS,6
$24V_AH,12.4,120.041
$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,22.825,59.400,403.400,8.350,0.000,0.000,0.000,339.275,1.500,0.000,5.935,2268.075,3474.018,563.624,1681.160,482.140,0.000,1658.670,0.000,1403.558,0.000,0.536,0.000
$DEVICE_MAMPS,465.885,90.270,2268.990,201.960,0.000,0.000,0.000,167.535,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.660,661.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188640
$DATA_FILE_SIZE,43475,962
$CAP_FILE_SIZE,77407,32
$CFSIZE,259252224,226074624
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1446.1
$CURRENT,0.138,  4.3,1
$GPS,101112,112759,6613.395,-6004.041,11,0.8,11,-33.2