version: 66.11
glider: 193
mission: 2
dive: 397
start: 11 12 112 9 17 8
data:
$ID,193
$MISSION,2
$DIVE,397
$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,-1840.2521
$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
$GPS1,121112,090453,6604.829,-6018.753,15,0.9,15,-33.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-66.5
$GPS2,121112,091608,6604.917,-6018.800,5,1.4,5,-33.1
$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,97.2,186400,-15.8,-8.000,-18.68
$D_GRID,392
$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,-136.9,0.0,0.0,0,44,0.00,0.00,-22.83,0.000,2,0.000,0.000,117,2399,1971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.38,-136.9,3.0,-0.1,4,160,12.40,0.00,-89.12,0.000,6,0.480,0.000,2373,2399,3330,1,0,0,0,0,0,13.80,28.83,14.73
$GC,472,-1.38,-136.9,54.0,-16.0,82,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2398,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,788,-1.38,-136.9,100.0,-13.8,143,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2399,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1100,-1.38,-136.9,139.8,-12.8,174,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2399,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1413,-1.38,-136.9,177.8,-11.3,205,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2399,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-1.38,-136.9,214.6,-11.5,236,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2399,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2037,-1.38,-136.9,250.2,-11.0,267,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2399,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,-1.38,-136.9,284.2,-10.8,298,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2399,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,-1.38,-136.9,318.1,-10.3,329,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2399,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,-1.38,-136.9,348.1,-9.7,360,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2399,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3096,begin apogee
$GC,3123,-0.38,0.0,360.6,-9.5,373,3286,0.82,14.85,137.35,2.345,6,0.277,0.081,2589,2399,2773,0,0,6,1,0,0,14.16,13.64,12.78
$STATE,3287,end apogee,CONTROL_FINISHED_OK
$STATE,3287,begin climb
$GC,3293,1.38,136.9,366.9,0.0,391,3451,1.38,0.00,152.73,2.261,6,0.197,0.000,2972,2398,2213,0,0,0,0,0,0,13.58,28.83,12.34
$GC,3752,1.38,136.9,330.9,9.0,438,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2398,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4068,1.38,136.9,303.1,9.3,469,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2399,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4381,1.40,156.8,278.1,7.2,500,4403,0.00,0.00,19.80,2.098,6,0.000,0.000,2972,2398,2132,0,0,0,0,0,0,28.83,28.83,13.52
$GC,4706,1.41,165.0,253.6,7.7,533,4722,0.00,0.00,9.90,1.960,6,0.000,0.000,2971,2398,2099,0,0,0,0,0,0,28.83,28.83,13.52
$GC,5026,1.41,165.0,227.8,8.1,565,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2398,2097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5342,1.41,165.0,202.1,8.1,596,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2398,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5654,1.43,178.7,177.8,7.5,627,5676,0.00,0.00,15.38,2.028,6,0.000,0.000,2972,2398,2043,0,0,0,0,0,0,28.83,28.83,13.66
$GC,5979,1.49,223.9,154.5,6.2,660,6036,0.12,0.00,48.00,2.114,6,0.158,0.000,3026,2398,1858,0,0,0,0,0,0,14.53,28.83,13.42
$GC,6339,1.49,223.9,119.6,9.5,696,6345,0.10,0.00,0.00,0.000,6,0.292,0.000,3007,2398,1852,0,0,0,0,0,0,14.29,28.83,28.83
$GC,6655,1.49,223.9,92.9,8.3,735,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2398,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,1.51,239.1,68.1,7.4,796,6985,0.00,0.00,7.75,0.405,6,0.000,0.000,3007,2398,1795,0,0,0,0,0,0,28.83,28.83,14.19
$GC,7297,1.52,253.2,43.2,7.4,858,7309,0.00,0.00,7.60,0.324,6,0.000,0.000,3007,2398,1738,0,0,0,0,0,0,28.83,28.83,14.24
$GC,7621,1.53,258.7,18.0,7.8,920,7628,0.00,0.00,2.38,0.307,6,0.000,0.000,3007,2398,1715,0,0,0,0,0,0,28.83,28.83,14.35
$STATE,7808,end climb,SURFACE_DEPTH_REACHED
$STATE,7808,begin surface coast
$FINISH,1.9,1.015245
$STATE,7844,end surface coast,CONTROL_FINISHED_OK
$STATE,7844,begin surface
$SM_CCo,7887,16.60,0.197,0,0,1587,290.19
$SM_GC,2.58,8.68,14.85,16.60,0.115,0.081,0.197,139,2398,1587,-11.60,7.89,290.19,0,0,6,1,0,0,14.58,14.57,14.42
$RAFOS_CLK,342
$RAFOS_FIX,6615.654785,-6002.461914,121112,080801,3,84,4.05
$IRIDIUM_FIX,6537.93,-6023.21,121112,090906
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.44
$INTERNAL_PRESSURE,8.65491
$TCM_TEMP,12.40
$XPDR_PINGS,6
$24V_AH,12.3,126.062
$10V_AH,12.6,0.000
$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,23.500,59.400,400.875,16.600,0.000,0.000,0.000,418.725,1.500,0.000,6.857,2275.561,3505.287,568.852,1768.476,478.363,0.000,1739.021,0.000,1406.637,0.000,0.536,0.000
$DEVICE_MAMPS,479.655,83.385,2345.490,197.370,0.000,0.000,0.000,166.005,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.834,662.772,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188728
$DATA_FILE_SIZE,43367,963
$CAP_FILE_SIZE,78718,32
$CFSIZE,259252224,225112064
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,1,18,0,1,0
$SOUNDSPEED,1446.1
$CURRENT,0.328,  4.2,1
$GPS,121112,113022,6606.416,-6018.087,37,0.7,37,-33.1