version: 66.11
glider: 193
mission: 2
dive: 402
start: 11 12 112 21 15 42
data:
$ID,193
$MISSION,2
$DIVE,402
$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,-1846.5221
$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
$GPS1,121112,210558,6604.597,-6020.354,37,0.7,37,-33.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-69.3
$GPS2,121112,211441,6604.603,-6020.360,5,0.7,6,-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,62.4,187655,-15.8,-8.000,-18.68
$D_GRID,391
$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,-136.9,0.0,0.0,0,56,0.00,0.00,-35.15,0.000,2,0.000,0.000,139,2220,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-1.38,-136.9,3.2,-1.7,6,145,12.20,0.00,-63.85,0.000,6,0.478,0.000,2372,2220,3330,0,0,0,0,0,0,14.04,28.83,14.73
$GC,458,-1.38,-136.9,57.4,-17.3,80,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,774,-1.38,-136.9,106.2,-14.9,137,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1090,-1.38,-136.9,145.5,-12.5,168,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1401,-1.38,-136.9,184.0,-12.6,199,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1714,-1.38,-136.9,223.4,-12.7,230,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2026,-1.38,-136.9,259.8,-10.6,261,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2221,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,-1.38,-136.9,294.9,-11.7,292,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-1.38,-136.9,326.4,-10.2,323,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2221,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2958,begin apogee
$GC,2984,-0.38,0.0,360.4,-10.8,354,3151,0.82,14.85,137.77,2.310,6,0.269,0.081,2591,2220,2772,0,0,6,1,0,0,14.18,13.66,12.81
$STATE,3152,end apogee,CONTROL_FINISHED_OK
$STATE,3152,begin climb
$GC,3157,1.38,136.9,369.8,0.0,373,3315,1.38,0.00,153.25,2.277,6,0.188,0.000,2978,2220,2214,0,0,0,0,0,0,13.61,28.83,12.32
$GC,3618,1.38,136.9,339.4,8.5,420,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2220,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3933,1.39,142.9,313.9,7.8,451,3945,0.00,0.00,5.68,1.789,6,0.000,0.000,2979,2221,2189,0,0,0,0,0,0,28.83,28.83,13.32
$GC,4248,1.39,142.9,286.5,8.7,483,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2220,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4564,1.39,142.9,257.5,9.3,514,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2220,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4877,1.40,151.3,229.6,7.7,545,4890,0.00,0.00,10.23,1.978,6,0.000,0.000,2979,2220,2155,0,0,0,0,0,0,28.83,28.83,13.63
$GC,5192,1.44,187.1,206.5,6.6,577,5237,0.00,0.00,38.28,2.120,6,0.000,0.000,2979,2220,2009,0,0,0,0,0,0,28.83,28.83,13.48
$GC,5542,1.44,187.1,179.2,8.0,612,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2220,2004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5859,1.44,187.1,152.7,8.3,643,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2220,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6170,1.48,216.2,129.2,6.9,674,6193,0.10,0.00,19.45,1.979,6,0.179,0.000,3019,2220,1889,0,0,0,0,0,0,14.62,28.83,13.67
$GC,6496,1.48,216.2,99.2,9.3,707,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2220,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6813,1.51,242.4,72.2,7.0,768,6832,0.00,0.00,14.50,0.392,6,0.000,0.000,3019,2220,1782,0,0,0,0,0,0,28.83,28.83,14.16
$GC,7145,1.56,282.8,46.6,6.4,831,7169,0.00,0.00,22.58,0.329,6,0.000,0.000,3019,2220,1617,0,0,0,0,0,0,28.83,28.83,14.26
$GC,7480,1.56,282.8,19.0,9.1,895,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2220,1607,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7666,end climb,SURFACE_DEPTH_REACHED
$STATE,7666,begin surface coast
$FINISH,1.8,1.024945
$STATE,7697,end surface coast,CONTROL_FINISHED_OK
$STATE,7697,begin surface
$SM_CCo,7740,1.67,0.259,0,0,1588,290.19
$SM_GC,3.90,8.75,14.85,1.67,0.117,0.080,0.259,138,2220,1588,-11.60,2.83,290.19,0,0,6,1,0,0,14.57,14.56,14.36
$RAFOS_CLK,335
$RAFOS_FIX,6613.621582,-6014.084961,121112,202052,4,107,2.80
$IRIDIUM_FIX,6537.93,-6033.05,121112,181846
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.55
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.40
$XPDR_PINGS,5
$24V_AH,12.3,127.553
$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,23.250,59.400,401.725,1.675,0.000,0.000,0.000,332.200,1.250,0.000,6.735,2184.666,3452.749,531.803,1636.462,474.993,0.000,1597.575,0.000,1368.410,0.000,0.536,0.000
$DEVICE_MAMPS,478.125,82.620,2310.300,259.335,0.000,0.000,0.000,167.535,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.836,645.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188656
$DATA_FILE_SIZE,43435,937
$CAP_FILE_SIZE,75655,32
$CFSIZE,259252224,224870400
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1446.5
$CURRENT,0.071,319.4,1
$GPS,121112,232547,6604.895,-6020.446,13,0.8,13,-33.1