version: 66.11
glider: 193
mission: 2
dive: 406
start: 11 13 112 6 46 44
data:
$ID,193
$MISSION,2
$DIVE,406
$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,-1851.6327
$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
$GPS1,131112,063605,6602.611,-6021.616,28,0.8,28,-33.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-66.7
$GPS2,131112,064544,6602.547,-6021.725,34,0.8,34,-33.0
$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,42.0,190672,-15.8,-8.000,-18.68
$D_GRID,381
$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,-136.9,0.0,0.0,0,50,0.00,0.00,-28.50,0.000,2,0.000,0.000,129,2220,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.38,-136.9,3.1,-2.3,5,153,11.98,0.00,-80.22,0.000,6,0.467,0.000,2374,2221,3330,0,0,0,0,0,0,14.06,28.83,14.74
$GC,468,-1.38,-136.9,56.2,-16.4,81,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,786,-1.38,-136.9,97.6,-12.3,142,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1103,-1.38,-136.9,136.7,-12.2,174,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1414,-1.38,-136.9,173.7,-12.0,205,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1726,-1.38,-136.9,212.8,-12.6,236,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2040,-1.38,-136.9,248.6,-11.5,267,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,-1.38,-136.9,284.7,-11.2,298,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2663,-1.38,-136.9,319.0,-10.9,329,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2977,-1.38,-136.9,351.2,-10.9,360,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2220,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3058,begin apogee
$GC,3085,-0.38,0.0,360.4,-9.8,369,3255,0.82,14.85,139.02,2.319,6,0.270,0.080,2591,2220,2772,0,0,6,1,0,0,14.17,13.63,12.78
$STATE,3256,end apogee,CONTROL_FINISHED_OK
$STATE,3256,begin climb
$GC,3262,1.38,136.9,368.0,0.0,388,3421,1.38,0.00,154.15,2.269,6,0.190,0.000,2978,2220,2214,0,0,0,0,0,0,13.59,28.83,12.32
$GC,3723,1.38,136.9,335.8,8.7,435,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2220,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4039,1.39,147.9,309.7,7.6,466,4053,0.00,0.00,11.50,2.228,6,0.000,0.000,2978,2220,2167,0,0,0,0,0,0,28.83,28.83,13.39
$GC,4355,1.39,147.9,283.7,8.1,498,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2220,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,1.39,147.9,259.0,8.2,529,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2220,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,1.39,147.9,233.6,8.2,560,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2221,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5292,1.40,149.7,208.1,7.9,591,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2220,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,1.43,179.5,185.6,6.8,622,5645,0.00,0.00,34.12,2.358,6,0.000,0.000,2978,2220,2041,0,0,0,0,0,0,28.83,28.83,13.45
$GC,5949,1.44,188.8,159.3,7.6,657,5965,0.00,0.00,10.85,2.177,6,0.000,0.000,2978,2220,2002,0,0,0,0,0,0,28.83,28.83,13.50
$GC,6269,1.49,222.8,136.1,6.7,689,6309,0.10,0.00,37.38,2.209,6,0.178,0.000,3018,2220,1863,0,0,0,0,0,0,14.54,28.83,13.41
$GC,6611,1.49,222.8,106.2,8.7,723,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2220,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6924,1.49,222.8,78.2,8.6,777,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2220,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7242,1.53,257.5,50.3,6.6,838,7267,0.00,0.00,18.73,0.346,6,0.000,0.000,3019,2220,1720,0,0,0,0,0,0,28.83,28.83,14.29
$GC,7579,1.54,264.8,24.6,7.7,902,7586,0.00,0.00,3.10,0.284,6,0.000,0.000,3019,2220,1692,0,0,0,0,0,0,28.83,28.83,14.26
$STATE,7836,end climb,SURFACE_DEPTH_REACHED
$STATE,7836,begin surface coast
$FINISH,1.9,1.025613
$STATE,7867,end surface coast,CONTROL_FINISHED_OK
$STATE,7867,begin surface
$SM_CCo,7910,13.07,0.198,0,0,1588,290.19
$SM_GC,2.90,8.43,14.85,13.07,0.087,0.081,0.198,137,2220,1588,-11.59,2.83,290.19,0,0,6,1,0,0,14.61,14.57,14.37
$RAFOS_CLK,343
$RAFOS,6,1352796542,8.833333,8.817223,58,56,56,55,52,51,201,185,163,119,219,210
$RAFOS,5,1352796062,8.700000,8.683888,61,56,55,55,51,51,207,170,152,224,114,187
$RAFOS,4,1352795589,8.566667,8.552500,74,60,58,56,55,49,878,162,195,115,212,171
$RAFOS,3,1352795107,8.433333,8.418612,62,57,57,56,55,55,188,131,228,211,174,156
$RAFOS,2,1352794627,8.300000,8.285277,135,65,58,56,56,55,569,211,146,158,190,109
$RAFOS,1,1352794145,8.166667,8.151389,90,68,67,66,62,59,739,219,162,198,131,187
$RAFOS,0,1352793663,8.033334,8.017500,63,62,59,59,58,53,220,120,195,177,167,141
$RAFOS_FIX,6609.871094,-6018.167969,131112,080802,3,100,2.39
$IRIDIUM_FIX,6532.72,-6021.22,131112,040429
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.32
$INTERNAL_PRESSURE,8.65491
$TCM_TEMP,12.40
$XPDR_PINGS,5
$24V_AH,12.3,128.778
$10V_AH,12.4,0.000
$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,22.700,59.400,408.850,13.075,0.000,0.000,0.000,360.900,1.250,0.000,34.757,2301.935,3484.193,566.367,1725.041,481.498,0.000,1680.472,0.000,1398.871,2520.000,0.535,0.000
$DEVICE_MAMPS,466.650,81.855,2357.730,198.135,0.000,0.000,0.000,162.945,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.709,660.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188592
$DATA_FILE_SIZE,43443,958
$CAP_FILE_SIZE,78778,32
$CFSIZE,259252224,224673792
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1446.3
$CURRENT,0.126,232.7,1
$GPS,131112,090036,6602.559,-6022.849,16,0.8,16,-33.1