version: 66.11
glider: 193
mission: 2
dive: 444
start: 11 17 112 1 40 55
data:
$ID,193
$MISSION,2
$DIVE,444
$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,-1937.9302
$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
$GPS1,171112,012404,6607.687,-6042.425,33,0.8,33,-33.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-66.5
$GPS2,171112,013954,6607.893,-6042.513,4,0.9,4,-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,87.2,197727,-15.8,-8.000,-18.68
$D_GRID,368
$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,-136.9,0.0,0.0,0,62,0.00,0.00,-41.28,0.000,2,0.000,0.000,100,2421,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.38,-136.9,3.1,-0.9,7,137,12.57,0.00,-49.50,0.000,6,0.481,0.000,2371,2418,3331,0,0,0,0,0,0,13.98,28.83,14.73
$GC,451,-1.38,-136.9,54.1,-13.7,78,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2418,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,773,-1.38,-136.9,101.4,-14.6,139,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2418,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1090,-1.38,-136.9,144.5,-13.1,170,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2418,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1402,-1.38,-136.9,182.4,-10.9,201,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2418,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1715,-1.38,-136.9,215.1,-10.6,232,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2418,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2028,-1.38,-136.9,249.7,-10.4,263,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2418,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-1.38,-136.9,281.9,-10.5,294,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2417,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-1.38,-136.9,314.3,-9.6,325,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2417,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2966,-1.38,-136.9,344.7,-9.5,356,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2418,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3107,begin apogee
$GC,3134,-0.38,0.0,360.1,-10.0,371,3298,0.82,14.85,137.30,2.248,6,0.268,0.079,2589,2417,2772,0,0,6,1,0,0,14.16,13.67,12.81
$STATE,3299,end apogee,CONTROL_FINISHED_OK
$STATE,3299,begin climb
$GC,3304,1.38,136.9,367.9,0.0,389,3462,1.38,0.00,152.20,2.183,6,0.187,0.000,2976,2417,2214,0,0,0,0,0,0,13.59,28.83,12.30
$GC,3763,1.38,136.9,336.1,8.6,436,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2417,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4079,1.41,162.6,314.7,7.0,467,4110,0.00,0.00,26.20,2.061,6,0.000,0.000,2976,2417,2109,0,0,0,0,0,0,28.83,28.83,13.35
$GC,4412,1.41,162.6,288.8,8.3,501,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2417,2105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4729,1.43,175.9,265.9,7.5,532,4749,0.00,0.00,14.48,1.985,6,0.000,0.000,2976,2417,2055,0,0,0,0,0,0,28.83,28.83,13.57
$GC,5052,1.43,175.9,238.6,8.6,565,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2416,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5370,1.44,186.4,214.2,7.6,596,5389,0.00,0.00,11.95,1.938,6,0.000,0.000,2976,2417,2012,0,0,0,0,0,0,28.83,28.83,13.62
$GC,5693,1.50,236.5,191.0,6.0,629,5751,0.12,0.00,53.50,2.029,6,0.155,0.000,3031,2417,1807,0,0,0,0,0,0,14.54,28.83,13.40
$GC,6052,1.50,236.5,158.6,9.5,665,6059,0.12,0.00,0.00,0.000,6,0.281,0.000,3001,2417,1800,0,0,0,0,0,0,14.16,28.83,28.83
$GC,6362,1.50,236.5,130.0,9.3,696,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2417,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6678,1.50,236.5,100.0,9.9,727,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2418,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6996,1.52,251.1,72.0,7.4,788,7008,0.00,0.00,7.12,0.417,6,0.000,0.000,3001,2418,1747,0,0,0,0,0,0,28.83,28.83,14.15
$GC,7319,1.54,267.4,50.3,7.4,850,7333,0.00,0.00,9.18,0.345,6,0.000,0.000,3002,2417,1680,0,0,0,0,0,0,28.83,28.83,14.21
$GC,7643,1.58,299.6,25.9,6.7,912,7667,0.00,0.00,18.15,0.269,6,0.000,0.000,3001,2417,1548,0,0,0,0,0,0,28.83,28.83,14.26
$STATE,7916,end climb,SURFACE_DEPTH_REACHED
$STATE,7916,begin surface coast
$FINISH,1.9,1.011951
$STATE,7953,end surface coast,CONTROL_FINISHED_OK
$STATE,7953,begin surface
$SM_CCo,8056,0.00,0.000,0,0,1538,302.70
$SM_GC,2.84,8.48,14.85,0.00,0.095,0.079,0.000,133,2417,1538,-11.62,8.40,302.70,0,0,6,1,0,0,14.59,14.57,28.83
$RAFOS_CLK,352
$RAFOS_FIX,6546.577148,-6046.221680,171112,000033,3,85,7.40
$IRIDIUM_FIX,6543.17,-6046.92,171112,010100
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.44
$INTERNAL_PRESSURE,8.64514
$TCM_TEMP,12.40
$XPDR_PINGS,4
$24V_AH,12.3,140.427
$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,23.500,59.400,430.075,0.000,0.000,0.000,0.000,574.275,1.000,0.000,4.756,2314.231,3729.547,555.732,1932.056,483.690,0.000,1890.324,0.000,1419.694,0.000,0.536,0.000
$DEVICE_MAMPS,481.185,82.620,2247.570,0.000,0.000,0.000,0.000,170.595,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.359,670.157,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188648
$DATA_FILE_SIZE,43429,972
$CAP_FILE_SIZE,80200,32
$CFSIZE,259252224,222826496
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,0,0
$SOUNDSPEED,1445.7
$CURRENT,0.170,  9.7,1
$GPS,171112,035611,6608.577,-6041.853,16,0.8,16,-33.2