version: 66.11
glider: 193
mission: 2
dive: 472
start: 11 19 112 21 32 30
data:
$ID,193
$MISSION,2
$DIVE,472
$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,1
$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,-1997.6346
$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
$GPS1,191112,212128,6612.906,-6033.554,36,0.8,36,-33.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-61.5
$GPS2,191112,213133,6612.717,-6033.612,5,0.8,5,-33.3
$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,63.0,187661,-15.8,-8.000,-18.68
$D_GRID,401
$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,-136.9,0.0,0.0,0,26,0.00,0.00,-5.47,0.000,2,0.000,0.000,107,2077,1584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.38,-136.9,3.1,0.0,1,133,10.85,0.00,-84.15,0.000,6,0.412,0.000,2378,2077,3330,4,0,0,0,0,0,13.77,28.83,14.74
$GC,448,-1.38,-136.9,60.1,-14.3,78,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2077,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,764,-1.38,-136.9,107.4,-14.3,134,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2077,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1074,-1.38,-136.9,151.4,-13.3,165,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2077,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1388,-1.38,-136.9,190.5,-12.2,196,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2077,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1700,-1.38,-136.9,224.8,-10.2,227,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2077,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2014,-1.38,-136.9,253.7,-8.7,258,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2077,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2325,-1.38,-136.9,283.7,-10.6,289,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2077,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2638,-1.38,-136.9,318.1,-11.4,320,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2077,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-1.38,-136.9,354.0,-10.9,351,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2077,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3002,begin apogee
$GC,3029,-0.38,0.0,360.4,-9.8,357,3191,0.80,14.85,134.10,2.180,6,0.270,0.079,2590,2077,2772,0,0,6,1,0,0,14.13,13.69,12.85
$STATE,3192,end apogee,CONTROL_FINISHED_OK
$STATE,3192,begin climb
$GC,3198,1.38,136.9,367.4,0.0,375,3355,1.35,0.00,149.80,2.098,6,0.181,0.000,2975,2077,2214,0,0,0,0,0,0,13.63,28.83,12.28
$GC,3658,1.38,136.9,334.4,8.5,422,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2077,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3974,1.38,136.9,308.3,8.6,453,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2077,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4286,1.38,136.9,280.8,8.8,484,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2077,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4599,1.42,166.0,257.0,6.9,515,4630,0.00,0.00,28.83,2.021,6,0.000,0.000,2975,2077,2094,0,0,0,0,0,0,28.83,28.83,13.52
$GC,4933,1.42,166.0,229.0,8.6,549,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2077,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5250,1.47,207.6,205.1,6.4,580,5301,0.10,0.00,43.12,2.000,6,0.182,0.000,3017,2077,1925,0,0,0,0,0,0,14.59,28.83,13.45
$GC,5603,1.47,207.6,175.4,8.1,616,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2077,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5920,1.48,221.3,151.7,7.5,647,5940,0.00,0.00,14.25,1.902,6,0.000,0.000,3017,2077,1869,0,0,0,0,0,0,28.83,28.83,13.61
$GC,6244,1.48,221.3,125.0,8.6,680,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2077,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6558,1.48,221.3,97.6,9.3,713,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2077,1865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6875,1.48,221.3,67.7,9.2,774,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2077,1865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7192,1.48,221.3,42.4,9.3,835,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2077,1864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7509,1.56,284.3,20.2,5.5,896,7551,0.00,0.00,35.90,0.252,6,0.000,0.000,3018,2077,1608,0,0,0,0,0,0,28.83,28.83,14.24
$STATE,7742,end climb,SURFACE_DEPTH_REACHED
$STATE,7742,begin surface coast
$FINISH,1.9,1.025242
$STATE,7778,end surface coast,CONTROL_FINISHED_OK
$STATE,7778,begin surface
$SM_CCo,7821,0.65,0.376,0,0,1588,290.19
$SM_GC,3.73,8.88,14.85,0.65,0.129,0.080,0.376,135,2077,1588,-11.60,-1.22,290.19,0,0,6,1,0,0,14.59,14.55,14.33
$RAFOS_CLK,342
$RAFOS_FIX,6618.165039,-6017.157227,181112,121220,4,80,3.72
$IRIDIUM_FIX,6548.42,-6031.85,191112,191912
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.67
$INTERNAL_PRESSURE,8.64514
$TCM_TEMP,12.30
$XPDR_PINGS,4
$24V_AH,12.3,148.748
$10V_AH,12.5,0.000
$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,21.975,59.400,406.000,0.650,0.000,0.000,0.000,414.200,1.000,0.000,5.559,2202.055,3485.671,541.586,1729.235,480.675,0.000,1696.257,0.000,1381.580,0.000,0.536,0.000
$DEVICE_MAMPS,412.335,79.560,2180.250,376.380,0.000,0.000,0.000,166.005,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.208,651.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188624
$DATA_FILE_SIZE,43383,947
$CAP_FILE_SIZE,76077,32
$CFSIZE,259252224,221474816
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,4,18,0,1,0
$SOUNDSPEED,1445.0
$CURRENT,0.449,189.2,1
$GPS,191112,234411,6611.429,-6034.860,28,0.8,28,-33.2