version: 66.11
glider: 193
mission: 2
dive: 478
start: 11 20 112 12 10 4
data:
$ID,193
$MISSION,2
$DIVE,478
$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,-2026.941
$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
$GPS1,201112,115934,6610.752,-6033.743,29,0.7,29,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-63.8
$GPS2,201112,120904,6610.723,-6033.706,4,1.0,4,-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,68.9,189579,-15.8,-8.000,-18.68
$D_GRID,397
$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,-136.9,0.0,0.0,0,38,0.00,0.00,-17.17,0.000,2,0.000,0.000,127,2237,1778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.38,-136.9,3.1,-3.6,3,164,12.02,0.00,-103.75,0.000,6,0.467,0.000,2371,2237,3330,1,0,0,0,0,0,13.71,28.83,14.76
$GC,479,-1.38,-136.9,53.9,-15.5,83,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,796,-1.38,-136.9,97.4,-13.3,144,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1112,-1.38,-136.9,139.5,-13.1,176,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-1.38,-136.9,179.2,-12.3,207,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1734,-1.38,-136.9,213.4,-11.3,238,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2040,-1.38,-136.9,247.8,-10.6,269,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2356,-1.38,-136.9,281.4,-10.9,300,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2670,-1.38,-136.9,315.8,-11.1,331,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2982,-1.38,-136.9,349.4,-10.7,362,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3073,begin apogee
$GC,3100,-0.38,0.0,360.1,-10.3,372,3263,0.82,14.85,137.32,2.205,6,0.269,0.083,2589,2237,2771,0,0,6,1,0,0,14.13,13.66,12.80
$STATE,3264,end apogee,CONTROL_FINISHED_OK
$STATE,3264,begin climb
$GC,3271,1.38,136.9,367.2,0.0,390,3428,1.38,0.00,152.52,2.139,6,0.184,0.000,2977,2237,2213,0,0,0,0,0,0,13.59,28.83,12.26
$GC,3729,1.38,136.9,333.7,9.3,437,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2237,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4044,1.38,136.9,303.9,9.7,468,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2237,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4358,1.38,136.9,274.3,8.9,499,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2237,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,1.41,162.1,250.1,7.0,530,4701,0.00,0.00,25.23,2.048,6,0.000,0.000,2977,2237,2111,0,0,0,0,0,0,28.83,28.83,13.52
$GC,5004,1.45,195.8,226.2,6.7,564,5042,0.00,0.00,35.62,2.038,6,0.000,0.000,2977,2237,1972,0,0,0,0,0,0,28.83,28.83,13.44
$GC,5345,1.47,209.6,203.1,7.5,598,5363,0.10,0.00,15.12,1.939,6,0.177,0.000,3019,2237,1917,0,0,0,0,0,0,14.53,28.83,13.51
$GC,5665,1.47,209.6,174.2,9.8,630,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2237,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5981,1.47,209.6,145.5,8.2,661,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2237,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6293,1.47,209.6,116.8,10.6,692,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2237,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6605,1.47,209.6,84.3,9.3,738,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2237,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6923,1.54,267.6,60.2,5.7,799,6959,0.00,0.00,33.03,0.364,6,0.000,0.000,3019,2237,1680,0,0,0,0,0,0,28.83,28.83,14.21
$GC,7270,1.54,267.6,33.0,9.1,865,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2237,1670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7588,1.54,267.6,7.9,9.0,926,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2237,1668,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7639,end climb,SURFACE_DEPTH_REACHED
$STATE,7639,begin surface coast
$FINISH,2.1,1.025811
$STATE,7671,end surface coast,CONTROL_FINISHED_OK
$STATE,7671,begin surface
$SM_CCo,7714,10.38,0.200,0,0,1588,290.19
$SM_GC,3.21,8.65,14.85,10.38,0.109,0.083,0.200,137,2237,1588,-11.59,3.31,290.19,0,0,6,1,0,0,14.60,14.54,14.33
$RAFOS_CLK,340
$RAFOS,6,1353415754,12.833333,12.820556,68,63,59,55,54,53,162,203,171,137,222,120
$RAFOS,5,1353415269,12.700000,12.685833,70,65,65,56,54,54,227,194,140,174,153,1039
$RAFOS,4,1353414787,12.566667,12.551945,60,60,58,54,50,48,190,213,170,863,202,157
$RAFOS,3,1353414306,12.433333,12.418333,66,65,60,58,53,52,206,170,188,155,179,128
$RAFOS,2,1353413822,12.300000,12.283889,85,61,60,59,54,51,558,118,144,212,195,175
$RAFOS_FIX,6618.165039,-6017.157227,181112,121220,4,80,3.72
$IRIDIUM_FIX,6543.17,-6041.73,201112,090910
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.91
$INTERNAL_PRESSURE,8.65491
$TCM_TEMP,12.30
$XPDR_PINGS,4
$24V_AH,12.3,150.557
$10V_AH,12.0,0.000
$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,22.975,59.400,398.850,10.375,0.000,0.000,0.000,381.175,1.000,0.000,5.550,2215.142,3366.725,561.423,1690.249,479.921,0.000,1679.354,0.000,1374.090,1800.000,0.536,0.000
$DEVICE_MAMPS,467.415,86.445,2205.495,200.430,0.000,0.000,0.000,169.065,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.128,647.595,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188612
$DATA_FILE_SIZE,43476,942
$CAP_FILE_SIZE,77040,32
$CFSIZE,259252224,221179904
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,1,18,0,1,0
$SOUNDSPEED,1444.8
$CURRENT,0.028,125.9,1
$GPS,201112,142033,6610.933,-6033.417,50,0.8,50,-33.2