version: 66.11
glider: 193
mission: 2
dive: 480
start: 11 20 112 16 53 17
data:
$ID,193
$MISSION,2
$DIVE,480
$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,-2029.4481
$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
$GPS1,201112,164304,6611.711,-6032.569,39,0.8,39,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-66.9
$GPS2,201112,165216,6611.800,-6032.470,4,0.7,5,-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,123.1,187797,-15.8,-8.000,-18.68
$D_GRID,403
$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,-5.53,0.000,2,0.000,0.000,132,2237,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.38,-136.9,3.1,0.0,1,162,11.82,0.00,-111.95,0.000,6,0.458,0.000,2374,2237,3330,0,0,0,0,0,0,14.04,28.83,14.76
$GC,476,-1.38,-136.9,49.8,-14.6,83,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-1.38,-136.9,91.8,-13.1,144,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1109,-1.38,-136.9,131.8,-11.9,181,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1424,-1.38,-136.9,171.6,-13.3,212,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1738,-1.38,-136.9,211.3,-12.3,243,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-1.38,-136.9,248.2,-11.2,274,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2362,-1.38,-136.9,279.5,-9.9,305,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,-1.38,-136.9,311.9,-10.7,336,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2987,-1.38,-136.9,344.6,-10.3,367,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3138,begin apogee
$GC,3166,-0.38,0.0,360.1,-9.6,383,3329,0.82,14.85,136.98,2.202,6,0.266,0.080,2592,2237,2772,0,0,6,1,0,0,14.13,13.68,12.79
$STATE,3330,end apogee,CONTROL_FINISHED_OK
$STATE,3330,begin climb
$GC,3336,1.38,136.9,367.7,0.0,401,3493,1.35,0.00,151.93,2.160,6,0.182,0.000,2975,2237,2214,0,0,0,0,0,0,13.59,28.83,12.24
$GC,3794,1.38,136.9,337.0,8.2,448,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2237,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4111,1.41,157.3,314.1,7.2,479,4140,0.00,0.00,21.05,2.077,6,0.000,0.000,2974,2237,2129,0,0,0,0,0,0,28.83,28.83,13.32
$GC,4444,1.45,196.3,289.4,6.5,513,4490,0.00,0.00,41.47,2.097,6,0.000,0.000,2974,2236,1971,0,0,0,0,0,0,28.83,28.83,13.31
$GC,4794,1.45,196.3,263.7,8.1,548,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2237,1966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5111,1.45,196.3,233.6,10.1,579,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2237,1965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5422,1.46,198.6,206.2,7.9,610,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2237,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5735,1.49,223.8,184.1,7.0,641,5767,0.10,0.00,28.38,2.013,6,0.181,0.000,3016,2237,1859,0,0,0,0,0,0,14.64,28.83,13.57
$GC,6071,1.49,223.8,153.1,9.0,675,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2237,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,1.49,223.8,124.3,9.4,706,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2237,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6698,1.49,223.8,95.2,8.5,742,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2237,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7017,1.49,223.8,70.5,8.8,803,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2237,1852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7332,1.52,253.7,47.8,6.8,864,7351,0.00,0.00,16.55,0.333,6,0.000,0.000,3016,2237,1736,0,0,0,0,0,0,28.83,28.83,14.21
$GC,7662,1.54,267.5,22.6,7.5,927,7675,0.00,0.00,7.25,0.264,6,0.000,0.000,3016,2237,1679,0,0,0,0,0,0,28.83,28.83,14.26
$STATE,7905,end climb,SURFACE_DEPTH_REACHED
$STATE,7905,begin surface coast
$FINISH,1.9,1.023514
$STATE,7936,end surface coast,CONTROL_FINISHED_OK
$STATE,7936,begin surface
$SM_CCo,7979,11.57,0.200,0,0,1587,290.19
$SM_GC,3.22,8.70,14.85,11.57,0.112,0.081,0.200,133,2237,1587,-11.62,3.31,290.19,0,0,6,1,0,0,14.59,14.55,14.33
$RAFOS_CLK,352
$RAFOS_FIX,6618.178711,-6011.674805,201112,161602,3,98,3.13
$IRIDIUM_FIX,6543.17,-6037.09,201112,141449
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.55
$INTERNAL_PRESSURE,8.65491
$TCM_TEMP,12.40
$XPDR_PINGS,3
$24V_AH,12.2,151.151
$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,22.800,59.400,403.600,11.575,0.000,0.000,0.000,360.900,0.750,0.000,5.509,2295.029,3489.583,566.073,1726.401,484.585,0.000,1692.651,0.000,1430.324,0.000,0.536,0.000
$DEVICE_MAMPS,458.235,82.620,2201.670,200.430,0.000,0.000,0.000,165.240,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,719.176,674.445,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188704
$DATA_FILE_SIZE,43383,980
$CAP_FILE_SIZE,78594,32
$CFSIZE,259252224,221077504
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1444.9
$CURRENT,0.235, 17.8,1
$GPS,201112,190735,6612.565,-6031.716,14,0.8,14,-33.3