version: 66.11
glider: 193
mission: 2
dive: 481
start: 11 20 112 19 17 56
data:
$ID,193
$MISSION,2
$DIVE,481
$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,-2030.7023
$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
$GPS1,201112,190735,6612.565,-6031.716,14,0.8,14,-33.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-68.3
$GPS2,201112,191659,6612.575,-6031.612,4,1.1,4,-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,135.1,186540,-15.8,-8.000,-18.68
$D_GRID,404
$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,-136.9,0.0,0.0,0,43,0.00,0.00,-22.58,0.000,2,0.000,0.000,133,2237,1967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.38,-136.9,3.1,-1.5,4,151,11.65,0.00,-84.25,0.000,6,0.451,0.000,2375,2237,3331,0,0,0,0,0,0,14.03,28.83,14.76
$GC,464,-1.38,-136.9,52.7,-16.3,81,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,783,-1.38,-136.9,98.3,-12.8,142,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1106,-1.38,-136.9,137.9,-12.6,174,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-1.38,-136.9,180.1,-13.9,205,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1730,-1.38,-136.9,223.1,-13.4,236,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2043,-1.38,-136.9,262.6,-12.4,267,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2355,-1.38,-136.9,298.8,-12.2,298,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2668,-1.38,-136.9,332.9,-10.3,329,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2940,begin apogee
$GC,2967,-0.38,0.0,360.0,-9.3,357,3132,0.80,14.85,136.88,2.202,6,0.269,0.080,2587,2238,2772,0,0,6,1,0,0,14.12,13.67,12.79
$STATE,3133,end apogee,CONTROL_FINISHED_OK
$STATE,3133,begin climb
$GC,3138,1.38,136.9,366.5,0.0,375,3296,1.38,0.00,152.73,2.125,6,0.187,0.000,2975,2237,2214,0,0,0,0,0,0,13.61,28.83,12.27
$GC,3597,1.38,136.9,333.6,9.0,422,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2237,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3912,1.38,136.9,305.6,8.3,453,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2237,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4219,1.38,136.9,279.4,8.4,484,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2237,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4531,1.39,145.8,254.5,7.7,515,4541,0.00,0.00,8.40,1.868,6,0.000,0.000,2975,2237,2176,0,0,0,0,0,0,28.83,28.83,13.51
$GC,4842,1.39,145.8,228.1,8.2,546,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2237,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5152,1.46,199.9,206.4,5.9,577,5212,0.10,0.00,57.58,2.015,6,0.180,0.000,3017,2237,1956,0,0,0,0,0,0,14.62,28.83,13.37
$GC,5515,1.47,206.4,179.1,7.7,613,5523,0.00,0.00,6.82,1.734,6,0.000,0.000,3017,2237,1930,0,0,0,0,0,0,28.83,28.83,13.44
$GC,5824,1.47,206.4,151.6,9.6,644,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2237,1928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6141,1.47,206.4,121.0,9.7,675,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2237,1927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6452,1.51,241.2,94.6,6.6,713,6477,0.00,0.00,20.42,0.464,6,0.000,0.000,3017,2237,1788,0,0,0,0,0,0,28.83,28.83,14.10
$GC,6786,1.56,285.8,69.5,6.3,777,6817,0.00,0.00,25.17,0.394,6,0.000,0.000,3017,2237,1605,0,0,0,0,0,0,28.83,28.83,14.15
$GC,7128,1.57,295.2,43.3,7.6,842,7134,0.00,0.00,4.10,0.336,6,0.000,0.000,3017,2237,1567,0,0,0,0,0,0,28.83,28.83,14.17
$GC,7446,1.59,307.2,17.9,7.5,903,7458,0.00,0.00,6.72,0.259,6,0.000,0.000,3017,2237,1517,0,0,0,0,0,0,28.83,28.83,14.24
$STATE,7613,end climb,SURFACE_DEPTH_REACHED
$STATE,7613,begin surface coast
$FINISH,1.9,1.014306
$STATE,7645,end surface coast,CONTROL_FINISHED_OK
$STATE,7645,begin surface
$SM_CCo,7747,0.00,0.000,0,0,1508,309.81
$SM_GC,2.81,8.75,14.85,0.00,0.116,0.080,0.000,135,2237,1508,-11.62,3.31,309.81,0,0,6,1,0,0,14.58,14.56,28.83
$RAFOS_CLK,-777
$RAFOS,6,1353444544,20.833334,20.817778,64,62,58,57,55,55,973,226,130,180,203,213
$RAFOS,5,1353444062,20.700001,20.683889,58,56,55,54,52,51,187,157,220,170,197,93
$RAFOS,4,1353443590,20.566668,20.552778,65,61,61,60,59,53,834,174,126,184,207,154
$RAFOS,3,1353443110,20.433332,20.419445,63,59,53,53,51,51,203,193,115,212,175,128
$RAFOS,2,1353442627,20.299999,20.285278,80,69,61,58,55,54,530,214,199,165,147,225
$RAFOS,1,1353442143,20.166666,20.150833,58,54,52,52,52,51,151,207,171,195,109,184
$RAFOS,0,1353441662,20.033333,20.017221,57,56,54,54,52,49,209,186,158,172,220,125
$RAFOS_FIX,6557.145020,-6028.352539,201112,202054,3,70,6.06
$IRIDIUM_FIX,6543.17,-6029.83,201112,161617
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.75
$INTERNAL_PRESSURE,8.63537
$TCM_TEMP,12.30
$XPDR_PINGS,5
$24V_AH,12.3,151.441
$10V_AH,12.3,0.000
$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,22.675,59.400,418.825,0.000,0.000,0.000,0.000,373.475,1.250,0.000,5.535,2244.452,3415.199,542.586,1683.449,471.303,0.000,1659.775,0.000,1374.911,2520.000,0.537,0.000
$DEVICE_MAMPS,451.350,84.150,2202.435,0.000,0.000,0.000,0.000,161.415,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.749,645.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188752
$DATA_FILE_SIZE,43407,941
$CAP_FILE_SIZE,77520,32
$CFSIZE,259252224,221032448
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1444.4
$CURRENT,0.034, 60.7,1
$GPS,201112,212904,6612.445,-6031.539,36,0.9,36,-33.3