version: 66.11
glider: 193
mission: 2
dive: 487
start: 11 21 112 9 39 47
data:
$ID,193
$MISSION,2
$DIVE,487
$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,-2038.2219
$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
$GPS1,211112,092934,6610.976,-6029.859,29,0.9,29,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-52.6
$GPS2,211112,093847,6610.996,-6029.822,4,0.8,4,-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,111.9,186912,-15.8,-8.000,-18.68
$D_GRID,405
$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,-136.9,0.0,0.0,0,81,0.00,0.00,-60.85,0.000,2,0.000,0.000,134,2237,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.38,-136.9,3.2,-1.2,10,131,12.40,0.00,-23.35,0.000,6,0.481,0.000,2371,2237,3330,0,0,0,0,0,0,13.97,28.83,14.76
$GC,440,-1.38,-136.9,59.6,-16.1,77,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,764,-1.38,-136.9,107.5,-13.8,134,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1078,-1.38,-136.9,148.3,-13.0,165,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2238,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1390,-1.38,-136.9,187.5,-11.6,196,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1703,-1.38,-136.9,222.2,-11.0,227,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2016,-1.38,-136.9,259.7,-12.5,258,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2327,-1.38,-136.9,292.8,-8.8,289,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2641,-1.38,-136.9,322.1,-10.6,320,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2953,-1.38,-136.9,355.3,-10.4,351,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2995,begin apogee
$GC,3022,-0.38,0.0,360.5,-10.0,356,3185,0.82,14.85,136.95,2.189,6,0.266,0.078,2590,2237,2772,0,0,6,1,0,0,14.12,13.69,12.79
$STATE,3186,end apogee,CONTROL_FINISHED_OK
$STATE,3186,begin climb
$GC,3192,1.38,136.9,367.2,0.0,374,3347,1.38,0.00,150.88,2.124,6,0.184,0.000,2978,2237,2214,0,0,0,0,0,0,13.61,28.83,12.25
$GC,3650,1.38,136.9,334.9,8.7,421,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2237,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3965,1.38,136.9,308.2,8.5,452,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2237,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4278,1.38,136.9,282.1,8.0,483,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2237,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,1.38,137.9,256.9,8.0,514,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2237,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4903,1.40,154.9,232.1,7.3,545,4924,0.00,0.00,17.52,1.985,6,0.000,0.000,2978,2237,2140,0,0,0,0,0,0,28.83,28.83,13.59
$GC,5228,1.41,163.7,207.2,7.7,578,5244,0.00,0.00,10.55,1.895,6,0.000,0.000,2978,2236,2104,0,0,0,0,0,0,28.83,28.83,13.55
$GC,5548,1.42,172.2,183.6,7.7,610,5564,0.00,0.00,10.18,1.874,6,0.000,0.000,2978,2237,2069,0,0,0,0,0,0,28.83,28.83,13.56
$GC,5868,1.42,172.2,157.9,8.1,642,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2237,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6185,1.47,209.9,135.5,6.5,673,6227,0.00,0.00,39.45,1.941,6,0.000,0.000,2978,2237,1916,0,0,0,0,0,0,28.83,28.83,13.52
$GC,6528,1.49,224.6,110.7,7.4,708,6545,0.10,0.00,8.65,1.654,6,0.177,0.000,3019,2237,1855,0,0,0,0,0,0,14.54,28.83,13.54
$GC,6854,1.49,228.3,82.3,7.9,760,6860,0.00,0.00,1.75,0.456,6,0.000,0.000,3018,2237,1841,0,0,0,0,0,0,28.83,28.83,14.02
$GC,7172,1.52,253.7,55.9,7.0,821,7191,0.00,0.00,15.02,0.358,6,0.000,0.000,3019,2237,1736,0,0,0,0,0,0,28.83,28.83,14.19
$GC,7502,1.54,267.5,32.1,7.5,884,7515,0.00,0.00,7.18,0.291,6,0.000,0.000,3019,2237,1679,0,0,0,0,0,0,28.83,28.83,14.23
$GC,7827,1.54,267.5,5.0,8.5,946,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2237,1675,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7848,end climb,SURFACE_DEPTH_REACHED
$STATE,7848,begin surface coast
$FINISH,2.0,1.025807
$STATE,7885,end surface coast,CONTROL_FINISHED_OK
$STATE,7885,begin surface
$SM_CCo,7928,11.52,0.198,0,0,1587,290.19
$SM_GC,3.29,9.05,14.85,11.52,0.143,0.078,0.198,133,2237,1587,-11.60,3.31,290.19,0,0,6,1,0,0,14.61,14.56,14.33
$RAFOS_CLK,344
$RAFOS_FIX,6535.256836,-6220.378906,211112,080850,3,129,22.27
$IRIDIUM_FIX,6543.17,-6037.09,211112,070736
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.55
$INTERNAL_PRESSURE,8.65491
$TCM_TEMP,12.30
$XPDR_PINGS,3
$24V_AH,12.2,153.196
$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,23.750,59.400,398.125,11.525,0.000,0.000,0.000,363.625,0.750,0.000,5.541,2271.979,3514.442,539.765,1691.463,493.491,0.000,1650.003,0.000,1396.182,0.000,0.536,0.000
$DEVICE_MAMPS,481.185,81.090,2188.665,198.135,0.000,0.000,0.000,165.240,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.537,660.670,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43433,957
$CAP_FILE_SIZE,78950,32
$CFSIZE,259252224,220733440
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1445.3
$CURRENT,3.257, 78.1,1
$GPS,211112,093847,6610.996,-6029.822,301,99.0,301,-33.2