version: 66.11
glider: 193
mission: 2
dive: 489
start: 11 21 112 14 46 11
data:
$ID,193
$MISSION,2
$DIVE,489
$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,4
$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,-2645.4546
$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,48
$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
$GPS1,211112,143034,6610.987,-6028.144,40,0.9,40,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-51.8
$GPS2,211112,144515,6610.901,-6028.114,4,0.8,4,-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,57.7,185948,-15.8,-8.000,-18.68
$D_GRID,407
$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,-136.9,0.0,0.0,0,147,0.00,0.00,-125.50,0.000,2,0.000,0.000,128,2237,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,154,-1.38,-136.9,3.2,-2.4,21,192,12.40,0.00,-19.65,0.000,6,0.478,0.000,2374,2237,3331,0,0,0,0,0,0,13.99,28.83,14.74
$GC,502,-1.38,-136.9,58.3,-15.8,87,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,824,-1.38,-136.9,104.1,-12.6,146,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1138,-1.38,-136.9,140.5,-11.6,177,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1450,-1.38,-136.9,177.2,-11.9,208,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1764,-1.38,-136.9,212.9,-11.4,239,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2075,-1.38,-136.9,247.9,-10.6,270,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2237,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2387,-1.38,-136.9,280.8,-11.1,301,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2701,-1.38,-136.9,315.8,-10.8,332,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3013,-1.38,-136.9,350.0,-11.0,363,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3104,begin apogee
$GC,3131,-0.38,0.0,361.0,-10.6,373,3295,0.80,14.85,136.82,2.164,6,0.268,0.077,2587,2237,2771,0,0,6,1,0,0,14.12,13.68,12.81
$STATE,3296,end apogee,CONTROL_FINISHED_OK
$STATE,3296,begin climb
$GC,3301,1.38,136.9,368.5,0.0,391,3458,1.38,0.00,151.60,2.104,6,0.184,0.000,2976,2237,2214,0,0,0,0,0,0,13.62,28.83,12.26
$GC,3760,1.38,136.9,334.5,9.1,438,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2237,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4076,1.38,136.9,308.5,8.2,469,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2237,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4388,1.38,136.9,282.4,8.3,500,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2237,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4700,1.41,163.3,258.4,7.0,531,4731,0.00,0.00,26.23,2.035,6,0.000,0.000,2976,2237,2106,0,0,0,0,0,0,28.83,28.83,13.50
$GC,5035,1.46,203.2,234.3,6.4,565,5082,0.00,0.00,41.83,2.011,6,0.000,0.000,2976,2237,1943,0,0,0,0,0,0,28.83,28.83,13.39
$GC,5385,1.50,232.1,209.2,6.9,600,5422,0.12,0.00,30.45,1.978,6,0.153,0.000,3032,2237,1824,0,0,0,0,0,0,14.47,28.83,13.43
$GC,5726,1.50,232.1,175.8,10.4,634,5733,0.12,0.00,0.00,0.000,6,0.273,0.000,3001,2237,1818,0,0,0,0,0,0,14.20,28.83,28.83
$GC,6035,1.50,232.1,146.2,9.8,665,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2237,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6350,1.50,232.1,116.5,9.5,696,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2237,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6660,1.50,232.1,89.7,8.1,739,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2237,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6977,1.57,289.1,68.0,5.8,800,7014,0.00,0.00,31.77,0.392,6,0.000,0.000,3001,2237,1591,0,0,0,0,0,0,28.83,28.83,14.18
$GC,7331,1.59,305.8,44.1,7.3,866,7345,0.10,0.00,8.35,0.327,6,0.180,0.000,3039,2237,1524,0,0,0,0,0,0,14.60,28.83,14.18
$GC,7656,1.59,305.8,14.0,9.3,928,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2237,1519,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7772,end climb,SURFACE_DEPTH_REACHED
$STATE,7772,begin surface coast
$FINISH,1.9,1.000430
$STATE,7808,end surface coast,CONTROL_FINISHED_OK
$STATE,7808,begin surface
$SM_CCo,7911,0.00,0.000,0,0,1516,308.10
$SM_GC,2.83,8.75,14.85,0.00,0.112,0.080,0.000,135,2237,1516,-11.60,3.31,308.10,0,0,6,1,0,0,14.60,14.55,28.83
$RAFOS_CLK,345
$RAFOS,6,1353516546,16.833334,16.818333,136,62,58,58,56,51,960,197,128,153,175,215
$RAFOS,5,1353516062,16.700001,16.683889,72,61,57,56,55,52,1066,212,138,194,1184,120
$RAFOS,4,1353515582,16.566668,16.550556,112,66,60,55,54,53,874,213,222,170,196,157
$RAFOS,3,1353515110,16.433332,16.419445,62,58,58,57,57,56,165,155,196,187,138,208
$RAFOS,2,1353514630,16.299999,16.286112,182,60,58,58,52,50,502,151,195,167,207,115
$RAFOS,1,1353514150,16.166666,16.152779,82,65,59,57,56,52,657,136,189,216,147,198
$RAFOS,0,1353513670,16.033333,16.019444,58,57,56,56,53,51,216,206,135,161,193,174
$RAFOS_FIX,6618.447754,-6016.238281,211112,161600,5,117,2.58
$IRIDIUM_FIX,6543.17,-6025.20,211112,090948
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.75
$INTERNAL_PRESSURE,8.64514
$TCM_TEMP,12.30
$XPDR_PINGS,5
$24V_AH,12.3,153.812
$10V_AH,12.2,0.000
$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,23.675,59.400,427.050,0.000,0.000,0.000,0.000,631.250,1.250,0.000,5.525,2289.365,3475.351,596.132,1893.804,605.406,0.000,1983.361,0.000,1396.860,2520.000,0.537,0.000
$DEVICE_MAMPS,478.125,79.560,2164.185,0.000,0.000,0.000,0.000,175.950,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.565,656.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188632
$DATA_FILE_SIZE,43442,957
$CAP_FILE_SIZE,81240,32
$CFSIZE,259252224,220635136
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1444.9
$CURRENT,0.059, 35.4,1
$GPS,211112,170005,6611.277,-6027.305,14,0.8,14,-33.2