version: 66.11
glider: 193
mission: 2
dive: 491
start: 11 21 112 19 40 31
data:
$ID,193
$MISSION,2
$DIVE,491
$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,-2647.9673
$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
$GPS1,211112,192834,6611.921,-6026.982,200,0.9,200,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-51.9
$GPS2,211112,193935,6611.928,-6027.086,4,0.9,4,-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,122.2,184330,-15.8,-8.000,-18.68
$D_GRID,409
$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,-136.9,0.0,0.0,0,105,0.00,0.00,-83.15,0.000,2,0.000,0.000,129,2237,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-1.38,-136.9,3.4,-2.2,14,137,12.45,0.00,-9.95,0.000,6,0.482,0.000,2370,2237,3331,0,0,0,0,0,0,13.97,28.83,14.75
$GC,448,-1.38,-136.9,61.3,-15.9,78,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2237,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,769,-1.38,-136.9,106.7,-12.9,135,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2237,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1084,-1.38,-136.9,146.9,-13.1,166,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1396,-1.38,-136.9,189.0,-13.6,197,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2237,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1708,-1.38,-136.9,228.4,-11.5,228,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2237,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2021,-1.38,-136.9,262.9,-10.5,259,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2237,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2327,-1.38,-136.9,296.1,-11.1,290,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2237,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2642,-1.38,-136.9,330.5,-11.1,321,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2237,3334,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2915,begin apogee
$GC,2948,-0.38,0.0,360.2,-10.3,349,3112,0.82,14.85,137.65,2.205,6,0.269,0.080,2588,2237,2772,0,0,6,1,0,0,14.11,13.66,12.76
$STATE,3113,end apogee,CONTROL_FINISHED_OK
$STATE,3113,begin climb
$GC,3119,1.38,136.9,368.8,0.0,368,3276,1.38,0.00,151.48,2.107,6,0.184,0.000,2976,2237,2214,0,0,0,0,0,0,13.59,28.83,12.25
$GC,3579,1.38,136.9,337.9,8.6,415,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2237,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3895,1.40,156.4,313.5,7.2,446,3917,0.00,0.00,19.77,2.017,6,0.000,0.000,2976,2237,2134,0,0,0,0,0,0,28.83,28.83,13.33
$GC,4220,1.41,164.5,288.7,7.7,479,4236,0.00,0.00,9.82,1.892,6,0.000,0.000,2976,2237,2101,0,0,0,0,0,0,28.83,28.83,13.40
$GC,4540,1.41,164.5,263.0,8.6,511,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2237,2099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4858,1.41,164.5,237.0,8.4,542,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2237,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5169,1.46,203.4,213.7,6.5,573,5213,0.10,0.00,40.90,1.972,6,0.174,0.000,3020,2237,1941,0,0,0,0,0,0,14.65,28.83,13.49
$GC,5514,1.46,203.4,182.0,9.6,608,5521,0.10,0.00,0.00,0.000,6,0.285,0.000,3000,2237,1936,0,0,0,0,0,0,14.34,28.83,28.83
$GC,5825,1.46,203.4,153.9,9.2,639,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2237,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,1.46,206.0,126.2,7.9,670,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2237,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6452,1.48,218.9,102.4,7.5,701,6465,0.00,0.00,8.70,1.610,6,0.000,0.000,3000,2237,1879,0,0,0,0,0,0,28.83,28.83,13.66
$GC,6771,1.49,229.9,77.8,7.6,761,6779,0.00,0.00,6.25,0.422,6,0.000,0.000,3000,2237,1832,0,0,0,0,0,0,28.83,28.83,14.11
$GC,7091,1.54,269.6,57.1,6.4,822,7116,0.00,0.00,22.62,0.360,6,0.000,0.000,3000,2237,1670,0,0,0,0,0,0,28.83,28.83,14.19
$GC,7428,1.57,292.5,32.3,7.1,886,7445,0.00,0.00,12.25,0.295,6,0.000,0.000,3001,2237,1577,0,0,0,0,0,0,28.83,28.83,14.21
$GC,7755,1.57,292.5,6.1,8.3,949,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2237,1571,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7792,end climb,SURFACE_DEPTH_REACHED
$STATE,7792,begin surface coast
$FINISH,2.1,1.025870
$STATE,7829,end surface coast,CONTROL_FINISHED_OK
$STATE,7829,begin surface
$SM_CCo,7932,0.00,0.000,0,0,1569,295.10
$SM_GC,3.12,9.50,14.85,0.00,0.184,0.075,0.000,126,2237,1569,-11.62,3.31,295.10,0,0,6,1,0,0,14.61,14.57,28.83
$RAFOS_CLK,348
$RAFOS,6,1353530945,20.833334,20.818056,87,61,60,58,58,54,961,177,202,215,151,136
$RAFOS,5,1353530465,20.700001,20.684723,97,61,58,55,54,53,1041,227,164,197,208,150
$RAFOS,4,1353529985,20.566668,20.551390,109,64,55,53,53,51,853,176,210,157,119,230
$RAFOS,3,1353529505,20.433332,20.418056,65,55,55,53,53,52,203,136,223,154,180,1231
$RAFOS,2,1353529023,20.299999,20.284166,123,61,54,53,52,50,547,217,197,137,170,158
$RAFOS,1,1353528544,20.166666,20.151112,159,64,63,59,57,54,688,182,194,212,223,170
$RAFOS,0,1353528066,20.033333,20.018333,58,57,56,55,54,53,208,198,136,173,125,227
$RAFOS_FIX,6619.046875,-6015.330078,211112,202038,5,115,4.98
$IRIDIUM_FIX,6543.17,-6027.21,211112,171750
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.99
$INTERNAL_PRESSURE,8.63537
$TCM_TEMP,12.30
$XPDR_PINGS,6
$24V_AH,12.2,154.404
$10V_AH,12.1,0.000
$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,24.350,59.400,409.450,0.000,0.000,0.000,0.000,448.075,1.500,0.000,5.539,2327.811,3523.673,526.004,1759.996,524.060,0.000,1733.961,0.000,1407.024,2520.000,0.536,0.000
$DEVICE_MAMPS,481.950,87.210,2205.495,0.000,0.000,0.000,0.000,156.060,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.519,662.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188776
$DATA_FILE_SIZE,43415,963
$CAP_FILE_SIZE,80756,32
$CFSIZE,259252224,220540928
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1445.0
$CURRENT,7.781,242.8,1
$GPS,211112,193935,6611.928,-6027.086,301,99.0,301,-33.2