version: 66.11
glider: 193
mission: 2
dive: 446
start: 11 17 112 6 29 18
data:
$ID,193
$MISSION,2
$DIVE,446
$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,9
$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,-1947.015
$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
$GPS1,171112,061958,6608.826,-6041.055,35,0.9,35,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-66.6
$GPS2,171112,062831,6608.802,-6040.925,4,0.8,4,-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,96.4,195878,-15.8,-8.000,-18.68
$D_GRID,377
$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,-136.9,0.0,0.0,0,49,0.00,0.00,-28.45,0.000,2,0.000,0.000,128,2380,2056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.38,-136.9,3.0,-1.5,5,159,12.07,0.00,-87.40,0.000,6,0.469,0.000,2373,2379,3330,0,0,0,0,0,0,14.05,28.83,14.75
$GC,475,-1.38,-136.9,50.1,-14.5,82,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2378,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,790,-1.38,-136.9,91.2,-13.1,143,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2379,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1106,-1.38,-136.9,133.9,-13.2,180,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2378,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1424,-1.38,-136.9,173.9,-11.9,211,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2378,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1736,-1.38,-136.9,211.0,-11.6,242,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2379,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2047,-1.38,-136.9,247.4,-13.0,273,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2378,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2361,-1.38,-136.9,288.8,-12.9,304,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2379,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2673,-1.38,-136.9,326.4,-10.9,335,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2378,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2985,-1.38,-136.9,357.0,-9.1,366,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2378,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3006,begin apogee
$GC,3033,-0.38,0.0,360.1,-9.3,369,3197,0.82,14.85,137.65,2.270,6,0.273,0.078,2589,2378,2771,0,0,6,1,0,0,14.13,13.66,12.78
$STATE,3198,end apogee,CONTROL_FINISHED_OK
$STATE,3198,begin climb
$GC,3203,1.38,136.9,366.9,0.0,387,3363,1.38,0.00,152.48,2.209,6,0.191,0.000,2974,2378,2214,0,0,0,0,0,0,13.59,28.83,12.28
$GC,3667,1.38,136.9,331.6,9.0,434,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2378,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3982,1.38,136.9,305.4,8.4,465,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2378,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4295,1.40,156.9,280.7,7.2,496,4318,0.00,0.00,20.08,2.076,6,0.000,0.000,2974,2378,2132,0,0,0,0,0,0,28.83,28.83,13.49
$GC,4619,1.40,156.9,253.9,8.1,529,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2378,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4935,1.40,156.9,227.3,8.7,560,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2378,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5247,1.43,181.0,201.8,7.1,591,5278,0.00,0.00,25.55,2.079,6,0.000,0.000,2974,2378,2034,0,0,0,0,0,0,28.83,28.83,13.59
$GC,5583,1.45,193.1,175.5,7.5,625,5599,0.00,0.00,13.73,1.963,6,0.000,0.000,2974,2378,1984,0,0,0,0,0,0,28.83,28.83,13.56
$GC,5902,1.45,196.9,150.1,7.9,657,5911,0.10,0.00,4.95,1.608,6,0.181,0.000,3014,2378,1970,0,0,0,0,0,0,14.56,28.83,13.50
$GC,6212,1.45,196.9,123.6,8.5,688,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2378,1969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6526,1.46,201.5,96.8,7.8,722,6533,0.00,0.00,2.78,0.498,6,0.000,0.000,3015,2378,1949,0,0,0,0,0,0,28.83,28.83,14.03
$GC,6844,1.54,266.5,75.9,5.5,783,6887,0.00,0.00,37.85,0.414,6,0.000,0.000,3014,2378,1684,0,0,0,0,0,0,28.83,28.83,14.19
$GC,7204,1.61,325.3,49.8,5.7,850,7241,0.00,0.00,33.05,0.334,6,0.000,0.000,3014,2378,1443,0,0,0,0,0,0,28.83,28.83,14.18
$GC,7557,1.61,325.3,23.0,8.4,916,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2378,1432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7786,end climb,SURFACE_DEPTH_REACHED
$STATE,7787,begin surface coast
$FINISH,1.9,1.025743
$STATE,7823,end surface coast,CONTROL_FINISHED_OK
$STATE,7824,begin surface
$SM_CCo,7926,0.00,0.000,0,0,1427,329.93
$SM_GC,2.78,8.68,14.85,0.00,0.111,0.078,0.000,134,2378,1427,-11.60,7.29,329.93,0,0,6,1,0,0,14.58,14.54,28.83
$RAFOS_CLK,368
$RAFOS,4,1353141184,8.566667,8.551111,108,61,59,54,54,54,909,198,162,129,211,108
$RAFOS,3,1353140705,8.433333,8.418056,60,59,58,52,51,50,179,200,120,219,191,145
$RAFOS,2,1353140224,8.300000,8.284445,131,63,61,58,54,51,584,212,196,166,120,179
$RAFOS,1,1353139744,8.166667,8.151111,65,60,57,57,55,54,724,197,162,187,220,118
$RAFOS,0,1353139264,8.033334,8.017777,61,56,56,53,53,51,219,170,158,190,136,118
$RAFOS_FIX,6609.238281,-6020.040527,171112,080802,3,101,2.30
$IRIDIUM_FIX,6537.93,-6042.29,171112,030325
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.18
$INTERNAL_PRESSURE,8.63537
$TCM_TEMP,12.30
$XPDR_PINGS,10
$24V_AH,12.3,141.012
$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,23.050,59.400,428.100,0.000,0.000,0.000,0.000,323.950,2.500,0.000,7.203,2308.482,3452.049,560.318,1674.572,483.250,0.000,1650.057,0.000,1414.344,1800.000,0.536,0.000
$DEVICE_MAMPS,468.945,79.560,2269.755,0.000,0.000,0.000,0.000,170.595,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,710.237,666.645,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188672
$DATA_FILE_SIZE,43386,968
$CAP_FILE_SIZE,78290,32
$CFSIZE,259252224,222728192
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1445.1
$CURRENT,0.206,187.2,1
$GPS,171112,084305,6608.096,-6041.176,14,0.8,14,-33.2