version: 66.11
glider: 193
mission: 2
dive: 451
start: 11 17 112 18 28 7
data:
$ID,193
$MISSION,2
$DIVE,451
$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,-1953.3846
$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
$GPS1,171112,181835,6613.291,-6036.917,14,0.9,14,-33.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-64.6
$GPS2,171112,182711,6613.265,-6036.776,27,0.9,27,-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,135.6,189152,-15.8,-8.000,-18.68
$D_GRID,397
$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,-136.9,0.0,0.0,0,61,0.00,0.00,-40.60,0.000,2,0.000,0.000,120,2333,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.38,-136.9,3.1,-1.1,7,169,12.35,0.00,-80.43,0.000,6,0.479,0.000,2369,2333,3329,0,0,0,0,0,0,13.99,28.83,14.76
$GC,483,-1.38,-136.9,52.9,-15.7,84,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2333,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,799,-1.38,-136.9,97.4,-14.2,145,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2333,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1118,-1.38,-136.9,140.0,-14.0,177,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2333,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1430,-1.38,-136.9,183.6,-13.4,208,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2333,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1742,-1.38,-136.9,223.3,-12.0,239,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2333,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2056,-1.38,-136.9,258.1,-10.7,270,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2333,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2367,-1.38,-136.9,290.9,-10.2,301,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2333,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2679,-1.38,-136.9,323.8,-10.6,332,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2333,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2992,-1.38,-136.9,354.1,-8.9,363,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2333,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3054,begin apogee
$GC,3082,-0.38,0.0,360.6,-8.9,370,3245,0.85,14.85,136.93,2.227,6,0.278,0.078,2590,2333,2772,0,0,6,1,0,0,14.12,13.69,12.81
$STATE,3246,end apogee,CONTROL_FINISHED_OK
$STATE,3246,begin climb
$GC,3251,1.38,136.9,366.2,0.0,388,3411,1.38,0.00,152.85,2.163,6,0.192,0.000,2974,2333,2214,0,0,0,0,0,0,13.59,28.83,12.28
$GC,3714,1.38,136.9,332.2,8.2,435,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2332,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4032,1.41,157.6,308.9,7.2,466,4061,0.00,0.00,21.10,2.073,6,0.000,0.000,2974,2332,2129,0,0,0,0,0,0,28.83,28.83,13.36
$GC,4364,1.42,165.8,282.3,7.7,500,4381,0.00,0.00,9.85,1.918,6,0.000,0.000,2974,2333,2095,0,0,0,0,0,0,28.83,28.83,13.45
$GC,4684,1.42,165.8,254.8,8.1,532,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2332,2093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5002,1.44,188.3,231.1,7.1,563,5030,0.00,0.00,24.12,2.014,6,0.000,0.000,2974,2332,2004,0,0,0,0,0,0,28.83,28.83,13.57
$GC,5334,1.44,189.3,204.6,8.0,597,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2332,2001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5650,1.45,196.5,180.6,7.7,628,5664,0.10,0.00,9.60,1.871,6,0.181,0.000,3014,2333,1970,0,0,0,0,0,0,14.59,28.83,13.60
$GC,5965,1.46,200.3,154.3,7.9,660,5972,0.00,0.00,5.30,1.633,6,0.000,0.000,3014,2333,1954,0,0,0,0,0,0,28.83,28.83,13.54
$GC,6275,1.47,213.6,131.9,7.5,691,6291,0.00,0.00,14.52,1.916,6,0.000,0.000,3014,2333,1900,0,0,0,0,0,0,28.83,28.83,13.65
$GC,6596,1.47,213.6,102.8,9.8,723,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2333,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6909,1.48,216.6,74.4,7.9,781,6917,0.00,0.00,1.42,0.509,6,0.000,0.000,3014,2333,1888,0,0,0,0,0,0,28.83,28.83,14.09
$GC,7229,1.48,221.4,51.2,7.8,842,7236,0.00,0.00,2.90,0.363,6,0.000,0.000,3014,2333,1867,0,0,0,0,0,0,28.83,28.83,14.18
$GC,7550,1.49,227.3,26.0,7.8,903,7557,0.00,0.00,3.10,0.311,6,0.000,0.000,3014,2333,1844,0,0,0,0,0,0,28.83,28.83,14.27
$STATE,7857,end climb,SURFACE_DEPTH_REACHED
$STATE,7857,begin surface coast
$FINISH,2.0,1.025735
$STATE,7899,end surface coast,CONTROL_FINISHED_OK
$STATE,7899,begin surface
$SM_CCo,7942,34.30,0.189,0,0,1587,290.19
$SM_GC,3.19,8.35,14.85,34.30,0.082,0.080,0.189,137,2332,1587,-11.59,6.02,290.19,0,0,6,1,0,0,14.59,14.57,14.35
$RAFOS_CLK,354
$RAFOS,4,1353184384,20.566668,20.551111,74,60,59,58,52,50,887,124,206,187,138,163
$RAFOS,3,1353183905,20.433332,20.418056,63,62,58,56,54,51,170,152,221,135,201,187
$RAFOS,2,1353183431,20.299999,20.286388,91,59,58,54,54,53,529,129,190,201,172,215
$RAFOS,1,1353182946,20.166666,20.151667,66,63,59,51,50,50,695,190,207,237,151,171
$RAFOS,0,1353182466,20.033333,20.018333,59,59,54,50,48,48,190,199,1477,220,134,143
$RAFOS_FIX,6623.829102,-6027.239746,171112,202024,3,77,3.01
$IRIDIUM_FIX,6543.17,-6046.37,171112,161646
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.77
$INTERNAL_PRESSURE,8.64514
$TCM_TEMP,12.40
$XPDR_PINGS,4
$24V_AH,12.3,142.499
$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,23.025,59.400,381.700,34.300,0.000,0.000,0.000,307.850,1.000,0.000,28.135,2323.996,3487.172,569.978,1686.061,476.842,0.000,1638.332,0.000,1416.059,1800.000,0.536,0.000
$DEVICE_MAMPS,478.890,81.855,2226.915,188.955,0.000,0.000,0.000,170.595,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,715.052,666.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188744
$DATA_FILE_SIZE,43445,970
$CAP_FILE_SIZE,79392,32
$CFSIZE,259252224,222486528
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1444.7
$CURRENT,0.290,192.7,1
$GPS,171112,204304,6612.234,-6038.162,29,0.7,29,-33.3