version: 66.11
glider: 193
mission: 2
dive: 452
start: 11 17 112 20 52 31
data:
$ID,193
$MISSION,2
$DIVE,452
$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,-1954.6407
$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
$GPS1,171112,204304,6612.234,-6038.162,29,0.7,29,-33.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-67.6
$GPS2,171112,205131,6612.073,-6038.226,3,0.7,3,-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,48.7,191146,-15.8,-8.000,-18.68
$D_GRID,394
$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,-28.05,0.000,2,0.000,0.000,129,2331,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.38,-136.9,3.0,-1.6,5,158,12.00,0.00,-85.95,0.000,6,0.467,0.000,2372,2332,3330,1,0,0,0,0,0,13.76,28.83,14.75
$GC,473,-1.38,-136.9,53.8,-16.4,82,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2331,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,790,-1.38,-136.9,95.9,-12.5,143,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2331,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1111,-1.38,-136.9,132.1,-11.2,177,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2332,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1424,-1.38,-136.9,171.3,-12.5,208,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2331,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1735,-1.38,-136.9,207.8,-12.4,239,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2332,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,-1.38,-136.9,249.4,-12.8,270,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2332,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2360,-1.38,-136.9,285.7,-10.5,301,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2331,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2673,-1.38,-136.9,315.2,-9.1,332,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2332,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2985,-1.38,-136.9,344.0,-9.3,363,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2332,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3156,begin apogee
$GC,3184,-0.38,0.0,360.7,-9.7,381,3347,0.82,14.85,136.48,2.228,6,0.273,0.078,2589,2331,2773,0,0,6,1,0,0,14.14,13.68,12.81
$STATE,3348,end apogee,CONTROL_FINISHED_OK
$STATE,3348,begin climb
$GC,3353,1.38,136.9,367.8,0.0,399,3511,1.38,0.00,153.15,2.191,6,0.190,0.000,2975,2331,2214,0,0,0,0,0,0,13.60,28.83,12.28
$GC,3813,1.38,136.9,337.1,8.4,446,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2331,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4129,1.38,136.9,311.4,8.8,477,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2331,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4441,1.39,148.2,284.5,7.6,508,4455,0.00,0.00,10.95,1.960,6,0.000,0.000,2975,2331,2168,0,0,0,0,0,0,28.83,28.83,13.51
$GC,4756,1.41,158.0,260.4,7.6,540,4773,0.00,0.00,11.68,1.948,6,0.000,0.000,2975,2331,2127,0,0,0,0,0,0,28.83,28.83,13.54
$GC,5077,1.45,195.1,237.9,6.5,572,5123,0.08,0.00,39.28,2.020,6,0.212,0.000,3005,2330,1976,0,0,0,0,0,0,14.59,28.83,13.45
$GC,5426,1.45,195.1,207.7,10.5,607,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2331,1971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5743,1.45,195.1,172.4,11.3,638,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2331,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6054,1.45,195.1,142.5,8.1,669,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2331,1969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6367,1.49,225.4,119.2,6.8,700,6388,0.00,0.00,18.25,1.808,6,0.000,0.000,3005,2331,1852,0,0,0,0,0,0,28.83,28.83,13.71
$GC,6697,1.52,254.6,95.7,6.9,738,6715,0.00,0.00,16.33,0.471,6,0.000,0.000,3005,2331,1733,0,0,0,0,0,0,28.83,28.83,14.12
$GC,7025,1.52,254.6,67.9,8.7,801,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2331,1726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7344,1.57,293.4,40.9,6.5,862,7368,0.00,0.00,21.55,0.310,6,0.000,0.000,3005,2331,1574,0,0,0,0,0,0,28.83,28.83,14.26
$GC,7679,1.58,301.0,15.0,7.7,926,7686,0.00,0.00,3.10,0.253,6,0.000,0.000,3005,2331,1543,0,0,0,0,0,0,28.83,28.83,14.31
$STATE,7837,end climb,SURFACE_DEPTH_REACHED
$STATE,7837,begin surface coast
$FINISH,1.8,1.025688
$STATE,7872,end surface coast,CONTROL_FINISHED_OK
$STATE,7872,begin surface
$SM_CCo,7975,0.00,0.000,0,0,1536,302.95
$SM_GC,2.73,8.70,14.85,0.00,0.115,0.077,0.000,136,2331,1536,-11.62,5.96,302.95,0,0,6,1,0,0,14.57,14.57,28.83
$RAFOS_CLK,348
$RAFOS_FIX,6623.829102,-6027.239746,171112,202024,3,77,3.01
$IRIDIUM_FIX,6543.17,-6034.47,171112,181844
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.91
$INTERNAL_PRESSURE,8.64514
$TCM_TEMP,12.40
$XPDR_PINGS,7
$24V_AH,12.3,142.791
$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,22.975,59.400,410.750,0.000,0.000,0.000,0.000,316.575,1.750,0.000,4.731,2242.441,3569.036,548.384,1657.214,475.589,0.000,1617.495,0.000,1406.696,0.000,0.536,0.000
$DEVICE_MAMPS,466.650,81.855,2227.680,0.000,0.000,0.000,0.000,172.890,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.186,661.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188612
$DATA_FILE_SIZE,43421,963
$CAP_FILE_SIZE,77277,32
$CFSIZE,259252224,222441472
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,1,18,0,1,0
$SOUNDSPEED,1445.1
$CURRENT,0.455,201.5,1
$GPS,171112,230624,6610.550,-6039.945,12,1.2,12,-33.2