version: 66.11
glider: 193
mission: 2
dive: 470
start: 11 19 112 16 47 49
data:
$ID,193
$MISSION,2
$DIVE,470
$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,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,-1995.1277
$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
$GPS1,191112,162904,6611.685,-6034.142,84,0.8,84,-33.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-64.3
$GPS2,191112,164653,6611.803,-6033.943,29,0.8,29,-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,138.0,188713,-15.8,-8.000,-18.68
$D_GRID,400
$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,-136.9,0.0,0.0,0,39,0.00,0.00,-17.55,0.000,2,0.000,0.000,100,2020,1886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.38,-136.9,3.0,-2.3,3,149,12.32,0.00,-86.07,0.000,6,0.472,0.000,2371,2020,3331,1,0,0,0,0,0,13.70,28.83,14.73
$GC,464,-1.38,-136.9,57.7,-13.7,80,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2020,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,780,-1.38,-136.9,98.5,-12.5,141,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2020,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1104,-1.38,-136.9,139.8,-13.3,173,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2020,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1417,-1.38,-136.9,176.7,-10.7,204,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2020,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1728,-1.38,-136.9,211.3,-11.7,235,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2020,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2041,-1.38,-136.9,248.8,-12.4,266,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2020,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2353,-1.38,-136.9,287.7,-12.7,297,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2020,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-1.38,-136.9,325.1,-10.2,328,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2020,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-1.38,-136.9,354.1,-8.9,359,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2020,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3040,begin apogee
$GC,3067,-0.38,0.0,360.8,-9.3,366,3230,0.82,14.85,136.50,2.178,6,0.269,0.080,2590,2020,2772,0,0,6,1,0,0,14.12,13.69,12.83
$STATE,3231,end apogee,CONTROL_FINISHED_OK
$STATE,3231,begin climb
$GC,3236,1.38,136.9,368.1,0.0,384,3392,1.35,0.00,150.02,2.105,6,0.183,0.000,2973,2020,2215,0,0,0,0,0,0,13.62,28.83,12.28
$GC,3696,1.38,136.9,336.0,8.9,431,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2020,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4011,1.40,150.2,310.9,7.5,462,4031,0.00,0.00,13.43,1.977,6,0.000,0.000,2972,2020,2159,0,0,0,0,0,0,28.83,28.83,13.37
$GC,4335,1.40,155.7,284.7,7.8,495,4344,0.00,0.00,6.95,1.795,6,0.000,0.000,2974,2020,2137,0,0,0,0,0,0,28.83,28.83,13.44
$GC,4645,1.41,159.6,260.3,7.9,526,4653,0.00,0.00,5.72,1.714,6,0.000,0.000,2974,2020,2121,0,0,0,0,0,0,28.83,28.83,13.47
$GC,4955,1.43,176.9,236.7,7.3,557,4981,0.00,0.00,19.65,1.980,6,0.000,0.000,2973,2020,2050,0,0,0,0,0,0,28.83,28.83,13.57
$GC,5286,1.45,192.3,210.5,7.4,590,5304,0.00,0.00,16.67,1.951,6,0.000,0.000,2974,2020,1988,0,0,0,0,0,0,28.83,28.83,13.55
$GC,5606,1.52,250.4,190.1,5.7,622,5672,0.12,0.00,60.47,1.974,6,0.156,0.000,3028,2020,1751,0,0,0,0,0,0,14.50,28.83,13.33
$GC,5975,1.52,250.4,155.0,10.3,659,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2020,1742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6293,1.52,250.4,121.8,10.8,690,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2020,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6604,1.52,250.4,90.9,8.6,730,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2020,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6919,1.52,250.4,60.9,8.5,791,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2020,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7236,1.52,250.4,33.1,9.8,852,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2020,1738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7552,1.52,250.4,8.1,11.8,913,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2020,1737,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7594,end climb,SURFACE_DEPTH_REACHED
$STATE,7594,begin surface coast
$FINISH,2.0,1.025342
$STATE,7621,end surface coast,CONTROL_FINISHED_OK
$STATE,7621,begin surface
$SM_CCo,7664,20.40,0.195,0,0,1588,290.19
$SM_GC,2.67,8.88,14.85,20.40,0.126,0.081,0.195,135,2020,1588,-11.61,-2.83,290.19,0,0,6,1,0,0,14.60,14.58,14.35
$RAFOS_CLK,337
$RAFOS,6,1353343744,16.833334,16.817778,56,56,55,54,52,51,188,220,111,120,208,135
$RAFOS,3,1353342305,16.433332,16.418056,62,61,58,51,51,51,157,209,189,132,171,228
$RAFOS_FIX,6618.165039,-6017.157227,181112,121220,4,80,3.72
$IRIDIUM_FIX,6543.17,-6029.83,191112,161604
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.83
$INTERNAL_PRESSURE,8.65491
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,12.3,148.168
$10V_AH,12.6,0.000
$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,23.500,59.400,409.425,20.400,0.000,0.000,0.000,732.325,0.000,0.000,31.022,2172.925,3504.720,566.656,2016.716,504.354,0.000,2026.427,0.000,1353.417,360.000,0.536,0.000
$DEVICE_MAMPS,472.005,82.620,2177.955,195.075,0.000,0.000,0.000,168.300,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.722,635.898,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188620
$DATA_FILE_SIZE,43432,926
$CAP_FILE_SIZE,79595,32
$CFSIZE,259252224,221564928
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,1,18,0,1,0
$SOUNDSPEED,1445.2
$CURRENT,0.212, 20.0,1
$GPS,191112,185659,6613.247,-6032.893,15,1.1,15,-33.3