version: 66.11
glider: 193
mission: 2
dive: 474
start: 11 20 112 2 21 56
data:
$ID,193
$MISSION,2
$DIVE,474
$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,-2000.2399
$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
$GPS1,201112,020804,6609.867,-6036.158,33,0.9,33,-33.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-67.1
$GPS2,201112,022056,6609.739,-6036.206,4,0.8,4,-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,47.3,192063,-15.8,-8.000,-18.68
$D_GRID,387
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,19,-1.38,-136.9,0.0,0.0,0,26,0.00,0.00,-5.57,0.000,2,0.000,0.000,88,2522,1678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.38,-136.9,3.1,0.0,1,158,12.25,0.00,-107.95,0.000,6,0.467,0.000,2370,2501,3330,3,0,0,0,0,0,13.78,28.83,14.75
$GC,473,-1.38,-136.9,52.8,-16.2,82,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2500,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,790,-1.38,-136.9,99.4,-13.5,143,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2501,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1103,-1.38,-136.9,140.3,-13.5,174,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2500,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1415,-1.38,-136.9,179.8,-11.7,205,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2500,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1727,-1.38,-136.9,214.1,-10.7,236,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2500,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2040,-1.38,-136.9,249.4,-11.2,267,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2500,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-1.38,-136.9,282.8,-10.9,298,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2500,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,-1.38,-136.9,315.2,-9.8,329,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2500,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2977,-1.38,-136.9,345.6,-9.8,360,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2500,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3109,begin apogee
$GC,3137,-0.38,0.0,360.2,-10.5,374,3299,0.85,14.85,135.75,2.196,6,0.277,0.080,2592,2500,2772,0,0,6,1,0,0,14.12,13.69,12.82
$STATE,3300,end apogee,CONTROL_FINISHED_OK
$STATE,3300,begin climb
$GC,3307,1.38,136.9,366.2,0.0,392,3462,1.35,0.00,150.85,2.122,6,0.186,0.000,2973,2500,2214,0,0,0,0,0,0,13.62,28.83,12.29
$GC,3765,1.39,147.6,336.3,7.6,439,3781,0.00,0.00,11.50,1.932,6,0.000,0.000,2974,2500,2171,0,0,0,0,0,0,28.83,28.83,12.95
$GC,4084,1.40,155.7,312.4,7.7,471,4100,0.00,0.00,9.65,1.906,6,0.000,0.000,2974,2500,2137,0,0,0,0,0,0,28.83,28.83,13.27
$GC,4404,1.40,155.7,287.6,8.2,503,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2500,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4721,1.40,155.7,259.3,9.6,534,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2500,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,1.40,155.7,232.1,8.1,565,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2500,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5345,1.46,204.6,210.8,6.1,596,5400,0.10,0.00,51.35,2.024,6,0.171,0.000,3017,2500,1938,0,0,0,0,0,0,14.65,28.83,13.43
$GC,5700,1.46,204.6,178.9,9.6,632,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2500,1931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6016,1.46,204.6,151.4,8.2,663,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2500,1930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6327,1.46,204.6,122.2,10.2,694,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2500,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6639,1.46,204.6,89.8,10.6,734,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2499,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6959,1.47,206.9,58.6,7.9,795,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2499,1928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7275,1.54,266.9,37.5,5.6,856,7314,0.00,0.00,35.08,0.291,6,0.000,0.000,3017,2500,1681,0,0,0,0,0,0,28.83,28.83,14.26
$GC,7631,1.54,266.9,10.2,10.4,922,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2499,1670,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7686,end climb,SURFACE_DEPTH_REACHED
$STATE,7686,begin surface coast
$FINISH,2.2,1.025813
$STATE,7713,end surface coast,CONTROL_FINISHED_OK
$STATE,7714,begin surface
$SM_CCo,7756,10.77,0.197,0,0,1587,290.19
$SM_GC,2.65,8.62,14.88,10.77,0.104,0.081,0.197,133,2446,1587,-11.62,9.22,290.19,0,0,5,1,0,0,14.57,14.53,14.33
$RAFOS_CLK,340
$RAFOS,2,1353385021,4.300000,4.283611,60,57,56,55,52,52,213,190,180,146,163,232
$RAFOS,1,1353384545,4.166667,4.151389,61,57,55,53,53,50,204,224,181,166,147,214
$RAFOS,0,1353384071,4.033333,4.019722,65,60,59,53,51,50,221,188,118,146,168,201
$RAFOS_FIX,6618.165039,-6017.157227,181112,121220,4,80,3.72
$IRIDIUM_FIX,6543.17,-6034.47,201112,020214
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.28
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.40
$XPDR_PINGS,3
$24V_AH,12.3,149.332
$10V_AH,12.5,0.000
$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,23.175,59.425,394.175,10.775,0.000,0.000,0.000,520.000,0.750,0.000,5.655,2222.002,3470.816,554.056,1833.769,480.736,0.000,1811.567,0.000,1371.807,1440.000,0.536,0.000
$DEVICE_MAMPS,467.415,85.680,2196.315,196.605,0.000,0.000,0.000,167.535,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,687.238,647.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188628
$DATA_FILE_SIZE,43417,938
$CAP_FILE_SIZE,77503,32
$CFSIZE,259252224,221380608
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,3,17,0,1,0
$SOUNDSPEED,1445.7
$CURRENT,0.052,174.4,1
$GPS,201112,043324,6609.738,-6036.388,68,0.8,68,-33.2