version: 66.11
glider: 193
mission: 2
dive: 476
start: 11 20 112 7 20 40
data:
$ID,193
$MISSION,2
$DIVE,476
$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,-2011.0928
$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
$GPS1,201112,070804,6610.493,-6035.432,61,0.9,61,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-66.7
$GPS2,201112,071948,6610.511,-6035.362,5,0.7,5,-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,114.7,190808,-15.8,-8.000,-18.68
$D_GRID,395
$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,13,begin dive
$GC,19,-1.38,-136.9,0.0,0.0,0,26,0.00,0.00,-5.57,0.000,2,0.000,0.000,100,2207,1688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.38,-136.9,3.2,0.0,1,143,12.15,0.00,-92.43,0.000,6,0.464,0.000,2374,2207,3331,0,0,0,0,0,0,14.01,28.83,14.74
$GC,457,-1.38,-136.9,55.7,-16.0,79,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2207,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,772,-1.38,-136.9,95.9,-11.7,140,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2207,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1094,-1.38,-136.9,131.9,-11.8,174,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2207,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1406,-1.38,-136.9,169.2,-13.1,205,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2207,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-1.38,-136.9,210.7,-13.2,236,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2207,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2031,-1.38,-136.9,246.7,-10.9,267,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2207,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2343,-1.38,-136.9,280.0,-10.4,298,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2207,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2655,-1.38,-136.9,312.0,-10.4,329,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2207,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2962,-1.38,-136.9,343.7,-9.7,360,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2207,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3126,begin apogee
$GC,3154,-0.38,0.0,360.4,-10.2,377,3319,0.82,14.85,137.52,2.207,6,0.268,0.108,2592,2207,2771,0,0,6,1,0,0,14.10,13.64,12.78
$STATE,3320,end apogee,CONTROL_FINISHED_OK
$STATE,3320,begin climb
$GC,3326,1.38,136.9,367.9,0.0,395,3488,1.35,0.00,152.90,2.150,6,0.182,0.000,2975,2207,2214,0,0,0,0,0,0,13.59,28.83,12.26
$GC,3792,1.38,136.9,334.3,8.7,443,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2207,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4107,1.38,136.9,309.8,8.0,474,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2207,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4415,1.41,164.6,287.8,6.9,505,4450,0.00,0.00,27.85,2.074,6,0.000,0.000,2975,2207,2101,0,0,0,0,0,0,28.83,28.83,13.44
$GC,4755,1.41,164.6,260.1,8.7,539,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2207,2097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5070,1.43,176.6,234.9,7.5,570,5090,0.00,0.00,13.57,1.972,6,0.000,0.000,2974,2207,2051,0,0,0,0,0,0,28.83,28.83,13.57
$GC,5395,1.50,234.5,213.4,5.7,603,5462,0.12,0.00,60.97,2.026,6,0.158,0.000,3029,2206,1815,0,0,0,0,0,0,14.52,28.83,13.33
$GC,5766,1.50,234.5,177.4,10.8,640,5773,0.10,0.00,0.00,0.000,6,0.290,0.000,3010,2207,1808,0,0,0,0,0,0,14.29,28.83,28.83
$GC,6075,1.50,234.5,144.1,10.4,671,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2207,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6389,1.50,234.5,114.3,9.3,702,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2207,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6701,1.50,234.5,85.9,8.4,747,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2207,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7017,1.56,284.5,62.4,6.0,808,7048,0.00,0.00,27.60,0.369,6,0.000,0.000,3010,2207,1610,0,0,0,0,0,0,28.83,28.83,14.25
$GC,7359,1.60,311.8,37.4,6.9,873,7378,0.00,0.00,14.85,0.307,6,0.000,0.000,3010,2207,1499,0,0,0,0,0,0,28.83,28.83,14.23
$GC,7689,1.60,311.8,8.1,9.5,936,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2206,1491,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7735,end climb,SURFACE_DEPTH_REACHED
$STATE,7735,begin surface coast
$FINISH,2.0,1.014806
$STATE,7762,end surface coast,CONTROL_FINISHED_OK
$STATE,7762,begin surface
$SM_CCo,7865,0.00,0.000,0,0,1487,315.21
$SM_GC,2.89,8.65,14.85,0.00,0.110,0.102,0.000,142,2207,1487,-11.60,2.46,315.21,0,0,6,1,0,0,14.54,14.50,28.83
$RAFOS_CLK,371
$RAFOS,6,1353401349,8.833333,8.819167,60,58,53,49,49,47,227,213,127,136,146,1388
$RAFOS,5,1353400869,8.700000,8.685833,58,57,56,52,51,49,188,157,223,171,138,113
$RAFOS,4,1353400389,8.566667,8.552500,59,58,58,53,52,51,177,152,193,162,206,140
$RAFOS,3,1353399906,8.433333,8.418333,69,57,53,52,51,49,201,128,172,163,184,218
$RAFOS,2,1353399427,8.300000,8.285277,63,59,59,57,53,52,214,190,148,172,231,124
$RAFOS,1,1353398946,8.166667,8.151667,59,58,57,57,57,55,192,212,178,125,146,156
$RAFOS,0,1353398465,8.033334,8.018056,82,57,56,56,54,52,212,178,196,157,231,130
$RAFOS_FIX,6618.165039,-6017.157227,181112,121220,4,80,3.72
$IRIDIUM_FIX,6543.17,-6032.45,201112,040433
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.04
$INTERNAL_PRESSURE,8.63537
$TCM_TEMP,12.30
$XPDR_PINGS,6
$24V_AH,12.3,149.953
$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,23.200,59.400,435.275,0.000,0.000,0.000,0.000,512.100,1.500,0.000,8.972,2227.246,3457.837,571.807,1839.617,475.698,0.000,1836.512,0.000,1387.210,2520.000,0.536,0.000
$DEVICE_MAMPS,464.355,107.865,2207.025,0.000,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.792,653.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43470,950
$CAP_FILE_SIZE,77496,32
$CFSIZE,259252224,221282304
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1445.3
$CURRENT,0.121, 58.8,1
$GPS,201112,093247,6610.951,-6034.471,15,0.9,15,-33.2