version: 66.11
glider: 193
mission: 2
dive: 477
start: 11 20 112 9 46 27
data:
$ID,193
$MISSION,2
$DIVE,477
$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,-2025.6891
$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
$GPS1,201112,093247,6610.951,-6034.471,15,0.9,15,-33.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-66.5
$GPS2,201112,094536,6610.927,-6034.336,6,0.8,6,-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,93.0,189778,-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,-136.9,0.0,0.0,0,27,0.00,0.00,-5.55,0.000,2,0.000,0.000,120,2236,1587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.38,-136.9,3.1,0.0,1,148,11.77,0.00,-99.82,0.000,6,0.455,0.000,2373,2237,3331,1,0,0,0,0,0,13.72,28.83,14.75
$GC,463,-1.38,-136.9,58.3,-16.7,80,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2236,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,785,-1.38,-136.9,103.7,-12.1,139,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2236,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1099,-1.38,-136.9,143.5,-13.1,170,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1413,-1.38,-136.9,182.7,-12.5,201,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2236,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-1.38,-136.9,219.3,-10.4,232,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2037,-1.38,-136.9,254.9,-12.2,263,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2236,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-1.38,-136.9,290.6,-11.1,294,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,-1.38,-136.9,324.6,-10.7,325,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2237,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,-1.38,-136.9,355.1,-9.5,356,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2237,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3025,begin apogee
$GC,3053,-0.38,0.0,360.8,-9.4,362,3217,0.82,14.85,137.65,2.199,6,0.265,0.083,2592,2237,2772,0,0,6,1,0,0,14.13,13.66,12.80
$STATE,3218,end apogee,CONTROL_FINISHED_OK
$STATE,3218,begin climb
$GC,3223,1.38,136.9,367.0,0.0,380,3382,1.35,0.00,152.85,2.138,6,0.184,0.000,2976,2236,2214,0,0,0,0,0,0,13.60,28.83,12.26
$GC,3685,1.38,136.9,330.4,9.2,427,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2236,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4001,1.38,139.0,303.8,7.9,458,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2236,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4314,1.40,153.4,281.0,7.4,489,4335,0.00,0.00,16.50,2.031,6,0.000,0.000,2976,2236,2146,0,0,0,0,0,0,28.83,28.83,13.50
$GC,4639,1.42,173.1,256.8,7.2,522,4664,0.00,0.00,21.75,2.033,6,0.000,0.000,2976,2236,2066,0,0,0,0,0,0,28.83,28.83,13.50
$GC,4969,1.46,202.7,233.6,6.8,555,5004,0.00,0.00,31.83,2.033,6,0.000,0.000,2976,2236,1945,0,0,0,0,0,0,28.83,28.83,13.45
$GC,5308,1.46,202.7,205.4,9.0,589,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2236,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5625,1.46,202.7,178.3,8.6,620,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2236,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5936,1.50,233.2,154.7,6.8,651,5971,0.10,0.00,31.45,1.982,6,0.181,0.000,3017,2236,1821,0,0,0,0,0,0,14.63,28.83,13.55
$GC,6271,1.50,233.2,123.6,9.7,685,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2236,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6584,1.50,233.2,95.8,8.1,720,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2236,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6901,1.50,233.2,69.1,8.5,781,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2236,1814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7219,1.55,277.4,47.1,6.3,842,7249,0.00,0.00,25.15,0.328,6,0.000,0.000,3017,2235,1638,0,0,0,0,0,0,28.83,28.83,14.23
$GC,7560,1.60,315.7,21.0,6.5,907,7585,0.00,0.00,20.85,0.255,6,0.000,0.000,3017,2236,1484,0,0,0,0,0,0,28.83,28.83,14.32
$STATE,7770,end climb,SURFACE_DEPTH_REACHED
$STATE,7770,begin surface coast
$FINISH,2.0,1.013549
$STATE,7809,end surface coast,CONTROL_FINISHED_OK
$STATE,7809,begin surface
$SM_CCo,7912,0.00,0.000,0,0,1471,319.14
$SM_GC,2.82,8.55,14.85,0.00,0.099,0.084,0.000,138,2236,1471,-11.59,3.28,319.14,0,0,6,1,0,0,14.57,14.54,28.83
$RAFOS_CLK,378
$RAFOS_FIX,6618.165039,-6017.157227,181112,121220,4,80,3.72
$IRIDIUM_FIX,6543.17,-6037.09,201112,090900
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.24
$INTERNAL_PRESSURE,8.63537
$TCM_TEMP,12.50
$XPDR_PINGS,7
$24V_AH,12.3,150.265
$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,22.600,59.400,438.025,0.000,0.000,0.000,0.000,512.125,1.750,0.000,13.967,2235.365,3551.514,566.985,1849.964,480.405,0.000,1833.199,0.000,1393.327,0.000,0.536,0.000
$DEVICE_MAMPS,455.175,87.975,2198.610,0.000,0.000,0.000,0.000,163.710,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.039,656.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188700
$DATA_FILE_SIZE,43416,954
$CAP_FILE_SIZE,77386,32
$CFSIZE,259252224,221233152
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,1,18,0,1,0
$SOUNDSPEED,1445.0
$CURRENT,0.095,145.0,1
$GPS,201112,115934,6610.752,-6033.743,29,0.7,29,-33.2