version: 66.11
glider: 193
mission: 2
dive: 183
start: 10 11 112 5 0 52
data:
$ID,193
$MISSION,2
$DIVE,183
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,370
$T_MISSION,420
$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,-1122.8904
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,260
$ROLL_MAXERRORS,1
$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,360
$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
$GPS1,111012,045334,6643.906,-6004.438,24,1.0,24,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-66.7
$GPS2,111012,050013,6643.880,-6004.192,4,0.9,4,-33.8
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,349.6,15955,-17.3,-8.919,-19.96
$D_GRID,604
$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,-1.50,-136.9,0.0,0.0,0,27,0.00,0.00,-5.97,0.000,2,0.000,0.000,131,2112,1540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.1,0.0,1,160,11.00,2.65,-104.28,0.000,4,0.451,0.162,2352,711,3331,0,0,0,0,0,0,14.36,14.50,14.77
$GC,399,-1.50,-136.9,45.1,-15.2,67,406,0.00,2.70,0.00,0.000,6,0.000,0.147,2344,2129,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,716,-1.50,-136.9,94.8,-14.8,128,723,0.00,2.62,0.00,0.000,4,0.000,0.139,2344,709,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,756,-1.50,-136.9,100.6,-15.3,134,763,0.00,2.67,0.00,0.000,6,0.000,0.142,2336,2126,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1069,-1.50,-136.9,145.7,-13.9,165,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2126,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1382,-1.50,-136.9,190.0,-13.9,196,1391,0.00,2.58,0.00,0.000,4,0.000,0.135,2336,709,3332,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1420,-1.50,-136.9,196.0,-14.4,199,1428,0.12,2.65,0.00,0.000,6,0.332,0.137,2351,2131,3332,0,0,0,0,0,0,14.54,14.67,28.83
$GC,1729,-1.50,-136.9,236.9,-12.7,230,1738,0.00,2.67,0.00,0.000,4,0.000,0.159,2343,3534,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1857,-1.50,-136.9,252.3,-12.0,242,1864,0.00,2.53,0.00,0.000,6,0.000,0.104,2343,2118,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2164,-1.50,-136.9,288.8,-11.4,273,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2479,-1.50,-136.9,324.2,-11.2,304,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2790,-1.50,-136.9,357.9,-10.1,335,2799,0.00,2.55,0.00,0.000,4,0.000,0.134,2343,703,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2858,-1.50,-136.9,365.5,-10.8,341,2866,0.00,2.65,0.00,0.000,6,0.000,0.139,2336,2132,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3166,-1.50,-136.9,399.8,-11.4,372,3175,0.00,2.65,0.00,0.000,4,0.000,0.157,2325,3528,3331,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3255,-1.50,-136.9,407.4,-11.7,375,3262,0.12,2.53,0.00,0.000,6,0.314,0.105,2350,2110,3330,0,0,0,0,0,0,14.60,14.76,28.83
$GC,3562,-1.50,-136.9,442.4,-10.3,386,3567,0.00,2.50,0.00,0.000,4,0.000,0.135,2350,715,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3596,-1.50,-136.9,445.9,-10.4,387,3601,0.00,2.60,0.00,0.000,6,0.000,0.144,2343,2125,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3924,-1.50,-136.9,482.0,-11.0,398,3929,0.00,2.65,0.00,0.000,4,0.000,0.157,2333,3530,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3988,-1.50,-136.9,488.9,-11.0,400,3994,0.05,2.47,0.00,0.000,6,0.285,0.104,2345,2125,3331,0,0,0,0,0,0,14.64,14.78,28.83
$GC,4316,-1.50,-136.9,523.5,-10.5,411,4322,0.00,2.55,0.00,0.000,4,0.000,0.134,2346,703,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4365,-1.50,-136.9,527.2,-10.8,412,4374,0.00,2.60,0.00,0.000,6,0.000,0.142,2338,2121,3332,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4677,-1.50,-136.9,562.6,-10.6,423,4683,0.00,2.67,0.00,0.000,4,0.000,0.158,2328,3536,3332,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4727,-1.50,-136.9,565.9,-10.5,424,4736,0.08,2.50,0.00,0.000,6,0.288,0.105,2347,2117,3332,0,0,0,0,0,0,14.61,14.74,28.83
$GC,5039,-1.50,-136.9,599.3,-10.0,435,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2117,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5093,begin apogee
$GC,5105,-0.38,0.0,605.3,-10.0,437,5248,0.90,0.00,135.98,2.422,6,0.278,0.000,2593,2206,2773,0,0,0,0,0,0,14.65,28.83,13.10
$STATE,5254,end apogee,CONTROL_FINISHED_OK
$STATE,5254,begin climb
$GC,5260,1.50,136.9,610.4,0.0,442,5414,1.42,0.00,149.00,2.332,6,0.177,0.000,3008,2206,2214,0,0,0,0,0,0,13.89,28.83,12.53
$GC,5699,1.50,136.9,567.6,11.7,457,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2206,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5999,1.50,136.9,532.7,11.7,467,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2206,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6299,1.50,136.9,497.9,11.5,477,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2206,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6599,1.50,136.9,464.1,11.1,487,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2206,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6899,1.50,136.9,430.4,11.3,497,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2206,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7199,1.50,136.9,395.8,11.6,509,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2206,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7515,1.50,136.9,359.2,12.1,540,7523,0.00,2.67,0.00,0.000,4,0.000,0.154,3008,3611,2202,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7569,1.50,136.9,351.5,13.3,545,7579,0.00,2.55,0.00,0.000,6,0.000,0.113,3018,2197,2201,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7880,1.50,136.9,312.9,11.8,576,7889,0.00,2.55,0.00,0.000,4,0.000,0.138,3029,782,2201,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7927,1.50,136.9,307.5,12.2,580,7935,0.10,2.62,0.00,0.000,6,0.311,0.131,3010,2209,2200,0,0,0,0,0,0,14.62,14.71,28.83
$GC,8236,1.50,136.9,274.3,9.8,611,8245,0.00,2.60,0.00,0.000,4,0.000,0.138,3018,791,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8293,1.50,136.9,268.7,10.6,616,8301,0.00,2.58,0.00,0.000,6,0.000,0.125,3019,2202,2200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8601,1.50,136.9,238.2,9.3,647,8610,0.00,2.67,0.00,0.000,4,0.000,0.152,3018,3616,2200,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8666,1.50,136.9,231.5,10.5,653,8676,0.08,2.53,0.00,0.000,6,0.289,0.108,3009,2200,2200,0,0,0,0,0,0,14.61,14.73,28.83
$GC,8977,1.51,144.9,204.7,8.6,684,8989,0.00,2.78,6.12,1.740,4,0.000,0.153,3008,3616,2182,0,0,0,0,0,0,28.83,14.68,13.93
$GC,9010,1.51,144.9,201.7,8.9,687,9018,0.00,2.53,0.00,0.000,6,0.000,0.105,3017,2198,2182,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9320,1.52,155.4,174.2,8.5,718,9336,0.00,0.00,12.20,1.906,6,0.000,0.000,3017,2198,2138,0,0,0,0,0,0,28.83,28.83,13.90
$GC,9640,1.53,157.9,145.7,8.8,750,9651,0.00,2.75,3.67,1.386,4,0.000,0.152,3017,3617,2129,0,0,0,0,0,0,28.83,14.62,13.82
$GC,9700,1.53,157.9,140.2,10.1,755,9707,0.00,2.58,0.00,0.000,6,0.000,0.106,3028,2193,2129,0,0,0,0,0,0,28.83,14.67,28.83
$GC,10008,1.53,157.9,111.2,9.5,786,10017,0.00,2.53,0.00,0.000,4,0.000,0.135,3038,788,2129,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10073,1.53,157.9,104.9,9.8,792,10083,0.08,2.58,0.00,0.000,6,0.268,0.126,3017,2201,2128,0,0,0,0,0,0,14.57,14.65,28.83
$GC,10388,1.54,170.6,78.0,8.4,848,10403,0.00,2.75,7.28,0.440,4,0.000,0.151,3017,3613,2075,0,0,0,0,0,0,28.83,14.65,14.49
$GC,10473,1.54,170.6,70.0,10.5,863,10480,0.00,2.55,0.00,0.000,6,0.000,0.108,3024,2196,2074,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10791,1.56,190.1,43.1,8.1,924,10811,0.00,2.62,10.57,0.335,4,0.000,0.135,3036,779,1995,0,0,0,0,0,0,28.83,14.65,14.54
$GC,10877,1.58,200.4,36.0,8.5,939,10890,0.00,2.62,5.53,0.314,6,0.000,0.129,3035,2208,1953,0,0,0,0,0,0,28.83,14.66,14.54
$GC,11205,1.63,240.7,9.4,7.2,1001,11237,0.00,2.67,21.40,0.217,4,0.000,0.140,3045,791,1786,0,0,0,0,0,0,28.83,14.61,14.59
$STATE,11284,end climb,SURFACE_DEPTH_REACHED
$STATE,11284,begin surface coast
$FINISH,2.5,1.025595
$STATE,11294,end surface coast,CONTROL_FINISHED_OK
$STATE,11294,begin surface
$SM_CCo,11324,24.73,0.204,0,0,1588,290.19
$SM_GC,3.40,8.50,2.53,24.73,0.096,0.130,0.204,140,2124,1588,-11.60,-0.40,290.19,0,0,0,0,0,0,14.70,14.63,14.57
$RAFOS_CLK,490
$RAFOS,0,1349942467,8.033334,8.018611,65,58,56,55,54,53,207,195,221,176,157,167
$RAFOS,6,1349930950,4.833333,4.819445,59,58,55,54,53,50,175,191,719,205,224,165
$RAFOS_FIX,6642.633301,-5955.793457,111012,040412,3,70,0.62
$IRIDIUM_FIX,6614.97,-6006.54,111012,010146
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.53
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,8
$24V_AH,12.5,60.034
$10V_AH,12.9,0.000
$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,22.450,104.450,351.750,24.725,0.000,0.000,0.000,248.525,2.000,0.000,5.334,2569.034,6168.624,588.652,1879.486,543.820,0.000,1761.626,0.000,1667.249,360.000,0.536,0.000
$DEVICE_MAMPS,451.350,184.365,2421.990,204.255,0.000,0.000,0.000,141.525,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.817,708.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188748
$DATA_FILE_SIZE,46680,1016
$CAP_FILE_SIZE,111058,0
$CFSIZE,259252224,237916160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.0
$CURRENT,0.079,138.4,1
$GPS,111012,081134,6644.555,-6005.910,32,0.7,32,-33.9