version: 66.11
glider: 193
mission: 2
dive: 184
start: 10 11 112 8 21 1
data:
$ID,193
$MISSION,2
$DIVE,184
$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,-1124.1459
$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
$GPS1,111012,081134,6644.555,-6005.910,32,0.7,32,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-68.6
$GPS2,111012,082022,6644.524,-6005.621,4,1.1,4,-33.9
$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,314.9,14940,-17.3,-8.919,-19.96
$D_GRID,598
$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,-136.9,0.0,0.0,0,26,0.00,0.00,-5.57,0.000,2,0.000,0.000,139,2127,1683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.1,0.0,1,152,11.05,2.67,-100.40,0.000,4,0.455,0.162,2348,702,3330,0,0,0,0,0,0,14.35,14.48,14.77
$GC,292,-1.50,-136.9,30.7,-18.9,47,299,0.00,2.72,0.00,0.000,6,0.000,0.149,2343,2130,3331,0,0,0,0,0,0,28.83,14.52,28.83
$GC,610,-1.50,-136.9,78.6,-15.2,108,617,0.00,2.65,0.00,0.000,4,0.000,0.142,2343,706,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,643,-1.50,-136.9,84.0,-15.0,113,651,0.00,2.67,0.00,0.000,6,0.000,0.144,2334,2121,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,962,-1.50,-136.9,131.0,-14.4,154,971,0.00,2.70,0.00,0.000,4,0.000,0.157,2323,3529,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1020,-1.50,-136.9,139.1,-14.5,159,1027,0.12,2.55,0.00,0.000,6,0.317,0.105,2348,2111,3331,0,0,0,0,0,0,14.51,14.66,28.83
$GC,1328,-1.50,-136.9,179.4,-12.4,190,1337,0.00,2.75,0.00,0.000,4,0.000,0.160,2339,3534,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1403,-1.50,-136.9,189.5,-13.5,197,1412,0.00,2.53,0.00,0.000,6,0.000,0.106,2339,2119,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1713,-1.50,-136.9,231.2,-13.0,228,1721,0.00,2.55,0.00,0.000,4,0.000,0.137,2339,705,3330,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1827,-1.50,-136.9,246.8,-13.2,239,1836,0.08,2.62,0.00,0.000,6,0.309,0.138,2349,2122,3330,0,0,0,0,0,0,14.52,14.62,28.83
$GC,2138,-1.50,-136.9,283.9,-11.8,270,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2452,-1.50,-136.9,318.1,-10.9,301,2462,0.00,2.67,0.00,0.000,4,0.000,0.160,2340,3531,3330,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2498,-1.50,-136.9,323.9,-11.2,305,2507,0.00,2.53,0.00,0.000,6,0.000,0.109,2341,2111,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2808,-1.50,-136.9,359.1,-11.8,336,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2111,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3125,-1.50,-136.9,394.0,-10.9,367,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2111,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3452,-1.50,-136.9,429.2,-10.6,382,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2111,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3752,-1.50,-136.9,461.1,-10.5,392,3757,0.00,2.72,0.00,0.000,4,0.000,0.164,2331,3528,3329,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3786,-1.50,-136.9,464.6,-10.6,393,3792,0.08,2.50,0.00,0.000,6,0.288,0.108,2349,2121,3329,0,0,0,0,0,0,14.62,14.77,28.83
$GC,4113,-1.50,-136.9,499.0,-10.3,404,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4414,-1.50,-136.9,530.9,-10.7,414,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4713,-1.50,-136.9,563.6,-11.0,424,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5013,-1.50,-136.9,594.8,-10.4,434,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5068,begin apogee
$GC,5080,-0.38,0.0,601.3,-10.6,436,5227,0.88,0.00,135.57,2.395,6,0.282,0.000,2588,2206,2773,0,0,0,0,0,0,14.66,28.83,13.12
$STATE,5228,end apogee,CONTROL_FINISHED_OK
$STATE,5228,begin climb
$GC,5234,1.50,136.9,607.3,0.0,441,5397,1.40,3.08,147.25,2.322,4,0.181,0.157,2998,3611,2214,0,0,0,0,0,0,13.92,13.21,12.53
$GC,5431,1.51,148.5,595.5,8.4,447,5452,0.00,2.83,13.73,2.120,6,0.000,0.112,3009,2195,2166,0,0,0,0,0,0,28.83,13.54,12.76
$GC,5768,1.51,148.5,551.5,12.5,459,5774,0.00,2.67,0.00,0.000,4,0.000,0.141,3020,793,2158,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5803,1.51,148.5,547.6,12.4,460,5809,0.00,2.72,0.00,0.000,6,0.000,0.132,3020,2204,2157,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6131,1.51,148.5,506.0,12.8,471,6136,0.00,2.75,0.00,0.000,4,0.000,0.149,3020,3618,2157,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6170,1.51,148.5,501.8,12.9,472,6176,0.08,2.58,0.00,0.000,6,0.289,0.107,3010,2204,2157,0,0,0,0,0,0,14.32,14.43,28.83
$GC,6493,1.51,148.5,462.0,11.8,483,6499,0.00,2.60,0.00,0.000,4,0.000,0.135,3020,783,2157,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6534,1.51,148.5,458.1,12.0,484,6539,0.00,2.60,0.00,0.000,6,0.000,0.125,3020,2201,2155,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6856,1.51,148.5,417.3,11.9,495,6861,0.00,2.70,0.00,0.000,4,0.000,0.150,3020,3618,2155,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6887,1.51,148.5,413.2,12.0,496,6893,0.08,2.55,0.00,0.000,6,0.288,0.106,3010,2196,2156,0,0,0,0,0,0,14.53,14.64,28.83
$GC,7200,1.51,148.5,377.1,11.5,519,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2196,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7514,1.51,148.5,341.8,11.0,550,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2196,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7826,1.51,148.5,306.6,11.4,581,7835,0.00,2.72,0.00,0.000,4,0.000,0.152,3010,3617,2155,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7884,1.51,148.5,299.4,12.3,586,7892,0.00,2.55,0.00,0.000,6,0.000,0.108,3019,2197,2155,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8193,1.51,148.5,262.0,11.8,617,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2197,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8509,1.51,148.5,228.2,10.0,648,8518,0.00,2.53,0.00,0.000,4,0.000,0.135,3030,788,2154,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8546,1.51,148.5,224.0,10.2,651,8553,0.00,2.58,0.00,0.000,6,0.000,0.124,3030,2202,2154,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8854,1.51,148.5,192.7,9.8,682,8864,0.00,2.58,0.00,0.000,4,0.000,0.135,3040,783,2154,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8899,1.51,148.5,188.2,10.1,686,8910,0.10,2.58,0.00,0.000,6,0.265,0.125,3012,2202,2153,0,0,0,0,0,0,14.63,14.70,28.83
$GC,9211,1.52,151.8,160.4,8.8,717,9220,0.00,2.65,0.00,0.000,4,0.000,0.151,3012,3607,2154,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9363,1.52,151.8,146.6,9.5,731,9370,0.00,2.53,0.00,0.000,6,0.000,0.106,3021,2195,2154,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9670,1.53,158.3,119.4,8.6,762,9682,0.00,2.78,4.18,1.441,4,0.000,0.153,3021,3612,2127,0,0,0,0,0,0,28.83,14.70,13.91
$GC,9715,1.53,158.3,115.4,9.7,766,9723,0.00,2.55,0.00,0.000,6,0.000,0.106,3031,2190,2126,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10028,1.53,162.1,87.2,8.8,811,10036,0.00,2.80,1.98,0.497,4,0.000,0.148,3031,3614,2112,0,0,0,0,0,0,28.83,14.69,14.50
$GC,10071,1.53,162.1,83.3,9.0,818,10080,0.12,2.53,0.00,0.000,6,0.304,0.103,3015,2201,2112,0,0,0,0,0,0,14.62,14.74,28.83
$GC,10396,1.59,206.8,61.9,7.0,879,10427,0.00,2.65,25.02,0.370,4,0.000,0.134,3024,778,1927,0,0,0,0,0,0,28.83,14.65,14.31
$GC,10448,1.61,226.9,57.8,8.0,887,10467,0.00,2.60,10.93,0.367,6,0.000,0.122,3024,2200,1844,0,0,0,0,0,0,28.83,14.65,14.47
$GC,10782,1.62,236.9,27.7,8.5,950,10797,0.00,2.78,4.10,0.312,4,0.000,0.154,3023,3611,1805,0,0,0,0,0,0,28.83,14.62,14.55
$GC,10828,1.63,243.2,23.5,8.6,957,10842,0.00,2.55,3.38,0.309,6,0.000,0.109,3032,2198,1778,0,0,0,0,0,0,28.83,14.69,14.52
$STATE,11076,end climb,SURFACE_DEPTH_REACHED
$STATE,11076,begin surface coast
$FINISH,2.3,1.013657
$STATE,11107,end surface coast,CONTROL_FINISHED_OK
$STATE,11107,begin surface
$SM_CCo,11136,24.00,0.200,0,0,1586,290.19
$SM_GC,3.25,8.57,0.15,24.00,0.109,0.168,0.200,137,2122,1586,-11.60,0.57,290.19,0,0,0,0,0,0,14.73,14.69,14.59
$RAFOS_CLK,484
$RAFOS,6,1349945348,8.833333,8.818889,89,60,60,57,57,55,732,222,200,168,118,191
$RAFOS,5,1349944863,8.700000,8.684167,82,59,58,55,54,52,908,198,212,168,157,179
$RAFOS,4,1349944382,8.566667,8.550555,118,63,61,59,55,52,700,204,188,171,219,134
$RAFOS,3,1349943902,8.433333,8.417222,138,63,60,58,55,55,750,225,188,150,123,200
$RAFOS_FIX,6647.039062,-5952.807129,111012,080856,4,107,9.41
$IRIDIUM_FIX,6614.97,-6006.54,111012,080810
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.96
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.60
$XPDR_PINGS,7
$24V_AH,12.5,60.311
$10V_AH,12.8,0.000
$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,22.550,106.200,346.125,24.000,0.000,0.000,0.000,311.825,1.750,0.000,5.378,2582.488,6057.517,528.737,1981.249,554.730,0.000,1808.428,0.000,1702.177,1440.000,0.536,0.000
$DEVICE_MAMPS,455.175,190.485,2395.215,200.430,0.000,0.000,0.000,145.350,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.274,704.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188744
$DATA_FILE_SIZE,46759,1011
$CAP_FILE_SIZE,113949,0
$CFSIZE,259252224,237854720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.6
$CURRENT,0.080, 26.3,1
$GPS,111012,112858,6645.241,-6008.696,40,0.8,40,-33.9