version: 66.11
glider: 193
mission: 2
dive: 185
start: 10 11 112 11 36 9
data:
$ID,193
$MISSION,2
$DIVE,185
$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,-1125.4036
$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,14
$R_STBD_OVSHOOT,14
$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
$GPS1,111012,112858,6645.241,-6008.696,40,0.8,40,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-67.3
$GPS2,111012,113529,6645.214,-6008.717,4,0.8,4,-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,278.5,12842,-17.3,-8.919,-19.96
$D_GRID,578
$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,-5.57,0.000,2,0.000,0.000,136,2120,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.1,0.0,1,160,11.25,2.70,-103.93,0.000,4,0.463,0.164,2350,701,3330,0,0,0,0,0,0,14.32,14.47,14.78
$GC,269,-1.50,-136.9,24.8,-20.6,42,276,0.00,2.72,0.00,0.000,6,0.000,0.148,2342,2125,3331,0,0,0,0,0,0,28.83,14.51,28.83
$GC,586,-1.50,-136.9,78.0,-14.1,103,593,0.00,2.72,0.00,0.000,4,0.000,0.159,2332,3531,3332,0,0,0,0,0,0,28.83,14.55,28.83
$GC,664,-1.50,-136.9,89.4,-13.8,117,672,0.10,2.55,0.00,0.000,6,0.317,0.103,2349,2109,3331,0,0,0,0,0,0,14.49,14.64,28.83
$GC,983,-1.50,-136.9,132.1,-13.5,155,992,0.00,2.53,0.00,0.000,4,0.000,0.135,2350,713,3331,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1047,-1.50,-136.9,140.7,-13.3,161,1057,0.00,2.65,0.00,0.000,6,0.000,0.141,2341,2116,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1358,-1.50,-136.9,185.1,-14.6,192,1366,0.00,2.70,0.00,0.000,4,0.000,0.156,2330,3534,3332,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1482,-1.50,-136.9,203.5,-14.7,204,1491,0.08,2.53,0.00,0.000,6,0.293,0.105,2349,2117,3331,0,0,0,0,0,0,14.52,14.67,28.83
$GC,1792,-1.50,-136.9,244.0,-12.6,235,1801,0.00,2.55,0.00,0.000,4,0.000,0.138,2349,705,3330,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1876,-1.50,-136.9,255.2,-13.2,243,1885,0.00,2.62,0.00,0.000,6,0.000,0.140,2342,2119,3330,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2187,-1.50,-136.9,290.5,-11.0,274,2196,0.00,2.67,0.00,0.000,4,0.000,0.158,2331,3524,3330,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2301,-1.50,-136.9,304.4,-12.6,285,2311,0.05,2.50,0.00,0.000,6,0.289,0.106,2344,2122,3330,0,0,0,0,0,0,14.57,14.69,28.83
$GC,2612,-1.50,-136.9,340.5,-11.3,316,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2927,-1.50,-136.9,375.3,-11.7,347,2937,0.00,2.55,0.00,0.000,4,0.000,0.138,2344,706,3329,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2993,-1.50,-136.9,383.9,-12.1,353,3002,0.00,2.62,0.00,0.000,6,0.000,0.140,2337,2112,3330,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3314,-1.50,-136.9,420.3,-11.2,373,3320,0.00,2.72,0.00,0.000,4,0.000,0.158,2326,3540,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3346,-1.50,-136.9,424.0,-11.1,374,3352,0.08,2.53,0.00,0.000,6,0.289,0.104,2346,2117,3330,0,0,0,0,0,0,14.57,14.73,28.83
$GC,3678,-1.50,-136.9,458.2,-10.2,385,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3978,-1.50,-136.9,488.6,-10.2,395,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4279,-1.50,-136.9,519.9,-10.4,405,4285,0.00,2.67,0.00,0.000,4,0.000,0.161,2336,3536,3331,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4333,-1.50,-136.9,523.3,-10.5,406,4340,0.00,2.53,0.00,0.000,6,0.000,0.106,2336,2118,3331,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4640,-1.50,-136.9,558.5,-10.7,417,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4815,begin apogee
$GC,4828,-0.38,0.0,578.1,-10.8,423,4968,0.95,0.00,134.60,2.374,6,0.279,0.000,2593,2207,2773,0,0,0,0,0,0,14.62,28.83,13.12
$STATE,4973,end apogee,CONTROL_FINISHED_OK
$STATE,4974,begin climb
$GC,4979,1.50,136.9,584.0,0.0,428,5135,1.42,3.08,147.60,2.284,4,0.177,0.156,3007,3610,2214,0,0,0,0,0,0,13.89,13.21,12.55
$GC,5159,1.51,146.9,572.5,8.5,434,5178,0.00,2.80,12.35,2.214,6,0.000,0.108,3017,2201,2173,0,0,0,0,0,0,28.83,13.45,12.68
$GC,5481,1.51,146.9,531.8,12.2,445,5486,0.00,2.67,0.00,0.000,4,0.000,0.138,3028,791,2166,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5515,1.51,146.9,527.9,12.1,446,5520,0.00,2.70,0.00,0.000,6,0.000,0.130,3028,2196,2165,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5842,1.51,146.9,487.2,12.4,457,5848,0.00,2.78,0.00,0.000,4,0.000,0.151,3028,3607,2165,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5886,1.51,146.9,483.0,12.6,458,5893,0.10,2.58,0.00,0.000,6,0.282,0.107,3012,2195,2165,0,0,0,0,0,0,14.31,14.43,28.83
$GC,6204,1.51,146.9,441.5,12.4,469,6209,0.00,2.58,0.00,0.000,4,0.000,0.132,3021,784,2163,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6237,1.51,146.9,437.5,12.5,470,6243,0.00,2.62,0.00,0.000,6,0.000,0.124,3021,2206,2162,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6558,1.51,146.9,396.9,12.6,482,6567,0.00,2.67,0.00,0.000,4,0.000,0.150,3021,3612,2163,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6593,1.51,146.9,392.1,12.9,485,6603,0.08,2.53,0.00,0.000,6,0.287,0.106,3011,2202,2163,0,0,0,0,0,0,14.51,14.62,28.83
$GC,6903,1.51,146.9,356.8,11.1,516,6912,0.00,2.53,0.00,0.000,4,0.000,0.130,3021,788,2161,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6943,1.51,146.9,352.9,11.2,519,6949,0.00,2.60,0.00,0.000,6,0.000,0.119,3020,2211,2161,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7251,1.51,146.9,317.4,11.4,550,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2211,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7565,1.51,146.9,281.6,11.9,581,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2209,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7879,1.51,146.9,245.1,11.6,612,7887,0.00,2.62,0.00,0.000,4,0.000,0.149,3021,3609,2162,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8007,1.51,146.9,229.1,12.3,624,8015,0.10,2.55,0.00,0.000,6,0.319,0.107,3011,2191,2162,0,0,0,0,0,0,14.62,14.75,28.83
$GC,8315,1.51,146.9,197.3,9.9,655,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2190,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8631,1.52,153.9,169.3,8.6,686,8644,0.00,0.00,6.22,1.773,6,0.000,0.000,3011,2190,2144,0,0,0,0,0,0,28.83,28.83,13.90
$GC,8946,1.52,153.9,140.3,9.0,718,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2190,2143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9262,1.53,162.4,113.5,8.5,749,9273,0.00,2.78,5.28,1.584,4,0.000,0.154,3011,3618,2110,0,0,0,0,0,0,28.83,14.67,13.93
$GC,9314,1.53,162.4,108.3,9.3,754,9323,0.00,2.55,0.00,0.000,6,0.000,0.110,3021,2199,2109,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9628,1.53,162.4,80.3,9.2,806,9635,0.00,2.55,0.00,0.000,4,0.000,0.135,3031,788,2107,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9726,1.53,162.4,71.8,9.1,824,9733,0.00,2.60,0.00,0.000,6,0.000,0.128,3031,2203,2106,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10044,1.54,169.9,45.5,8.6,885,10051,0.00,0.00,3.65,0.362,6,0.000,0.000,3031,2202,2078,0,0,0,0,0,0,28.83,28.83,14.55
$GC,10363,1.64,251.5,23.8,5.4,946,10412,0.00,2.70,44.22,0.260,4,0.000,0.137,3041,778,1745,0,0,0,0,0,0,28.83,14.62,14.54
$GC,10511,1.64,254.5,12.4,8.8,972,10518,0.00,2.65,0.00,0.000,6,0.000,0.132,3041,2203,1735,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,10608,end climb,SURFACE_DEPTH_REACHED
$STATE,10608,begin surface coast
$FINISH,2.2,1.004808
$STATE,10644,end surface coast,CONTROL_FINISHED_OK
$STATE,10644,begin surface
$SM_CCo,10672,18.42,0.208,0,0,1587,290.19
$SM_GC,2.68,8.45,0.20,18.42,0.093,0.155,0.208,140,2120,1587,-11.60,0.42,290.19,0,0,0,0,0,0,14.71,14.66,14.58
$RAFOS_CLK,463
$RAFOS,6,1349959764,12.833333,12.823334,92,63,62,58,55,53,660,193,171,130,213,157
$RAFOS,5,1349959282,12.700000,12.689445,106,67,60,60,60,59,822,199,211,223,125,169
$RAFOS,4,1349958802,12.566667,12.556111,90,65,63,61,56,54,609,190,214,181,148,161
$RAFOS,3,1349958303,12.433333,12.417500,99,62,57,57,56,54,761,221,121,172,138,154
$RAFOS,2,1349957825,12.300000,12.284722,113,61,60,57,57,56,515,210,171,220,139,195
$RAFOS,1,1349957350,12.166667,12.152778,106,57,57,53,53,52,441,215,158,139,116,176
$RAFOS,0,1349956865,12.033333,12.018056,61,60,59,59,58,52,167,114,157,204,221,191
$RAFOS_FIX,6647.623047,-5956.749512,111012,121228,4,97,2.56
$IRIDIUM_FIX,6614.97,-6006.54,111012,080821
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.44
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.70
$XPDR_PINGS,8
$24V_AH,12.6,60.583
$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,22.650,100.600,353.925,18.425,0.000,0.000,0.000,240.575,2.000,0.000,5.332,2535.229,5623.582,558.559,1857.291,523.713,0.000,1718.232,0.000,1651.738,2520.000,0.536,0.000
$DEVICE_MAMPS,462.825,182.835,2373.795,208.080,0.000,0.000,0.000,148.410,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.642,695.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188704
$DATA_FILE_SIZE,46723,997
$CAP_FILE_SIZE,108929,0
$CFSIZE,259252224,237797376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.1
$CURRENT,0.095,126.8,1
$GPS,111012,143603,6644.294,-6010.850,27,0.7,27,-33.9