version: 66.11
glider: 193
mission: 2
dive: 186
start: 10 11 112 14 42 46
data:
$ID,193
$MISSION,2
$DIVE,186
$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,-1126.6611
$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,12
$R_STBD_OVSHOOT,10
$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
$GPS1,111012,143603,6644.294,-6010.850,27,0.7,27,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-68.1
$GPS2,111012,144203,6644.292,-6010.876,4,0.7,4,-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,315.3,11077,-17.3,-8.919,-19.96
$D_GRID,560
$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,-136.9,0.0,0.0,0,33,0.00,0.00,-11.68,0.000,2,0.000,0.000,139,2119,1802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.50,-136.9,3.0,0.0,2,158,11.20,2.62,-97.38,0.000,4,0.462,0.161,2352,705,3329,0,0,0,0,0,0,14.35,14.49,14.78
$GC,392,-1.50,-136.9,44.0,-15.6,67,399,0.00,2.72,0.00,0.000,6,0.000,0.151,2344,2132,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,710,-1.50,-136.9,90.0,-15.4,128,717,0.00,2.65,0.00,0.000,4,0.000,0.138,2344,699,3331,0,0,0,0,0,0,28.83,14.60,28.83
$GC,828,-1.50,-136.9,108.1,-15.3,145,838,0.00,2.65,0.00,0.000,6,0.000,0.139,2335,2117,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1138,-1.50,-136.9,154.3,-14.9,176,1147,0.00,2.67,0.00,0.000,4,0.000,0.153,2325,3525,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1165,-1.50,-136.9,158.0,-14.6,178,1173,0.12,2.53,0.00,0.000,6,0.317,0.104,2349,2116,3331,0,0,0,0,0,0,14.52,14.69,28.83
$GC,1474,-1.50,-136.9,199.1,-12.4,209,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1788,-1.50,-136.9,236.4,-11.8,240,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2116,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2101,-1.50,-136.9,272.4,-11.2,271,2110,0.00,2.70,0.00,0.000,4,0.000,0.164,2340,3523,3329,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2196,-1.50,-136.9,284.2,-11.1,280,2205,0.00,2.50,0.00,0.000,6,0.000,0.110,2340,2122,3329,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2506,-1.50,-136.9,318.9,-10.9,311,2515,0.00,2.55,0.00,0.000,4,0.000,0.137,2339,707,3329,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2591,-1.50,-136.9,328.5,-11.6,319,2600,0.00,2.62,0.00,0.000,6,0.000,0.140,2333,2117,3329,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2901,-1.50,-136.9,362.9,-10.7,350,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2117,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3215,-1.50,-136.9,395.9,-10.9,381,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2117,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3524,-1.50,-136.9,429.9,-10.9,394,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2117,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3823,-1.50,-136.9,462.9,-10.7,404,3829,0.00,2.70,0.00,0.000,4,0.000,0.159,2322,3528,3329,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3858,-1.50,-136.9,466.3,-10.7,405,3864,0.10,2.50,0.00,0.000,6,0.291,0.108,2348,2117,3329,0,0,0,0,0,0,14.60,14.76,28.83
$GC,4186,-1.50,-136.9,501.0,-10.7,416,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2117,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4486,-1.50,-136.9,531.5,-10.1,426,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2117,3329,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4793,-0.38,0.0,562.4,-10.1,436,4932,0.88,0.00,134.80,2.400,6,0.279,0.000,2587,2205,2772,0,0,0,0,0,0,14.65,28.83,13.12
$STATE,4938,end apogee,CONTROL_FINISHED_OK
$STATE,4938,begin climb
$GC,4944,1.50,136.9,567.6,0.0,441,5097,1.45,0.00,149.05,2.322,6,0.183,0.000,3005,2205,2214,0,0,0,0,0,0,13.88,28.83,12.52
$GC,5385,1.50,136.9,525.6,11.1,456,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2205,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5688,1.50,136.9,490.6,11.2,466,5693,0.00,2.80,0.00,0.000,4,0.000,0.161,3005,3613,2204,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5712,1.50,136.9,490.6,11.2,466,5720,0.00,2.65,0.00,0.000,6,0.000,0.114,3015,2194,2204,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6019,1.50,136.9,451.8,11.5,477,6025,0.00,2.78,0.00,0.000,4,0.000,0.161,3015,3607,2203,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6038,1.50,136.9,451.8,11.5,477,6047,0.00,2.55,0.00,0.000,6,0.000,0.109,3026,2201,2203,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6350,1.50,136.9,413.1,11.7,488,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6651,1.50,136.9,376.4,12.2,510,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6965,1.50,136.9,339.3,11.6,541,6974,0.00,2.58,0.00,0.000,4,0.000,0.137,3036,780,2201,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7002,1.50,136.9,334.7,11.7,544,7010,0.15,2.62,0.00,0.000,6,0.293,0.129,3004,2208,2200,0,0,0,0,0,0,14.56,14.66,28.83
$GC,7311,1.50,136.9,300.9,10.5,575,7319,0.00,2.60,0.00,0.000,4,0.000,0.135,3013,786,2200,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7348,1.50,136.9,297.3,10.3,578,7356,0.00,2.58,0.00,0.000,6,0.000,0.125,3012,2202,2200,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7657,1.50,136.9,263.4,10.5,609,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2201,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7971,1.50,136.9,232.5,9.6,640,7980,0.00,2.67,0.00,0.000,4,0.000,0.151,3013,3609,2200,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8106,1.50,136.9,217.8,11.0,653,8114,0.00,2.50,0.00,0.000,6,0.000,0.106,3023,2199,2201,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8416,1.50,141.2,188.8,8.7,684,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2199,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8733,1.53,164.5,164.1,7.9,715,8765,0.00,0.00,25.80,1.994,6,0.000,0.000,3023,2199,2101,0,0,0,0,0,0,28.83,28.83,13.83
$GC,9066,1.53,164.5,133.4,9.7,749,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2199,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9382,1.53,164.5,104.9,8.9,780,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2199,2097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9693,1.53,164.5,76.8,9.4,836,9699,0.00,2.58,0.00,0.000,4,0.000,0.135,3033,780,2096,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9770,1.53,164.5,69.4,10.3,850,9778,0.00,2.62,0.00,0.000,6,0.000,0.131,3033,2203,2094,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10088,1.56,186.9,41.0,7.9,911,10106,0.00,2.72,11.65,0.332,4,0.000,0.159,3033,3618,2009,0,0,0,0,0,0,28.83,14.62,14.52
$GC,10128,1.57,191.7,37.7,8.7,917,10136,0.10,2.58,2.53,0.350,6,0.319,0.109,3024,2191,1989,0,0,0,0,0,0,14.57,14.69,14.54
$GC,10451,1.66,264.0,16.5,5.8,978,10496,0.00,2.62,38.85,0.239,4,0.000,0.138,3033,791,1693,0,0,0,0,0,0,28.83,14.61,14.55
$STATE,10612,end climb,SURFACE_DEPTH_REACHED
$STATE,10612,begin surface coast
$FINISH,2.2,1.025558
$STATE,10623,end surface coast,CONTROL_FINISHED_OK
$STATE,10623,begin surface
$SM_CCo,10653,11.73,0.210,0,0,1587,290.19
$SM_GC,3.94,8.62,2.53,11.73,0.112,0.132,0.210,141,2122,1587,-11.59,-0.57,290.19,0,0,0,0,0,0,14.69,14.62,14.56
$RAFOS_CLK,469
$RAFOS,6,1349974147,16.833334,16.818611,82,58,53,51,50,50,758,210,108,222,157,179
$RAFOS,5,1349973671,16.700001,16.686388,94,67,60,58,53,53,886,217,184,174,131,161
$RAFOS,4,1349973191,16.566668,16.553055,86,57,56,53,52,50,671,205,162,126,143,219
$RAFOS,3,1349972701,16.433332,16.416945,107,62,57,55,55,52,766,214,223,175,144,192
$RAFOS,2,1349972246,16.299999,16.290556,60,57,57,50,50,49,216,199,121,144,167,109
$RAFOS,1,1349971766,16.166666,16.157223,72,66,62,58,58,56,363,182,207,171,140,149
$RAFOS,0,1349971286,16.033333,16.023890,64,62,58,56,55,51,223,211,164,130,195,148
$RAFOS_FIX,6647.156738,-6000.020508,111012,161628,4,92,1.35
$IRIDIUM_FIX,6620.33,-6003.82,111012,111131
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.61
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,8
$24V_AH,12.5,60.856
$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,22.625,73.600,362.675,11.725,0.000,0.000,0.000,210.075,2.000,0.000,5.379,2526.119,5712.025,547.663,1751.427,508.782,0.000,1624.487,0.000,1583.973,2520.000,0.537,0.000
$DEVICE_MAMPS,462.060,184.365,2399.805,210.375,0.000,0.000,0.000,149.175,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,739.129,707.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188760
$DATA_FILE_SIZE,46687,1009
$CAP_FILE_SIZE,100769,0
$CFSIZE,259252224,237744128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.1
$CURRENT,0.171,149.2,1
$GPS,111012,174205,6643.690,-6012.766,17,0.8,17,-33.9