version: 66.11
glider: 193
mission: 2
dive: 189
start: 10 11 112 23 59 39
data:
$ID,193
$MISSION,2
$DIVE,189
$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,-1130.4269
$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,12
$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
$GPS1,111012,235222,6645.590,-6005.879,31,0.6,31,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-68.1
$GPS2,111012,235856,6645.541,-6005.979,4,0.6,6,-33.9
$SPEED_LIMITS,0.075,0.246
$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,126.3,146581,-17.3,-8.919,-19.96
$D_GRID,611
$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,-136.9,0.0,0.0,0,39,0.00,0.00,-17.40,0.000,2,0.000,0.000,130,2112,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.50,-136.9,3.0,-2.5,3,164,11.25,2.88,-96.05,0.000,4,0.463,0.188,2341,3528,3331,0,0,0,0,0,0,14.30,14.44,14.78
$GC,205,-1.50,-136.9,4.3,-8.8,29,213,0.00,2.58,0.00,0.000,6,0.000,0.109,2341,2112,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,524,-1.50,-136.9,59.5,-15.6,90,531,0.00,2.58,0.00,0.000,4,0.000,0.136,2340,702,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,583,-1.50,-136.9,69.5,-16.7,100,590,0.10,2.67,0.00,0.000,6,0.339,0.140,2349,2123,3331,0,0,0,0,0,0,14.46,14.57,28.83
$GC,906,-1.50,-136.9,118.5,-15.3,150,915,0.00,2.67,0.00,0.000,4,0.000,0.155,2340,3523,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,931,-1.50,-136.9,122.4,-15.3,152,935,0.00,2.50,0.00,0.000,6,0.000,0.102,2340,2121,3332,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1246,-1.50,-136.9,170.0,-14.1,183,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1556,-1.50,-136.9,210.4,-12.8,214,1565,0.00,2.55,0.00,0.000,4,0.000,0.132,2340,704,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1631,-1.50,-136.9,220.6,-13.5,221,1640,0.00,2.60,0.00,0.000,6,0.000,0.136,2333,2114,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1941,-1.50,-136.9,259.9,-12.5,252,1950,0.00,2.67,0.00,0.000,4,0.000,0.153,2322,3530,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2049,-1.50,-136.9,273.7,-13.3,262,2056,0.12,2.53,0.00,0.000,6,0.315,0.105,2348,2114,3331,0,0,0,0,0,0,14.54,14.72,28.83
$GC,2357,-1.50,-136.9,310.2,-10.8,293,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2667,-1.50,-136.9,344.3,-10.9,324,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2983,-1.50,-136.9,379.8,-11.2,355,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3310,-1.50,-136.9,417.1,-11.2,378,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3610,-1.50,-136.9,449.8,-10.4,388,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3910,-1.50,-136.9,481.0,-10.2,398,3916,0.00,2.75,0.00,0.000,4,0.000,0.167,2339,3533,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3950,-1.50,-136.9,484.6,-10.5,399,3956,0.00,2.53,0.00,0.000,6,0.000,0.112,2338,2118,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4272,-1.50,-136.9,520.1,-10.8,410,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4572,-1.50,-136.9,552.1,-10.5,420,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4872,-1.50,-136.9,584.1,-10.8,430,4878,0.00,2.72,0.00,0.000,4,0.000,0.168,2329,3533,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4917,-1.50,-136.9,587.7,-10.9,431,4923,0.08,2.50,0.00,0.000,6,0.287,0.109,2348,2120,3331,0,0,0,0,0,0,14.64,14.79,28.83
$STATE,5138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5139,begin apogee
$GC,5151,-0.38,0.0,612.8,-10.2,439,5298,0.88,0.00,136.90,2.429,6,0.280,0.000,2586,2209,2772,0,0,0,0,0,0,14.64,28.83,13.11
$STATE,5299,end apogee,CONTROL_FINISHED_OK
$STATE,5299,begin climb
$GC,5304,1.50,136.9,618.0,0.0,444,5468,1.42,3.12,148.50,2.346,4,0.182,0.159,3002,3614,2214,0,0,0,0,0,0,13.85,13.18,12.51
$GC,5479,1.52,151.0,606.1,8.3,450,5506,0.00,2.83,16.98,2.175,6,0.000,0.109,3012,2199,2156,0,0,0,0,0,0,28.83,13.39,12.62
$GC,5809,1.52,151.0,565.3,12.5,461,5815,0.00,2.67,0.00,0.000,4,0.000,0.135,3023,788,2148,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5864,1.52,151.0,561.3,12.5,462,5871,0.00,2.70,0.00,0.000,6,0.000,0.128,3022,2201,2146,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6171,1.52,151.0,518.7,13.0,473,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6471,1.52,151.0,480.8,12.4,483,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2201,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6771,1.52,151.0,444.3,11.9,493,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7071,1.52,151.0,407.4,12.4,503,7076,0.00,2.60,0.00,0.000,4,0.000,0.133,3033,778,2145,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7110,1.52,151.0,403.6,12.3,504,7116,0.08,2.60,0.00,0.000,6,0.273,0.127,3013,2201,2144,0,0,0,0,0,0,14.55,14.64,28.83
$GC,7423,1.52,151.0,365.4,11.6,534,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2202,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7738,1.52,151.0,329.2,11.7,565,7748,0.00,2.58,0.00,0.000,4,0.000,0.133,3022,784,2144,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7777,1.52,151.0,324.4,11.4,568,7784,0.00,2.60,0.00,0.000,6,0.000,0.124,3022,2204,2143,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8085,1.52,151.0,285.8,12.5,599,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2204,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8402,1.52,151.0,248.7,11.6,630,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2204,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8713,1.52,151.0,214.1,10.8,661,8723,0.00,2.65,0.00,0.000,4,0.000,0.151,3022,3610,2144,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8748,1.52,151.0,209.7,10.9,664,8758,0.05,2.53,0.00,0.000,6,0.297,0.109,3019,2195,2144,0,0,0,0,0,0,14.60,14.73,28.83
$GC,9059,1.52,151.0,180.1,9.0,695,9068,0.00,2.53,0.00,0.000,4,0.000,0.132,3027,791,2143,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9134,1.52,151.0,173.0,9.6,702,9143,0.00,2.55,0.00,0.000,6,0.000,0.124,3027,2198,2144,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9443,1.52,151.0,143.4,10.3,733,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2198,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9759,1.52,151.0,112.0,9.2,764,9767,0.00,2.65,0.00,0.000,4,0.000,0.151,3027,3604,2144,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9843,1.52,151.0,103.1,10.1,772,9852,0.08,2.50,0.00,0.000,6,0.277,0.107,3016,2195,2143,0,0,0,0,0,0,14.62,14.74,28.83
$GC,10157,1.56,190.2,78.6,7.2,830,10183,0.00,2.62,20.35,0.429,4,0.000,0.132,3025,780,1994,0,0,0,0,0,0,28.83,14.68,14.09
$GC,10259,1.57,195.1,69.8,8.7,848,10267,0.00,2.60,2.12,0.456,6,0.000,0.125,3025,2202,1975,0,0,0,0,0,0,28.83,14.68,14.50
$GC,10577,1.57,195.1,40.3,9.4,909,10584,0.00,2.70,0.00,0.000,4,0.000,0.152,3025,3618,1973,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10819,1.57,195.1,18.7,9.3,955,10826,0.00,2.55,0.00,0.000,6,0.000,0.107,3034,2198,1973,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,11005,end climb,SURFACE_DEPTH_REACHED
$STATE,11005,begin surface coast
$FINISH,2.4,1.025684
$STATE,11042,end surface coast,CONTROL_FINISHED_OK
$STATE,11043,begin surface
$SM_CCo,11070,49.50,0.196,0,0,1588,290.19
$SM_GC,2.94,8.48,0.15,49.50,0.099,0.167,0.196,135,2120,1588,-11.62,0.54,290.19,0,0,0,0,0,0,14.75,14.71,14.59
$RAFOS_CLK,483
$RAFOS,6,1350002955,0.833333,0.820833,96,59,53,52,52,51,681,207,129,234,175,158
$RAFOS,5,1350002471,0.700000,0.686389,84,64,59,57,56,52,854,203,213,140,170,156
$RAFOS,4,1350001983,0.566667,0.550833,103,67,63,56,55,53,687,209,188,221,163,200
$RAFOS,3,1350001509,0.433333,0.419167,80,61,58,56,52,50,710,200,182,170,233,122
$RAFOS,2,1350001029,0.300000,0.285833,136,59,56,56,53,52,487,147,225,198,186,124
$RAFOS,1,1350000545,0.166667,0.151389,115,58,58,57,56,54,444,220,165,178,151,206
$RAFOS,0,1350000064,0.033333,0.017778,63,62,59,55,54,50,115,143,213,192,176,166
$RAFOS_FIX,6648.103027,-5951.567383,121012,000056,4,91,4.82
$IRIDIUM_FIX,6620.33,-6008.55,111012,202007
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.57
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,5
$24V_AH,12.5,61.686
$10V_AH,12.7,0.000
$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,22.525,84.650,324.850,49.500,0.000,0.000,0.000,241.000,1.250,0.000,7.383,2551.825,6095.233,522.405,1842.435,524.050,0.000,1686.400,0.000,1637.445,2520.000,0.537,0.000
$DEVICE_MAMPS,462.825,188.955,2428.875,195.840,0.000,0.000,0.000,143.055,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.412,699.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188728
$DATA_FILE_SIZE,46721,998
$CAP_FILE_SIZE,106529,0
$CFSIZE,259252224,237559808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.9
$CURRENT,0.174,167.8,1
$GPS,121012,030652,6644.429,-6001.569,36,0.9,36,-33.9