version: 66.11
glider: 193
mission: 2
dive: 190
start: 10 12 112 3 13 51
data:
$ID,193
$MISSION,2
$DIVE,190
$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,-1131.6836
$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,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
$GPS1,121012,030652,6644.429,-6001.569,36,0.9,36,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-67.0
$GPS2,121012,031307,6644.380,-6001.625,4,0.8,5,-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,65.0,144016,-17.3,-8.919,-19.96
$D_GRID,648
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,38,0.00,0.00,-17.30,0.000,2,0.000,0.000,128,2119,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.50,-136.9,3.1,-1.9,3,148,11.43,2.90,-85.03,0.000,4,0.470,0.190,2338,3535,3331,0,0,0,0,0,0,14.33,14.46,14.78
$GC,276,-1.50,-136.9,28.1,-18.2,44,283,0.00,2.60,0.00,0.000,6,0.000,0.111,2338,2109,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,593,-1.50,-136.9,79.5,-15.6,105,601,0.00,2.80,0.00,0.000,4,0.000,0.164,2328,3533,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,651,-1.50,-136.9,89.0,-16.5,115,659,0.12,2.55,0.00,0.000,6,0.312,0.105,2352,2114,3332,0,0,0,0,0,0,14.47,14.64,28.83
$GC,970,-1.50,-136.9,135.1,-13.9,153,980,0.00,2.72,0.00,0.000,4,0.000,0.158,2343,3532,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1005,-1.50,-136.9,140.1,-13.9,156,1014,0.00,2.50,0.00,0.000,6,0.000,0.103,2343,2124,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1316,-1.50,-136.9,180.5,-13.1,187,1325,0.00,2.55,0.00,0.000,4,0.000,0.132,2343,709,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1344,-1.50,-136.9,183.7,-13.1,189,1351,0.00,2.62,0.00,0.000,6,0.000,0.139,2336,2120,3333,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1652,-1.50,-136.9,220.8,-11.3,220,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2120,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1967,-1.50,-136.9,256.5,-12.2,251,1976,0.00,2.55,0.00,0.000,4,0.000,0.135,2336,711,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2025,-1.50,-136.9,264.0,-12.7,256,2033,0.12,2.62,0.00,0.000,6,0.334,0.137,2352,2126,3331,0,0,0,0,0,0,14.54,14.68,28.83
$GC,2333,-1.50,-136.9,299.8,-11.4,287,2342,0.00,2.58,0.00,0.000,4,0.000,0.135,2352,709,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2378,-1.50,-136.9,305.1,-11.7,291,2387,0.00,2.60,0.00,0.000,6,0.000,0.140,2346,2120,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2689,-1.50,-136.9,340.3,-11.0,322,2698,0.00,2.65,0.00,0.000,4,0.000,0.156,2336,3527,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2783,-1.50,-136.9,351.4,-11.5,331,2792,0.00,2.47,0.00,0.000,6,0.000,0.105,2335,2124,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3094,-1.50,-136.9,388.0,-12.2,362,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3403,-1.50,-136.9,425.3,-11.8,379,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3703,-1.50,-136.9,458.5,-11.0,389,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4004,-1.50,-136.9,492.4,-11.4,399,4010,0.00,2.70,0.00,0.000,4,0.000,0.161,2325,3527,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4053,-1.50,-136.9,496.1,-11.4,400,4062,0.08,2.50,0.00,0.000,6,0.291,0.104,2345,2111,3332,0,0,0,0,0,0,14.59,14.73,28.83
$GC,4365,-1.50,-136.9,531.5,-10.5,411,4371,0.00,2.50,0.00,0.000,4,0.000,0.134,2345,712,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4405,-1.50,-136.9,535.0,-10.6,412,4410,0.00,2.60,0.00,0.000,6,0.000,0.142,2338,2124,3332,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4726,-1.50,-136.9,569.8,-10.5,423,4732,0.00,2.67,0.00,0.000,4,0.000,0.156,2328,3529,3333,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4767,-1.50,-136.9,573.1,-10.6,424,4773,0.08,2.50,0.00,0.000,6,0.289,0.105,2347,2114,3333,0,0,0,0,0,0,14.60,14.77,28.83
$GC,5089,-1.50,-136.9,606.5,-10.0,435,5095,0.00,2.50,0.00,0.000,4,0.000,0.134,2347,713,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5129,-1.50,-136.9,609.9,-10.2,436,5135,0.00,2.60,0.00,0.000,6,0.000,0.141,2341,2123,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5451,-1.50,-136.9,643.3,-10.0,447,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2123,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5505,begin apogee
$GC,5517,-0.38,0.0,649.0,-9.7,449,5667,0.93,0.00,138.10,2.431,6,0.280,0.000,2590,2208,2773,0,0,0,0,0,0,14.63,28.83,13.09
$STATE,5668,end apogee,CONTROL_FINISHED_OK
$STATE,5668,begin climb
$GC,5674,1.50,136.9,653.4,0.0,454,5842,1.38,3.03,149.38,2.368,4,0.178,0.149,2994,3609,2214,0,0,0,0,0,0,13.86,13.18,12.50
$GC,5851,1.50,139.8,641.7,8.8,460,5862,0.00,2.80,4.43,1.626,6,0.000,0.106,3004,2202,2202,0,0,0,0,0,0,28.83,13.40,12.68
$GC,6178,1.50,139.8,601.8,11.3,471,6184,0.00,2.67,0.00,0.000,4,0.000,0.134,3014,787,2195,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6243,1.50,139.8,594.6,11.5,473,6248,0.00,2.70,0.00,0.000,6,0.000,0.129,3014,2201,2194,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6570,1.50,139.8,555.5,11.8,484,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2201,2194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6871,1.50,139.8,520.0,11.7,494,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2201,2192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7170,1.50,139.8,484.6,11.9,504,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2201,2191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7470,1.50,139.8,448.3,12.3,514,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2201,2192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7770,1.50,139.8,413.1,11.4,524,7776,0.00,2.58,0.00,0.000,4,0.000,0.133,3025,787,2191,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7791,1.50,139.8,413.1,11.4,524,7800,0.00,2.58,0.00,0.000,6,0.000,0.125,3024,2199,2191,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8102,1.50,139.8,374.4,11.2,549,8111,0.00,2.67,0.00,0.000,4,0.000,0.151,3025,3612,2192,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8170,1.50,139.8,366.0,13.2,555,8178,0.12,2.55,0.00,0.000,6,0.308,0.106,3009,2191,2191,0,0,0,0,0,0,14.62,14.74,28.83
$GC,8479,1.50,139.8,330.8,11.4,586,8487,0.00,2.70,0.00,0.000,4,0.000,0.148,3009,3613,2191,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8514,1.50,139.8,326.6,11.9,589,8523,0.00,2.50,0.00,0.000,6,0.000,0.103,3018,2201,2191,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8824,1.50,139.8,291.2,11.2,620,8833,0.00,2.53,0.00,0.000,4,0.000,0.129,3028,785,2190,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8919,1.50,139.8,280.4,11.4,629,8929,0.08,2.58,0.00,0.000,6,0.282,0.119,3008,2201,2189,0,0,0,0,0,0,14.59,14.69,28.83
$GC,9229,1.50,139.8,247.6,10.1,660,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2201,2190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9545,1.50,139.8,218.8,9.3,691,9554,0.00,2.55,0.00,0.000,4,0.000,0.130,3017,791,2190,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9599,1.50,139.8,213.1,9.7,696,9608,0.00,2.55,0.00,0.000,6,0.000,0.119,3017,2204,2190,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9910,1.50,139.8,182.7,10.0,727,9919,0.00,2.67,0.00,0.000,4,0.000,0.148,3017,3617,2191,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9957,1.50,139.8,177.9,10.6,731,9964,0.00,2.55,0.00,0.000,6,0.000,0.104,3027,2190,2191,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10265,1.50,139.8,145.5,10.1,762,10274,0.00,2.50,0.00,0.000,4,0.000,0.130,3037,787,2190,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10323,1.50,139.8,140.0,10.0,767,10331,0.12,2.58,0.00,0.000,6,0.292,0.120,3011,2204,2189,0,0,0,0,0,0,14.64,14.73,28.83
$GC,10632,1.54,169.0,112.9,7.6,798,10650,0.00,0.00,15.95,1.790,6,0.000,0.000,3010,2204,2082,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10956,1.54,173.6,84.2,8.7,847,10964,0.00,2.67,2.08,0.494,4,0.000,0.132,3019,786,2063,0,0,0,0,0,0,28.83,14.64,14.46
$GC,11005,1.55,176.7,79.8,8.8,855,11013,0.00,2.62,1.75,0.496,6,0.000,0.124,3017,2205,2050,0,0,0,0,0,0,28.83,14.65,14.45
$GC,11328,1.59,213.5,52.7,7.3,916,11354,0.00,2.70,20.58,0.338,4,0.000,0.133,3029,777,1900,0,0,0,0,0,0,28.83,14.62,14.49
$GC,11489,1.62,232.2,39.7,8.1,945,11509,0.00,2.65,9.75,0.317,6,0.000,0.126,3029,2208,1823,0,0,0,0,0,0,28.83,14.64,14.47
$GC,11825,1.66,265.7,14.4,7.5,1008,11850,0.00,2.72,17.38,0.229,4,0.000,0.152,3029,3619,1686,0,0,0,0,0,0,28.83,14.59,14.57
$GC,11911,1.66,265.7,5.7,10.4,1023,11918,0.00,2.58,0.00,0.000,6,0.000,0.109,3037,2198,1682,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,11938,end climb,SURFACE_DEPTH_REACHED
$STATE,11938,begin surface coast
$FINISH,2.0,1.025698
$STATE,11971,end surface coast,CONTROL_FINISHED_OK
$STATE,11971,begin surface
$SM_CCo,11998,11.52,0.206,0,0,1587,290.19
$SM_GC,3.35,8.52,0.15,11.52,0.100,0.161,0.206,137,2120,1587,-11.60,0.54,290.19,0,0,0,0,0,0,14.71,14.66,14.57
$RAFOS_CLK,528
$RAFOS,6,1350017346,4.833333,4.818333,63,63,54,53,52,52,190,732,1796,170,91,203
$RAFOS,5,1350016866,4.700000,4.685000,118,59,55,54,52,52,877,211,189,222,156,176
$RAFOS,4,1350016384,4.566667,4.551111,65,64,60,56,55,51,210,672,149,192,131,167
$RAFOS,3,1350015901,4.433333,4.416945,63,58,54,53,53,52,212,168,182,193,152,125
$RAFOS,2,1350015449,4.300000,4.291389,82,60,56,56,54,53,371,173,215,123,199,188
$RAFOS,1,1350014969,4.166667,4.158056,113,60,58,58,53,52,335,146,200,156,220,125
$RAFOS,0,1350014469,4.033333,4.019166,67,64,56,55,52,51,168,126,217,205,230,186
$RAFOS_FIX,6648.103027,-5951.567383,121012,000056,4,91,4.82
$IRIDIUM_FIX,6620.33,-6005.83,111012,232300
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.08
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.70
$XPDR_PINGS,9
$24V_AH,12.5,61.967
$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,22.975,120.850,359.375,11.525,0.000,0.000,0.000,228.675,2.250,0.000,6.332,2640.508,6699.664,543.857,1934.967,578.378,0.000,1768.182,0.000,1734.572,2520.000,0.535,0.000
$DEVICE_MAMPS,469.710,189.720,2431.170,205.785,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.163,722.394,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188824
$DATA_FILE_SIZE,50125,1034
$CAP_FILE_SIZE,119040,0
$CFSIZE,259252224,237481984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.6
$CURRENT,0.267,166.7,1
$GPS,121012,063634,6644.049,-5958.373,90,0.8,90,-33.8