version: 66.11
glider: 193
mission: 2
dive: 221
start: 10 18 112 0 42 18
data:
$ID,193
$MISSION,2
$DIVE,221
$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,-3
$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,-1210.3879
$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,16
$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
$GPS1,181012,003434,6656.885,-5733.353,32,0.9,33,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-68.6
$GPS2,181012,004135,6656.917,-5733.302,6,0.8,6,-33.5
$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,86.6,34600,-17.3,-8.919,-19.96
$D_GRID,787
$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,-5.57,0.000,2,0.000,0.000,133,2118,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.2,0.0,1,144,11.12,2.70,-93.28,0.000,4,0.451,0.159,2350,702,3330,0,0,0,0,0,0,14.27,14.46,14.78
$GC,359,-1.50,-136.9,43.3,-17.3,60,366,0.00,2.72,0.00,0.000,6,0.000,0.143,2341,2128,3332,0,0,0,0,0,0,28.83,14.50,28.83
$GC,678,-1.50,-136.9,91.3,-14.2,121,686,0.00,2.75,0.00,0.000,4,0.000,0.158,2331,3535,3332,0,0,0,0,0,0,28.83,14.51,28.83
$GC,757,-1.50,-136.9,102.4,-14.7,134,766,0.08,2.53,0.00,0.000,6,0.282,0.103,2349,2122,3332,0,0,0,0,0,0,14.40,14.59,28.83
$GC,1067,-1.50,-136.9,142.5,-12.1,165,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1383,-1.50,-136.9,176.4,-10.8,196,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1694,-1.50,-136.9,207.3,-11.3,227,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2007,-1.50,-136.9,245.0,-11.5,258,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,-1.50,-136.9,277.6,-9.7,289,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2632,-1.50,-136.9,309.5,-10.6,320,2641,0.00,2.75,0.00,0.000,4,0.000,0.165,2340,3527,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2677,-1.50,-136.9,314.8,-10.5,324,2685,0.00,2.53,0.00,0.000,6,0.000,0.110,2340,2121,3331,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2987,-1.50,-136.9,348.1,-11.0,355,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3304,-1.50,-136.9,383.5,-11.7,386,3313,0.00,2.75,0.00,0.000,4,0.000,0.165,2330,3528,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3352,-1.50,-136.9,389.9,-12.6,390,3359,0.10,2.55,0.00,0.000,6,0.306,0.109,2348,2111,3331,0,0,0,0,0,0,14.53,14.71,28.83
$GC,3681,-1.50,-136.9,428.3,-11.1,407,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2112,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3980,-1.50,-136.9,462.4,-11.4,417,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2112,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4280,-1.50,-136.9,495.2,-10.9,427,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2112,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4581,-1.50,-136.9,529.9,-11.9,437,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2112,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4880,-1.50,-136.9,565.4,-12.0,447,4886,0.00,2.53,0.00,0.000,4,0.000,0.137,2349,706,3331,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4915,-1.50,-136.9,569.2,-12.0,448,4920,0.00,2.62,0.00,0.000,6,0.000,0.141,2342,2120,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5242,-1.50,-136.9,606.6,-10.9,459,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5542,-1.50,-136.9,638.2,-10.5,469,5547,0.00,2.55,0.00,0.000,4,0.000,0.135,2342,708,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5573,-1.50,-136.9,641.6,-10.6,470,5579,0.00,2.60,0.00,0.000,6,0.000,0.132,2335,2117,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5905,-1.50,-136.9,675.8,-10.2,481,5911,0.00,2.67,0.00,0.000,4,0.000,0.152,2324,3531,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5937,-1.50,-136.9,679.2,-10.2,482,5944,0.08,2.53,0.00,0.000,6,0.281,0.100,2344,2111,3331,0,0,0,0,0,0,14.54,14.77,28.83
$GC,6270,-1.50,-136.9,711.3,-9.5,493,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2111,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6570,-1.50,-136.9,739.0,-9.2,503,6576,0.00,2.47,0.00,0.000,4,0.000,0.128,2344,717,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6620,-1.50,-136.9,742.1,-9.2,504,6628,0.00,2.60,0.00,0.000,6,0.000,0.135,2338,2120,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6932,-1.50,-136.9,775.1,-10.0,515,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7046,begin apogee
$GC,7059,-0.38,0.0,787.1,-10.0,519,7211,0.93,0.00,141.12,2.616,6,0.271,0.000,2589,2207,2773,0,0,0,0,0,0,14.54,28.83,12.99
$STATE,7212,end apogee,CONTROL_FINISHED_OK
$STATE,7212,begin climb
$GC,7217,1.50,136.9,792.2,0.0,524,7388,1.40,3.10,155.70,2.550,4,0.172,0.148,3001,3608,2214,0,0,0,0,0,0,13.81,13.18,12.44
$GC,7407,1.53,164.7,781.9,7.7,530,7447,0.00,2.78,33.30,2.498,6,0.000,0.105,3011,2205,2099,0,0,0,0,0,0,28.83,13.46,12.53
$GC,7750,1.53,164.7,733.7,13.4,542,7755,0.00,2.67,0.00,0.000,4,0.000,0.131,3022,788,2091,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7781,1.53,164.7,729.3,13.5,543,7787,0.00,2.70,0.00,0.000,6,0.000,0.124,3022,2197,2090,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8114,1.53,164.7,686.3,12.7,554,8120,0.00,2.75,0.00,0.000,4,0.000,0.148,3022,3611,2089,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8158,1.53,164.7,681.8,12.9,555,8164,0.00,2.58,0.00,0.000,6,0.000,0.106,3032,2197,2089,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8476,1.53,164.7,635.7,14.8,566,8482,0.00,2.75,0.00,0.000,4,0.000,0.150,3032,3612,2088,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8508,1.53,164.7,630.6,15.0,567,8514,0.10,2.55,0.00,0.000,6,0.288,0.107,3016,2198,2088,0,0,0,0,0,0,14.41,14.55,28.83
$GC,8840,1.53,164.7,580.8,15.2,578,8846,0.00,2.55,0.00,0.000,4,0.000,0.129,3025,788,2087,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8872,1.53,164.7,575.9,15.2,579,8878,0.00,2.58,0.00,0.000,6,0.000,0.119,3026,2200,2086,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9204,1.53,164.7,525.0,15.3,590,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9504,1.53,164.7,481.3,14.2,600,9509,0.00,2.67,0.00,0.000,4,0.000,0.148,3025,3609,2086,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9544,1.53,164.7,476.8,14.1,601,9550,0.08,2.53,0.00,0.000,6,0.285,0.108,3016,2196,2086,0,0,0,0,0,0,14.54,14.69,28.83
$GC,9866,1.53,164.7,433.7,12.7,612,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10166,1.53,164.7,396.0,12.4,624,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10482,1.53,164.7,355.7,13.4,655,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2197,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10794,1.53,164.7,314.4,13.0,686,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11106,1.53,164.7,274.9,12.7,717,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,2085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11419,1.53,164.7,232.9,13.5,748,11428,0.00,2.72,0.00,0.000,4,0.000,0.152,3016,3605,2085,0,0,0,0,0,0,28.83,14.63,28.83
$GC,11454,1.53,164.7,227.2,13.7,751,11463,0.00,2.55,0.00,0.000,6,0.000,0.111,3025,2194,2085,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11764,1.53,164.7,188.1,12.3,782,11773,0.00,2.72,0.00,0.000,4,0.000,0.154,3025,3606,2085,0,0,0,0,0,0,28.83,14.61,28.83
$GC,11802,1.53,164.7,183.3,13.7,785,11811,0.10,2.55,0.00,0.000,6,0.311,0.107,3016,2188,2085,0,0,0,0,0,0,14.58,14.74,28.83
$GC,12113,1.53,164.7,144.2,12.4,816,12122,0.00,2.72,0.00,0.000,4,0.000,0.148,3016,3610,2085,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12140,1.53,164.7,140.8,12.9,818,12147,0.00,2.53,0.00,0.000,6,0.000,0.105,3025,2198,2086,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12448,1.53,164.7,106.3,9.4,849,12457,0.00,2.53,0.00,0.000,4,0.000,0.129,3035,791,2084,0,0,0,0,0,0,28.83,14.63,28.83
$GC,12533,1.53,164.7,98.4,9.7,858,12540,0.00,2.60,0.00,0.000,6,0.000,0.122,3035,2209,2083,0,0,0,0,0,0,28.83,14.68,28.83
$GC,12851,1.53,164.7,67.5,10.7,919,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2209,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13168,1.53,164.7,33.7,9.7,980,13175,0.00,2.60,0.00,0.000,4,0.000,0.132,3045,785,2083,0,0,0,0,0,0,28.83,14.65,28.83
$GC,13292,1.58,201.5,23.6,7.3,1002,13318,0.10,2.62,18.27,0.249,6,0.302,0.124,3025,2204,1948,0,0,0,0,0,0,14.54,14.65,14.54
$STATE,13539,end climb,SURFACE_DEPTH_REACHED
$STATE,13539,begin surface coast
$FINISH,2.3,1.001449
$STATE,13580,end surface coast,CONTROL_FINISHED_OK
$STATE,13581,begin surface
$SM_CCo,13608,45.45,0.184,0,0,1587,290.19
$SM_GC,2.99,8.65,0.20,45.45,0.118,0.144,0.184,132,2113,1587,-11.62,0.40,290.19,0,0,0,0,0,0,14.73,14.68,14.54
$RAFOS_CLK,592
$RAFOS,2,1350533825,4.300000,4.284722,70,63,60,56,55,53,179,843,204,169,193,213
$RAFOS,1,1350533350,4.166667,4.152778,104,65,59,59,52,52,847,224,138,165,196,68
$RAFOS,0,1350532864,4.033333,4.017778,75,64,57,55,50,50,215,199,164,152,104,135
$RAFOS,6,1350521344,0.833333,0.817778,102,57,55,54,54,50,698,214,165,226,190,131
$RAFOS_FIX,6657.021973,-5810.529297,181012,000012,4,101,0.00
$IRIDIUM_FIX,6631.12,-5741.01,171012,202019
$TT8_MAMPS,0.027713,0.027713
$HUMID,46.33
$INTERNAL_PRESSURE,8.73303
$TCM_TEMP,13.20
$XPDR_PINGS,4
$24V_AH,12.4,71.884
$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,22.725,100.575,348.400,45.450,0.000,0.000,0.000,260.300,1.000,0.000,6.625,2732.482,8236.394,533.756,1988.669,603.985,0.000,1804.713,0.000,1772.440,1800.000,0.538,0.000
$DEVICE_MAMPS,450.585,185.130,2616.300,183.600,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.609,752.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188820
$DATA_FILE_SIZE,49986,1056
$CAP_FILE_SIZE,118627,0
$CFSIZE,259252224,235302912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.2
$CURRENT,0.214,324.7,1
$GPS,181012,043152,6659.412,-5731.635,41,0.8,41,-33.6