version: 66.11
glider: 193
mission: 2
dive: 231
start: 10 19 112 17 30 33
data:
$ID,193
$MISSION,2
$DIVE,231
$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,-1223.8099
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$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
$GPS1,191012,172234,6703.479,-5702.271,37,0.8,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-66.2
$GPS2,191012,172949,6703.530,-5702.383,6,0.8,6,-33.6
$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,174.0,10433,-17.3,-8.919,-19.96
$D_GRID,645
$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,-136.9,0.0,0.0,0,38,0.00,0.00,-17.00,0.000,2,0.000,0.000,133,2115,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.50,-136.9,3.0,-2.6,3,151,10.98,2.65,-89.65,0.000,4,0.443,0.151,2348,706,3330,0,0,0,0,0,0,14.28,14.49,14.81
$GC,386,-1.50,-136.9,41.0,-17.9,66,393,0.00,2.70,0.00,0.000,6,0.000,0.142,2342,2127,3330,0,0,0,0,0,0,28.83,14.52,28.83
$GC,703,-1.50,-136.9,87.1,-13.2,127,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2127,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1015,-1.50,-136.9,127.2,-12.2,167,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2127,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1330,-1.50,-136.9,164.1,-12.3,198,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2127,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1641,-1.50,-136.9,201.8,-12.2,229,1651,0.00,2.60,0.00,0.000,4,0.000,0.135,2342,710,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1667,-1.50,-136.9,205.5,-11.8,231,1676,0.00,2.67,0.00,0.000,6,0.000,0.139,2333,2124,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1977,-1.50,-136.9,243.3,-12.1,262,1986,0.00,2.70,0.00,0.000,4,0.000,0.155,2323,3528,3330,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2032,-1.50,-136.9,250.1,-12.5,267,2041,0.10,2.50,0.00,0.000,6,0.273,0.102,2348,2120,3330,0,0,0,0,0,0,14.45,14.65,28.83
$GC,2343,-1.50,-136.9,283.4,-10.6,298,2351,0.00,2.72,0.00,0.000,4,0.000,0.156,2340,3527,3330,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2377,-1.50,-136.9,287.3,-10.9,301,2386,0.00,2.50,0.00,0.000,6,0.000,0.099,2340,2113,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2687,-1.50,-136.9,321.5,-10.9,332,2696,0.00,2.50,0.00,0.000,4,0.000,0.124,2340,713,3330,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2765,-1.50,-136.9,330.2,-11.5,339,2773,0.10,2.60,0.00,0.000,6,0.317,0.127,2350,2123,3330,0,0,0,0,0,0,14.52,14.65,28.83
$GC,3074,-1.50,-136.9,361.1,-9.7,370,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2123,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3389,-1.50,-136.9,392.1,-10.4,401,3398,0.00,2.70,0.00,0.000,4,0.000,0.150,2342,3530,3330,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3425,-1.50,-136.9,396.4,-10.5,404,3434,0.00,2.50,0.00,0.000,6,0.000,0.099,2341,2115,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3735,-1.50,-136.9,431.1,-11.6,417,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4035,-1.50,-136.9,463.7,-10.8,427,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4335,-1.50,-136.9,495.7,-10.7,437,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4635,-1.50,-136.9,526.4,-10.2,447,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4935,-1.50,-136.9,556.0,-9.9,457,4941,0.00,2.75,0.00,0.000,4,0.000,0.155,2331,3530,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4971,-1.50,-136.9,559.2,-9.9,458,4977,0.08,2.50,0.00,0.000,6,0.272,0.105,2350,2117,3331,0,0,0,0,0,0,14.54,14.73,28.83
$GC,5298,-1.50,-136.9,592.5,-11.1,469,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2117,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5598,-1.50,-136.9,626.9,-10.2,479,5603,0.00,2.72,0.00,0.000,4,0.000,0.162,2342,3524,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5659,-1.50,-136.9,632.9,-9.8,481,5665,0.00,2.50,0.00,0.000,6,0.000,0.104,2342,2114,3332,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,5775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5775,begin apogee
$GC,5788,-0.38,0.0,645.5,-10.3,485,5938,0.88,0.00,138.82,2.483,6,0.239,0.000,2590,2152,2773,0,0,0,0,0,0,14.57,28.83,13.11
$STATE,5939,end apogee,CONTROL_FINISHED_OK
$STATE,5939,begin climb
$GC,5945,1.50,136.9,649.8,0.0,490,6101,1.38,0.00,151.45,2.423,6,0.158,0.000,3006,2152,2214,0,0,0,0,0,0,13.91,28.83,12.58
$GC,6387,1.50,136.9,602.1,14.0,505,6393,0.00,2.83,0.00,0.000,4,0.000,0.149,3006,3563,2207,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6456,1.50,136.9,592.5,14.4,507,6462,0.00,2.62,0.00,0.000,6,0.000,0.106,3017,2146,2207,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6779,1.50,136.9,548.3,12.7,518,6785,0.00,2.78,0.00,0.000,4,0.000,0.149,3017,3560,2205,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6834,1.50,136.9,544.2,12.7,519,6841,0.00,2.58,0.00,0.000,6,0.000,0.105,3027,2144,2205,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7141,1.50,136.9,501.6,12.6,530,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2145,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7440,1.50,136.9,463.5,12.5,540,7446,0.10,2.70,0.00,0.000,4,0.326,0.144,3007,3558,2203,0,0,0,0,0,0,14.54,14.59,28.83
$GC,7496,1.50,136.9,459.3,12.6,541,7503,0.00,2.53,0.00,0.000,6,0.000,0.103,3017,2149,2203,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7802,1.50,136.9,417.3,12.8,552,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2149,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8102,1.50,136.9,380.7,12.2,572,8111,0.00,2.70,0.00,0.000,4,0.000,0.146,3017,3565,2202,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8140,1.50,136.9,376.2,12.6,575,8147,0.00,2.55,0.00,0.000,6,0.000,0.106,3027,2140,2202,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8447,1.50,136.9,336.2,12.8,606,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2139,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8764,1.50,136.9,296.6,13.1,637,8773,0.00,2.70,0.00,0.000,4,0.000,0.144,3027,3559,2202,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8792,1.50,136.9,292.5,12.9,639,8799,0.15,2.53,0.00,0.000,6,0.288,0.104,3004,2147,2202,0,0,0,0,0,0,14.57,14.73,28.83
$GC,9102,1.50,136.9,257.3,11.2,670,9110,0.00,2.70,0.00,0.000,4,0.000,0.144,3003,3562,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9146,1.50,136.9,251.8,12.3,674,9155,0.00,2.50,0.00,0.000,6,0.000,0.103,3013,2147,2201,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9456,1.50,136.9,214.1,11.9,705,9466,0.00,2.53,0.00,0.000,4,0.000,0.125,3024,736,2201,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9482,1.50,136.9,211.2,11.4,707,9491,0.00,2.55,0.00,0.000,6,0.000,0.114,3024,2148,2200,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9792,1.50,136.9,177.4,9.9,738,9801,0.00,2.65,0.00,0.000,4,0.000,0.140,3024,3563,2201,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9827,1.50,136.9,173.8,10.1,741,9837,0.10,2.50,0.00,0.000,6,0.266,0.102,3006,2146,2201,0,0,0,0,0,0,14.55,14.68,28.83
$GC,10138,1.53,158.6,147.7,8.0,772,10164,0.00,0.00,20.23,1.958,6,0.000,0.000,3007,2146,2125,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10468,1.53,158.6,117.9,9.6,805,10473,0.00,2.72,0.00,0.000,4,0.000,0.144,3006,3560,2122,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10557,1.53,158.6,109.0,10.2,813,10565,0.00,2.55,0.00,0.000,6,0.000,0.103,3015,2138,2122,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10870,1.53,158.6,79.7,9.2,865,10877,0.00,2.53,0.00,0.000,4,0.000,0.128,3026,736,2121,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10924,1.53,158.6,74.8,9.5,874,10931,0.00,2.60,0.00,0.000,6,0.000,0.119,3026,2153,2120,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11241,1.59,211.5,46.3,6.6,935,11277,0.00,0.00,28.83,0.315,6,0.000,0.000,3026,2153,1908,0,0,0,0,0,0,28.83,28.83,14.44
$GC,11592,1.59,211.5,16.1,9.3,1001,11600,0.00,2.70,0.00,0.000,4,0.000,0.147,3026,3562,1900,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11655,1.59,211.5,8.6,11.3,1012,11662,0.00,2.55,0.00,0.000,6,0.000,0.107,3036,2148,1899,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,11712,end climb,SURFACE_DEPTH_REACHED
$STATE,11712,begin surface coast
$FINISH,2.0,1.025929
$STATE,11744,end surface coast,CONTROL_FINISHED_OK
$STATE,11744,begin surface
$SM_CCo,11772,39.70,0.181,0,0,1587,290.19
$SM_GC,3.16,8.48,0.05,39.70,0.097,0.257,0.181,134,2121,1587,-11.61,0.57,290.19,0,0,0,0,0,0,14.71,14.71,14.56
$RAFOS_CLK,481
$RAFOS,4,1350678784,20.566668,20.551111,113,63,60,52,51,49,857,197,211,119,140,222
$RAFOS,3,1350678305,20.433332,20.418056,73,59,58,53,51,50,956,217,208,175,226,186
$RAFOS,2,1350677825,20.299999,20.284721,78,60,59,56,55,53,917,225,207,177,151,119
$RAFOS,1,1350677349,20.166666,20.152500,82,69,55,53,51,51,931,180,131,212,171,227
$RAFOS,0,1350676868,20.033333,20.018888,55,54,54,51,50,50,241,200,148,163,225,173
$RAFOS_FIX,6701.895020,-5725.522461,191012,202028,4,86,1.63
$IRIDIUM_FIX,6636.54,-5702.96,191012,131315
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.57
$INTERNAL_PRESSURE,8.76233
$TCM_TEMP,13.90
$XPDR_PINGS,5
$24V_AH,12.6,74.921
$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,22.325,99.550,339.325,39.700,0.000,0.000,0.000,275.625,1.250,0.000,11.530,2596.500,6621.527,569.159,1916.333,565.448,0.000,1786.506,0.000,1681.433,2160.000,0.539,0.000
$DEVICE_MAMPS,442.935,257.040,2483.190,180.540,0.000,0.000,0.000,140.760,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.519,710.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46721,1029
$CAP_FILE_SIZE,112832,0
$CFSIZE,259252224,234635264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.2
$CURRENT,0.158,290.5,1
$GPS,191012,204922,6702.745,-5701.932,37,0.9,37,-33.5