version: 66.11
glider: 193
mission: 2
dive: 236
start: 10 20 112 9 52 18
data:
$ID,193
$MISSION,2
$DIVE,236
$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,-1252.9913
$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,18
$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
$GPS1,201012,094447,6702.536,-5655.396,19,0.7,19,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-67.3
$GPS2,201012,095134,6702.524,-5655.422,43,0.7,43,-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,110.2,5432,-17.3,-8.919,-19.96
$D_GRID,600
$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,-136.9,0.0,0.0,0,44,0.00,0.00,-22.80,0.000,2,0.000,0.000,133,2143,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.50,-136.9,3.1,-2.2,4,148,10.98,2.67,-76.45,0.000,4,0.444,0.153,2348,715,3331,0,0,0,0,0,0,14.31,14.46,14.83
$GC,353,-1.50,-136.9,40.2,-18.0,59,359,0.00,2.67,0.00,0.000,6,0.000,0.140,2340,2124,3332,0,0,0,0,0,0,28.83,14.52,28.83
$GC,670,-1.50,-136.9,89.2,-13.8,120,677,0.00,2.62,0.00,0.000,4,0.000,0.135,2340,703,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,733,-1.50,-136.9,97.7,-13.8,131,741,0.10,2.70,0.00,0.000,6,0.321,0.135,2349,2133,3332,0,0,0,0,0,0,14.45,14.57,28.83
$GC,1052,-1.50,-136.9,142.0,-11.8,163,1061,0.00,2.60,0.00,0.000,4,0.000,0.132,2350,710,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1087,-1.50,-136.9,146.1,-11.6,166,1096,0.00,2.62,0.00,0.000,6,0.000,0.133,2343,2116,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1396,-1.50,-136.9,179.3,-10.6,197,1406,0.00,2.67,0.00,0.000,4,0.000,0.147,2332,3525,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1472,-1.50,-136.9,187.4,-10.8,204,1481,0.00,2.50,0.00,0.000,6,0.000,0.100,2332,2115,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1782,-1.50,-136.9,223.7,-12.5,235,1791,0.10,2.53,0.00,0.000,4,0.317,0.125,2351,712,3331,0,0,0,0,0,0,14.54,14.59,28.83
$GC,1827,-1.50,-136.9,229.4,-12.5,239,1836,0.00,2.60,0.00,0.000,6,0.000,0.132,2344,2118,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2138,-1.50,-136.9,262.8,-10.3,270,2147,0.00,2.70,0.00,0.000,4,0.000,0.151,2333,3530,3331,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2196,-1.50,-136.9,268.7,-10.4,275,2203,0.00,2.53,0.00,0.000,6,0.000,0.100,2333,2112,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2504,-1.50,-136.9,302.3,-11.5,306,2513,0.00,2.75,0.00,0.000,4,0.000,0.151,2323,3533,3330,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2540,-1.50,-136.9,306.4,-11.7,309,2551,0.10,2.50,0.00,0.000,6,0.275,0.099,2348,2113,3331,0,0,0,0,0,0,14.45,14.65,28.83
$GC,2851,-1.50,-136.9,340.5,-10.5,340,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2113,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3166,-1.50,-136.9,373.6,-10.5,371,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2113,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3494,-1.50,-136.9,409.6,-10.5,398,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2113,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3793,-1.50,-136.9,440.9,-10.4,408,3799,0.00,2.53,0.00,0.000,4,0.000,0.131,2349,706,3331,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3838,-1.50,-136.9,444.5,-10.7,409,3843,0.00,2.65,0.00,0.000,6,0.000,0.141,2342,2123,3331,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4155,-1.50,-136.9,480.1,-10.6,420,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2123,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4456,-1.50,-136.9,510.9,-9.8,430,4461,0.00,2.55,0.00,0.000,4,0.000,0.134,2342,715,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4500,-1.50,-136.9,514.3,-10.0,431,4505,0.00,2.62,0.00,0.000,6,0.000,0.138,2335,2127,3332,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4817,-1.50,-136.9,548.7,-10.2,442,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2127,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5117,-1.50,-136.9,578.9,-10.0,452,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2127,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5418,-1.50,-136.9,594.7,-0.1,462,5423,0.00,2.67,0.00,0.000,4,0.000,0.155,2327,3528,3333,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,5504,end dive,NO_VERTICAL_VELOCITY
$STATE,5504,begin apogee
$GC,5518,-0.38,0.0,594.6,0.0,465,5668,0.88,0.00,137.10,2.437,6,0.185,0.000,2596,2138,2773,0,0,0,0,0,0,14.62,28.83,13.15
$STATE,5669,end apogee,CONTROL_FINISHED_OK
$STATE,5669,begin climb
$GC,5674,1.50,136.9,594.6,0.0,470,5843,1.35,2.90,149.10,2.364,4,0.159,0.135,3015,742,2213,0,0,0,0,0,0,13.95,13.31,12.63
$GC,5887,1.50,136.9,577.3,10.7,477,5892,0.00,2.80,0.00,0.000,6,0.000,0.125,3015,2144,2209,0,0,0,0,0,0,28.83,13.67,28.83
$GC,6209,1.50,136.9,535.8,12.5,488,6215,0.00,2.78,0.00,0.000,4,0.000,0.144,3015,3562,2206,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6271,1.50,136.9,527.2,13.3,490,6277,0.00,2.58,0.00,0.000,6,0.000,0.103,3026,2150,2206,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6602,1.50,136.9,482.7,13.3,501,6608,0.00,2.55,0.00,0.000,4,0.000,0.128,3036,742,2204,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6637,1.50,136.9,478.3,13.4,502,6643,0.10,2.60,0.00,0.000,6,0.265,0.117,3009,2153,2203,0,0,0,0,0,0,14.39,14.51,28.83
$GC,6964,1.50,136.9,438.5,11.8,513,6970,0.00,2.65,0.00,0.000,4,0.000,0.141,3009,3557,2203,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7014,1.50,136.9,434.5,11.8,514,7022,0.00,2.53,0.00,0.000,6,0.000,0.103,3018,2145,2204,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7326,1.50,136.9,395.8,11.8,527,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2145,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7642,1.50,136.9,361.0,11.1,558,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2145,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7954,1.50,136.9,323.9,11.8,589,7962,0.00,2.72,0.00,0.000,4,0.000,0.143,3018,3556,2203,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7999,1.50,136.9,318.0,12.1,593,8008,0.08,2.50,0.00,0.000,6,0.272,0.106,3007,2150,2203,0,0,0,0,0,0,14.54,14.67,28.83
$GC,8309,1.50,136.9,281.1,11.9,624,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2151,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8624,1.50,136.9,245.9,10.3,655,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2151,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8937,1.50,136.9,213.8,10.9,686,8946,0.00,2.70,0.00,0.000,4,0.000,0.149,3007,3558,2202,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8985,1.50,136.9,207.8,12.2,690,8993,0.00,2.55,0.00,0.000,6,0.000,0.108,3017,2139,2203,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9293,1.50,136.9,170.3,12.0,721,9302,0.00,2.72,0.00,0.000,4,0.000,0.149,3017,3563,2202,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9358,1.50,136.9,162.5,12.5,727,9368,0.08,2.50,0.00,0.000,6,0.269,0.106,3006,2154,2202,0,0,0,0,0,0,14.54,14.68,28.83
$GC,9670,1.50,136.9,129.6,10.3,758,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2154,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9985,1.50,136.9,96.7,10.6,792,9991,0.00,2.55,0.00,0.000,4,0.000,0.128,3015,734,2202,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10053,1.50,136.9,89.0,10.3,804,10059,0.00,2.60,0.00,0.000,6,0.000,0.116,3015,2160,2200,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10371,1.51,144.6,58.3,8.6,865,10379,0.00,2.72,2.60,0.418,4,0.000,0.142,3015,3562,2182,0,0,0,0,0,0,28.83,14.65,14.47
$GC,10405,1.53,162.7,55.6,8.1,870,10425,0.00,2.53,10.30,0.340,6,0.000,0.103,3026,2146,2107,0,0,0,0,0,0,28.83,14.71,14.44
$GC,10740,1.57,194.2,31.3,7.5,933,10765,0.00,2.55,16.60,0.259,4,0.000,0.128,3036,740,1979,0,0,0,0,0,0,28.83,14.63,14.50
$GC,10806,1.58,199.3,25.9,8.7,944,10814,0.00,2.58,2.47,0.294,6,0.000,0.116,3036,2151,1958,0,0,0,0,0,0,28.83,14.64,14.52
$STATE,11069,end climb,SURFACE_DEPTH_REACHED
$STATE,11069,begin surface coast
$FINISH,2.1,1.003408
$STATE,11105,end surface coast,CONTROL_FINISHED_OK
$STATE,11105,begin surface
$SM_CCo,11132,46.65,0.179,0,0,1587,290.19
$SM_GC,2.82,8.45,0.10,46.65,0.096,0.171,0.179,137,2113,1587,-11.60,0.42,290.19,0,0,0,0,0,0,14.73,14.70,14.55
$RAFOS_CLK,449
$RAFOS,6,1350737343,12.833333,12.817500,60,59,56,55,54,51,207,152,130,231,169,190
$RAFOS,5,1350736862,12.700000,12.683888,106,64,63,63,60,55,643,214,153,174,194,230
$RAFOS,4,1350736382,12.566667,12.550555,107,60,60,59,56,55,891,174,144,190,159,229
$RAFOS,3,1350735906,12.433333,12.418333,63,61,57,56,54,53,140,152,195,207,224,171
$RAFOS,2,1350735424,12.300000,12.284445,70,65,61,60,56,52,953,214,198,156,177,234
$RAFOS,1,1350734956,12.166667,12.154445,61,61,59,59,50,50,194,929,210,181,141,224
$RAFOS,0,1350734462,12.033333,12.017222,60,60,59,54,51,51,123,199,219,178,209,164
$RAFOS_FIX,6645.627930,-5714.201660,201012,121204,3,94,3.53
$IRIDIUM_FIX,6636.54,-5650.71,201012,060609
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.11
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,14.00
$XPDR_PINGS,4
$24V_AH,12.6,76.290
$10V_AH,13.0,0.000
$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,22.200,104.925,318.175,46.650,0.000,0.000,0.000,217.525,1.000,0.000,48.988,2553.618,6074.752,525.074,1900.534,555.603,0.000,1699.116,0.000,1685.495,2520.000,0.541,0.000
$DEVICE_MAMPS,444.465,171.360,2436.525,179.010,0.000,0.000,0.000,149.175,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.734,686.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188708
$DATA_FILE_SIZE,46746,1001
$CAP_FILE_SIZE,111149,0
$CFSIZE,259252224,234328064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.2
$CURRENT,0.069,198.0,1
$GPS,201012,130035,6702.491,-5652.226,40,0.7,40,-33.5