version: 66.11
glider: 193
mission: 2
dive: 237
start: 10 20 112 13 9 38
data:
$ID,193
$MISSION,2
$DIVE,237
$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,-1254.248
$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
$GPS1,201012,130035,6702.491,-5652.226,40,0.7,40,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-68.3
$GPS2,201012,130859,6702.439,-5652.213,5,0.6,5,-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,91.6,3215,-17.3,-8.919,-19.96
$D_GRID,567
$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,-136.9,0.0,0.0,0,32,0.00,0.00,-11.57,0.000,2,0.000,0.000,134,2114,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.50,-136.9,3.0,0.0,2,146,10.82,2.65,-90.05,0.000,4,0.437,0.155,2347,712,3330,0,0,0,0,0,0,14.29,14.49,14.81
$GC,305,-1.50,-136.9,29.7,-16.7,50,312,0.00,2.70,0.00,0.000,6,0.000,0.141,2342,2124,3331,0,0,0,0,0,0,28.83,14.50,28.83
$GC,623,-1.50,-136.9,77.8,-14.2,111,630,0.00,2.62,0.00,0.000,4,0.000,0.135,2342,704,3331,0,0,0,0,0,0,28.83,14.56,28.83
$GC,650,-1.50,-136.9,82.0,-14.6,115,657,0.00,2.65,0.00,0.000,6,0.000,0.134,2332,2124,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,963,-1.50,-136.9,122.4,-12.2,158,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1277,-1.50,-136.9,161.0,-12.7,189,1286,0.00,2.55,0.00,0.000,4,0.000,0.130,2333,715,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1355,-1.50,-136.9,171.2,-13.0,196,1363,0.12,2.60,0.00,0.000,6,0.302,0.130,2349,2121,3331,0,0,0,0,0,0,14.48,14.61,28.83
$GC,1664,-1.50,-136.9,207.3,-10.9,227,1673,0.00,2.67,0.00,0.000,4,0.000,0.149,2340,3529,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1753,-1.50,-136.9,217.0,-11.5,235,1759,0.00,2.53,0.00,0.000,6,0.000,0.101,2340,2112,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2060,-1.50,-136.9,252.6,-11.6,266,2069,0.00,2.50,0.00,0.000,4,0.000,0.126,2340,713,3330,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2115,-1.50,-136.9,259.3,-12.4,271,2124,0.05,2.58,0.00,0.000,6,0.293,0.128,2345,2124,3330,0,0,0,0,0,0,14.45,14.58,28.83
$GC,2426,-1.50,-136.9,293.4,-11.0,302,2434,0.00,2.55,0.00,0.000,4,0.000,0.127,2346,712,3330,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2480,-1.50,-136.9,299.5,-11.4,307,2489,0.00,2.58,0.00,0.000,6,0.000,0.129,2338,2120,3330,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2791,-1.50,-136.9,333.2,-11.0,338,2799,0.00,2.65,0.00,0.000,4,0.000,0.148,2328,3528,3330,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2825,-1.50,-136.9,337.2,-11.3,341,2836,0.08,2.47,0.00,0.000,6,0.273,0.099,2346,2122,3330,0,0,0,0,0,0,14.46,14.66,28.83
$GC,3136,-1.50,-136.9,369.1,-10.1,372,3145,0.00,2.53,0.00,0.000,4,0.000,0.129,2348,709,3330,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3181,-1.50,-136.9,373.8,-10.5,376,3190,0.00,2.58,0.00,0.000,6,0.000,0.132,2341,2113,3330,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3506,-1.50,-136.9,406.7,-10.4,404,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3802,-1.50,-136.9,437.6,-10.6,414,3807,0.00,2.67,0.00,0.000,4,0.000,0.152,2330,3527,3330,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3836,-1.50,-136.9,441.2,-10.7,415,3842,0.08,2.47,0.00,0.000,6,0.272,0.100,2350,2118,3331,0,0,0,0,0,0,14.52,14.71,28.83
$GC,4164,-1.50,-136.9,473.2,-9.5,426,4170,0.00,2.70,0.00,0.000,4,0.000,0.153,2341,3530,3330,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4198,-1.50,-136.9,476.3,-9.4,427,4203,0.00,2.50,0.00,0.000,6,0.000,0.100,2341,2114,3331,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4526,-1.50,-136.9,507.6,-9.4,438,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4826,-1.50,-136.9,535.0,-8.6,448,4831,0.00,2.72,0.00,0.000,4,0.000,0.158,2332,3527,3332,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,5036,end dive,NO_VERTICAL_VELOCITY
$STATE,5036,begin apogee
$GC,5051,-0.38,0.0,534.9,0.0,455,5199,0.82,0.00,136.38,2.375,6,0.168,0.000,2591,2144,2773,0,0,0,0,0,0,14.64,28.83,13.19
$STATE,5200,end apogee,CONTROL_FINISHED_OK
$STATE,5200,begin climb
$GC,5205,1.50,136.9,534.9,0.0,460,5367,1.35,2.85,147.07,2.288,4,0.158,0.135,3013,738,2214,0,0,0,0,0,0,13.95,13.35,12.65
$GC,5585,1.50,136.9,493.1,13.0,472,5590,0.00,2.72,0.00,0.000,6,0.000,0.127,3013,2152,2206,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5916,1.50,136.9,450.4,12.7,483,5922,0.00,2.75,0.00,0.000,4,0.000,0.146,3012,3566,2205,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6038,1.50,136.9,434.1,13.4,487,6043,0.00,2.55,0.00,0.000,6,0.000,0.105,3022,2153,2205,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6349,1.50,136.9,393.3,13.4,500,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2154,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6663,1.50,136.9,350.7,13.5,531,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2153,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6975,1.50,136.9,308.4,13.7,562,6984,0.00,2.70,0.00,0.000,4,0.000,0.145,3023,3567,2204,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7020,1.50,136.9,301.3,14.3,566,7029,0.08,2.53,0.00,0.000,6,0.272,0.106,3012,2149,2204,0,0,0,0,0,0,14.52,14.64,28.83
$GC,7330,1.50,136.9,262.7,12.7,597,7339,0.00,2.50,0.00,0.000,4,0.000,0.128,3021,745,2203,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7365,1.50,136.9,258.2,12.7,600,7374,0.00,2.55,0.00,0.000,6,0.000,0.117,3021,2151,2202,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7675,1.50,136.9,217.4,13.4,631,7684,0.00,2.65,0.00,0.000,4,0.000,0.143,3021,3562,2203,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7729,1.50,136.9,210.0,14.3,636,7738,0.08,2.50,0.00,0.000,6,0.272,0.103,3010,2148,2203,0,0,0,0,0,0,14.53,14.67,28.83
$GC,8040,1.50,136.9,171.8,12.1,667,8048,0.00,2.67,0.00,0.000,4,0.000,0.145,3011,3561,2202,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8134,1.50,136.9,160.3,12.5,676,8143,0.00,2.50,0.00,0.000,6,0.000,0.103,3020,2144,2203,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8445,1.50,136.9,127.3,10.2,707,8454,0.00,2.50,0.00,0.000,4,0.000,0.127,3030,737,2202,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8529,1.50,136.9,118.2,10.6,715,8539,0.08,2.55,0.00,0.000,6,0.261,0.116,3008,2151,2201,0,0,0,0,0,0,14.54,14.66,28.83
$GC,8845,1.51,146.9,92.1,8.5,754,8852,0.00,0.00,4.28,0.469,6,0.000,0.000,3009,2151,2171,0,0,0,0,0,0,28.83,28.83,14.40
$GC,9163,1.56,189.0,64.2,7.1,815,9194,0.00,2.67,23.27,0.365,4,0.000,0.141,3009,3564,1999,0,0,0,0,0,0,28.83,14.63,14.42
$GC,9225,1.56,189.0,59.3,9.6,825,9232,0.00,2.55,0.00,0.000,6,0.000,0.108,3018,2144,1997,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9543,1.59,209.6,31.6,8.0,886,9562,0.00,2.55,10.57,0.277,4,0.000,0.131,3028,737,1916,0,0,0,0,0,0,28.83,14.64,14.54
$GC,9597,1.59,209.6,26.3,10.2,895,9604,0.00,2.62,0.00,0.000,6,0.000,0.125,3028,2158,1913,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,9844,end climb,SURFACE_DEPTH_REACHED
$STATE,9844,begin surface coast
$FINISH,2.2,1.018926
$STATE,9876,end surface coast,CONTROL_FINISHED_OK
$STATE,9876,begin surface
$SM_CCo,9903,41.22,0.179,0,0,1587,290.19
$SM_GC,3.43,8.35,0.10,41.22,0.087,0.178,0.179,132,2122,1587,-11.61,0.59,290.19,0,0,0,0,0,0,14.75,14.70,14.57
$RAFOS_CLK,399
$RAFOS_FIX,6645.627930,-5714.201660,201012,121204,3,94,3.53
$IRIDIUM_FIX,6636.54,-5658.34,201012,131313
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.06
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,14.60
$XPDR_PINGS,6
$24V_AH,12.7,76.551
$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,21.900,104.025,321.575,41.225,0.000,0.000,0.000,287.075,1.500,0.000,6.575,2408.399,5044.512,510.545,1960.274,526.339,0.000,1756.360,0.000,1708.357,0.000,0.540,0.000
$DEVICE_MAMPS,436.815,178.245,2374.560,179.010,0.000,0.000,0.000,153.765,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.506,649.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43416,949
$CAP_FILE_SIZE,106958,0
$CFSIZE,259252224,234278912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.5
$CURRENT,0.178,323.7,1
$GPS,201012,155643,6703.909,-5651.077,21,0.9,21,-33.5