version: 66.11
glider: 193
mission: 2
dive: 240
start: 10 20 112 21 34 53
data:
$ID,193
$MISSION,2
$DIVE,240
$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,-1267.4457
$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,17
$R_STBD_OVSHOOT,11
$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
$GPS1,201012,212759,6703.568,-5651.305,15,0.8,15,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-66.4
$GPS2,201012,213409,6703.587,-5651.286,5,0.7,14,-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,149.2,2610,-17.3,-8.919,-19.96
$D_GRID,515
$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,-136.9,0.0,0.0,0,27,0.00,0.00,-5.47,0.000,2,0.000,0.000,131,2122,1689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.1,0.0,1,150,10.80,2.67,-98.72,0.000,4,0.435,0.154,2352,705,3330,0,0,0,0,0,0,14.31,14.50,14.82
$GC,380,-1.50,-136.9,40.9,-17.1,65,388,0.00,2.70,0.00,0.000,6,0.000,0.137,2343,2126,3331,0,0,0,0,0,0,28.83,14.52,28.83
$GC,699,-1.50,-136.9,87.8,-14.6,126,706,0.00,2.60,0.00,0.000,4,0.000,0.132,2344,710,3330,0,0,0,0,0,0,28.83,14.58,28.83
$GC,789,-1.50,-136.9,101.3,-15.4,142,796,0.00,2.62,0.00,0.000,6,0.000,0.129,2336,2121,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1102,-1.50,-136.9,138.6,-10.5,173,1112,0.00,2.67,0.00,0.000,4,0.000,0.148,2325,3524,3330,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1207,-1.50,-136.9,151.2,-11.2,183,1216,0.08,2.50,0.00,0.000,6,0.273,0.101,2345,2114,3330,0,0,0,0,0,0,14.45,14.62,28.83
$GC,1518,-1.50,-136.9,183.4,-10.5,214,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1833,-1.50,-136.9,217.5,-11.7,245,1843,0.00,2.75,0.00,0.000,4,0.000,0.158,2336,3530,3330,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1862,-1.50,-136.9,221.2,-12.2,247,1869,0.00,2.55,0.00,0.000,6,0.000,0.105,2337,2109,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2170,-1.50,-136.9,261.0,-12.6,278,2179,0.00,2.53,0.00,0.000,4,0.000,0.131,2336,705,3330,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2237,-1.50,-136.9,269.5,-13.3,284,2245,0.12,2.65,0.00,0.000,6,0.311,0.134,2353,2125,3330,0,0,0,0,0,0,14.50,14.63,28.83
$GC,2545,-1.50,-136.9,303.8,-10.5,315,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2125,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2862,-1.50,-136.9,334.9,-9.7,346,2871,0.00,2.70,0.00,0.000,4,0.000,0.152,2344,3533,3329,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2896,-1.50,-136.9,339.0,-9.9,349,2906,0.00,2.50,0.00,0.000,6,0.000,0.101,2344,2120,3329,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3206,-1.50,-136.9,370.9,-10.7,380,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3516,-1.50,-136.9,403.9,-10.8,409,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-1.50,-136.9,436.1,-10.6,419,3822,0.00,2.53,0.00,0.000,4,0.000,0.129,2344,709,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3892,-1.50,-136.9,442.9,-11.0,421,3898,0.00,2.62,0.00,0.000,6,0.000,0.135,2337,2114,3329,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4208,-1.50,-136.9,477.5,-10.1,432,4214,0.00,2.70,0.00,0.000,4,0.000,0.154,2326,3527,3330,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4248,-1.50,-136.9,480.7,-9.9,433,4253,0.08,2.47,0.00,0.000,6,0.275,0.097,2347,2116,3330,0,0,0,0,0,0,14.51,14.72,28.83
$GC,4570,-1.50,-136.9,511.7,-8.5,444,4576,0.00,2.53,0.00,0.000,4,0.000,0.131,2347,711,3331,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,4781,end dive,NO_VERTICAL_VELOCITY
$STATE,4781,begin apogee
$GC,4795,-0.38,0.0,511.7,0.0,451,4941,0.80,0.00,136.15,2.380,6,0.184,0.000,2593,2152,2773,0,0,0,0,0,0,14.62,28.83,13.19
$STATE,4942,end apogee,CONTROL_FINISHED_OK
$STATE,4942,begin climb
$GC,4948,1.50,136.9,511.7,0.0,456,5114,1.33,3.05,146.82,2.272,4,0.135,0.148,3009,3556,2214,0,0,0,0,0,0,13.95,13.33,12.66
$GC,5150,1.50,136.9,496.0,10.3,463,5156,0.00,2.72,0.00,0.000,6,0.000,0.103,3019,2147,2211,0,0,0,0,0,0,28.83,13.67,28.83
$GC,5482,1.50,136.9,454.7,12.4,474,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2146,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5781,1.50,136.9,416.6,12.9,484,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2147,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6081,1.50,136.9,376.3,13.5,504,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2146,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6396,1.50,136.9,335.8,12.7,535,6405,0.00,2.72,0.00,0.000,4,0.000,0.146,3019,3558,2205,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6444,1.50,136.9,329.0,13.9,539,6451,0.12,2.55,0.00,0.000,6,0.297,0.107,3003,2144,2205,0,0,0,0,0,0,14.52,14.66,28.83
$GC,6753,1.50,136.9,290.9,12.5,570,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2145,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7068,1.50,136.9,252.2,11.5,601,7078,0.00,2.53,0.00,0.000,4,0.000,0.131,3012,739,2203,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7103,1.50,136.9,247.3,12.0,604,7112,0.00,2.58,0.00,0.000,6,0.000,0.122,3012,2150,2202,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7413,1.50,136.9,214.1,9.9,635,7422,0.00,2.70,0.00,0.000,4,0.000,0.148,3012,3562,2203,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7458,1.50,136.9,209.2,11.1,639,7466,0.00,2.50,0.00,0.000,6,0.000,0.106,3023,2153,2203,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7768,1.50,136.9,175.1,10.9,670,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2153,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8085,1.50,136.9,141.4,10.6,701,8094,0.00,2.72,0.00,0.000,4,0.000,0.149,3022,3565,2203,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8227,1.50,136.9,124.8,12.1,714,8234,0.12,2.55,0.00,0.000,6,0.291,0.105,3006,2140,2203,0,0,0,0,0,0,14.58,14.73,28.83
$GC,8540,1.51,148.3,94.8,8.4,750,8547,0.00,0.00,4.90,0.469,6,0.000,0.000,3006,2140,2167,0,0,0,0,0,0,28.83,28.83,14.41
$GC,8857,1.54,166.2,68.3,8.1,811,8876,0.00,2.58,9.75,0.373,4,0.000,0.129,3015,742,2094,0,0,0,0,0,0,28.83,14.64,14.45
$GC,9030,1.54,166.2,52.5,9.2,843,9037,0.00,2.60,0.00,0.000,6,0.000,0.118,3015,2158,2090,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9349,1.60,215.0,28.9,6.8,904,9386,0.00,2.75,26.30,0.259,4,0.000,0.148,3015,3560,1894,0,0,0,0,0,0,28.83,14.55,14.50
$GC,9433,1.61,226.4,22.7,8.4,918,9446,0.00,2.53,5.68,0.252,6,0.000,0.100,3025,2148,1847,0,0,0,0,0,0,28.83,14.66,14.50
$STATE,9646,end climb,SURFACE_DEPTH_REACHED
$STATE,9646,begin surface coast
$FINISH,2.1,1.018790
$STATE,9678,end surface coast,CONTROL_FINISHED_OK
$STATE,9678,begin surface
$SM_CCo,9706,32.22,0.184,0,0,1586,290.19
$SM_GC,3.27,8.52,0.05,32.22,0.106,0.253,0.184,136,2120,1586,-11.60,0.57,290.19,0,0,0,0,0,0,14.73,14.72,14.57
$RAFOS_CLK,390
$RAFOS,1,1350778145,0.166667,0.151389,65,60,60,58,58,55,1006,196,177,206,156,140
$RAFOS,0,1350777663,0.033333,0.017500,64,58,53,52,51,51,171,190,126,206,95,141
$RAFOS_FIX,6708.268555,-5715.671387,201012,202053,3,79,2.91
$IRIDIUM_FIX,6636.54,-5655.33,201012,181835
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.10
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,14.00
$XPDR_PINGS,7
$24V_AH,12.7,77.313
$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,21.975,84.175,329.600,32.225,0.000,0.000,0.000,212.175,1.750,0.000,15.192,2397.762,4898.293,501.796,1815.241,502.775,0.000,1621.493,0.000,1632.460,720.000,0.539,0.000
$DEVICE_MAMPS,435.285,253.215,2379.915,183.600,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.193,659.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188716
$DATA_FILE_SIZE,43438,965
$CAP_FILE_SIZE,100650,0
$CFSIZE,259252224,234115072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.9
$CURRENT,0.063,149.4,1
$GPS,211012,001852,6702.795,-5648.052,41,0.9,41,-33.5