version: 66.11
glider: 193
mission: 2
dive: 242
start: 10 21 112 3 13 32
data:
$ID,193
$MISSION,2
$DIVE,242
$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,-1274.771
$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,19
$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
$GPS1,211012,030604,6702.961,-5650.704,40,0.8,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-67.4
$GPS2,211012,031249,6702.942,-5650.760,5,0.8,5,-33.5
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,284.4,161321,-17.3,-8.919,-19.96
$D_GRID,555
$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,-5.55,0.000,2,0.000,0.000,133,2141,1691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.0,0.0,1,145,10.65,2.83,-94.12,0.000,4,0.428,0.177,2342,3534,3330,0,0,0,0,0,0,14.30,14.45,14.81
$GC,350,-1.50,-136.9,37.6,-17.0,58,357,0.00,2.55,0.00,0.000,6,0.000,0.102,2342,2117,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,667,-1.50,-136.9,81.4,-11.9,119,673,0.00,2.55,0.00,0.000,4,0.000,0.129,2342,710,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,759,-1.50,-136.9,93.8,-13.8,136,766,0.00,2.65,0.00,0.000,6,0.000,0.129,2334,2127,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1077,-1.50,-136.9,133.8,-11.8,171,1086,0.00,2.67,0.00,0.000,4,0.000,0.145,2323,3528,3331,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1212,-1.50,-136.9,150.0,-12.4,184,1222,0.08,2.53,0.00,0.000,6,0.273,0.098,2343,2100,3331,0,0,0,0,0,0,14.43,14.62,28.83
$GC,1522,-1.50,-136.9,186.7,-12.0,215,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2100,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1838,-1.50,-136.9,223.2,-11.7,246,1847,0.00,2.75,0.00,0.000,4,0.000,0.151,2334,3527,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1856,-1.50,-136.9,225.4,-11.9,247,1862,0.00,2.50,0.00,0.000,6,0.000,0.099,2333,2119,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2164,-1.50,-136.9,264.6,-11.8,278,2173,0.00,2.55,0.00,0.000,4,0.000,0.126,2334,705,3330,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2242,-1.50,-136.9,274.0,-12.3,285,2250,0.12,2.62,0.00,0.000,6,0.301,0.127,2351,2129,3330,0,0,0,0,0,0,14.50,14.64,28.83
$GC,2551,-1.50,-136.9,306.8,-10.2,316,2560,0.00,2.65,0.00,0.000,4,0.000,0.150,2342,3526,3330,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2626,-1.50,-136.9,314.7,-10.7,323,2635,0.00,2.47,0.00,0.000,6,0.000,0.098,2342,2120,3330,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2936,-1.50,-136.9,346.6,-9.8,354,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2120,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3251,-1.50,-136.9,377.0,-9.7,385,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3568,-1.50,-136.9,406.4,-9.1,413,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2120,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3869,-1.50,-136.9,434.1,-9.4,423,3874,0.00,2.72,0.00,0.000,4,0.000,0.155,2332,3530,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3918,-1.50,-136.9,437.3,-9.5,424,3926,0.00,2.50,0.00,0.000,6,0.000,0.103,2332,2122,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4231,-1.50,-136.9,470.4,-10.0,435,4237,0.10,2.53,0.00,0.000,4,0.307,0.128,2351,713,3331,0,0,0,0,0,0,14.58,14.65,28.83
$GC,4326,-1.50,-136.9,479.9,-10.1,438,4332,0.00,2.62,0.00,0.000,6,0.000,0.138,2345,2115,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4653,-1.50,-136.9,512.5,-9.8,449,4659,0.00,2.72,0.00,0.000,4,0.000,0.154,2334,3527,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4679,-1.50,-136.9,512.5,-9.8,449,4686,0.00,2.50,0.00,0.000,6,0.000,0.097,2334,2113,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4985,-1.50,-136.9,546.3,-10.3,460,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2113,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5286,-1.50,-136.9,554.7,0.1,470,5291,0.00,2.50,0.00,0.000,4,0.000,0.131,2334,716,3332,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,5312,end dive,NO_VERTICAL_VELOCITY
$STATE,5312,begin apogee
$GC,5327,-0.38,0.0,554.6,0.0,471,5475,0.82,0.00,137.20,2.395,6,0.171,0.000,2593,2151,2773,0,0,0,0,0,0,14.63,28.83,13.16
$STATE,5476,end apogee,CONTROL_FINISHED_OK
$STATE,5476,begin climb
$GC,5482,1.50,136.9,554.7,0.0,476,5650,1.35,3.00,147.90,2.328,4,0.157,0.143,3003,3559,2213,0,0,0,0,0,0,13.94,13.33,12.64
$GC,5856,1.50,136.9,515.5,13.8,488,5865,0.00,2.62,0.00,0.000,6,0.000,0.101,3014,2154,2207,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6168,1.50,136.9,472.9,12.9,499,6174,0.00,2.60,0.00,0.000,4,0.000,0.128,3024,737,2205,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6199,1.50,136.9,468.6,13.1,500,6205,0.00,2.62,0.00,0.000,6,0.000,0.119,3025,2150,2203,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6531,1.50,136.9,424.6,13.1,511,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2150,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6831,1.50,136.9,385.0,12.8,527,6839,0.00,2.67,0.00,0.000,4,0.000,0.142,3025,3561,2203,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6899,1.50,136.9,376.3,13.8,533,6908,0.12,2.55,0.00,0.000,6,0.298,0.103,3008,2141,2203,0,0,0,0,0,0,14.51,14.66,28.83
$GC,7208,1.50,136.9,339.6,11.5,564,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2141,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7523,1.50,136.9,302.3,12.2,595,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2141,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7837,1.50,136.9,266.8,11.3,626,7845,0.00,2.72,0.00,0.000,4,0.000,0.143,3008,3564,2202,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7871,1.50,136.9,261.8,11.6,629,7881,0.00,2.53,0.00,0.000,6,0.000,0.106,3017,2150,2202,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8181,1.50,136.9,227.3,10.9,660,8190,0.00,2.53,0.00,0.000,4,0.000,0.130,3028,740,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8216,1.50,136.9,223.4,11.2,663,8226,0.08,2.60,0.00,0.000,6,0.266,0.119,3007,2156,2200,0,0,0,0,0,0,14.52,14.64,28.83
$GC,8527,1.50,136.9,190.0,10.3,694,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2156,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8841,1.50,136.9,159.4,9.6,725,8851,0.00,2.67,0.00,0.000,4,0.000,0.142,3007,3566,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8917,1.50,136.9,150.5,11.5,732,8926,0.00,2.53,0.00,0.000,6,0.000,0.104,3017,2145,2201,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9226,1.50,136.9,117.2,10.4,763,9235,0.00,2.70,0.00,0.000,4,0.000,0.145,3017,3562,2201,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9251,1.50,136.9,114.3,11.1,765,9261,0.08,2.53,0.00,0.000,6,0.266,0.103,3005,2137,2201,0,0,0,0,0,0,14.53,14.69,28.83
$GC,9567,1.50,136.9,82.0,9.7,813,9574,0.00,2.50,0.00,0.000,4,0.000,0.125,3015,740,2200,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9676,1.50,136.9,71.8,9.4,833,9684,0.00,2.58,0.00,0.000,6,0.000,0.116,3015,2158,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9994,1.56,186.8,45.7,6.7,894,10026,0.00,2.70,25.65,0.305,4,0.000,0.144,3015,3563,2010,0,0,0,0,0,0,28.83,14.63,14.50
$GC,10151,1.56,188.2,33.0,8.9,922,10158,0.00,2.55,0.00,0.000,6,0.000,0.102,3025,2139,2005,0,0,0,0,0,0,28.83,14.68,28.83
$GC,10468,1.59,207.0,7.7,8.1,983,10487,0.00,2.58,9.88,0.203,4,0.000,0.126,3035,741,1925,0,0,0,0,0,0,28.83,14.63,14.62
$GC,10504,1.60,222.7,4.8,8.2,988,10518,0.00,2.60,7.90,0.197,6,0.000,0.115,3035,2160,1862,0,0,0,0,0,0,28.83,14.64,14.59
$STATE,10523,end climb,SURFACE_DEPTH_REACHED
$STATE,10523,begin surface coast
$FINISH,2.2,1.024370
$STATE,10560,end surface coast,CONTROL_FINISHED_OK
$STATE,10560,begin surface
$SM_CCo,10588,34.28,0.179,0,0,1587,290.19
$SM_GC,3.31,8.43,0.10,34.28,0.095,0.172,0.179,139,2120,1587,-11.59,0.62,290.19,0,0,0,0,0,0,14.73,14.69,14.55
$RAFOS_CLK,425
$RAFOS,6,1350794942,4.833333,4.817222,89,60,59,58,55,54,780,170,227,204,181,127
$RAFOS,5,1350794462,4.700000,4.683889,70,69,58,58,52,52,216,203,146,188,158,137
$RAFOS,4,1350793982,4.566667,4.550556,69,65,59,58,55,48,182,876,152,197,216,1806
$RAFOS,3,1350793503,4.433333,4.417500,62,60,55,55,55,51,179,196,133,150,215,161
$RAFOS,2,1350793045,4.300000,4.290278,77,60,60,59,55,55,824,206,195,222,157,170
$RAFOS,1,1350792545,4.166667,4.151389,62,61,60,54,53,51,165,969,205,193,132,183
$RAFOS,0,1350792062,4.033333,4.017222,67,64,62,60,56,54,158,195,142,219,205,174
$RAFOS_FIX,6652.082520,-5738.277832,211012,040412,2,83,8.10
$IRIDIUM_FIX,6636.54,-5643.07,211012,000027
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.74
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,14.10
$XPDR_PINGS,7
$24V_AH,12.6,77.836
$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,21.825,104.625,328.525,34.275,0.000,0.000,0.000,254.325,1.750,0.000,6.535,2554.973,5495.618,533.242,1930.334,531.549,0.000,1750.958,0.000,1708.404,2520.000,0.539,0.000
$DEVICE_MAMPS,427.635,177.480,2395.215,179.010,0.000,0.000,0.000,143.055,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.216,685.655,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188756
$DATA_FILE_SIZE,46767,998
$CAP_FILE_SIZE,110610,0
$CFSIZE,259252224,233984000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.9
$CURRENT,0.145,322.0,1
$GPS,211012,061228,6703.167,-5655.088,41,1.0,41,-33.5