version: 66.11
glider: 193
mission: 2
dive: 243
start: 10 21 112 6 19 44
data:
$ID,193
$MISSION,2
$DIVE,243
$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,-1289.0272
$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,13
$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
$GPS1,211012,061228,6703.167,-5655.088,41,1.0,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-68.2
$GPS2,211012,061909,6703.198,-5655.182,5,1.0,5,-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,258.2,158272,-17.3,-8.919,-19.96
$D_GRID,601
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,37,0.00,0.00,-17.20,0.000,2,0.000,0.000,139,2122,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-1.50,-136.9,3.0,-1.5,3,141,11.00,2.88,-78.68,0.000,4,0.444,0.177,2342,3531,3331,0,0,0,0,0,0,14.29,14.43,14.80
$GC,376,-1.50,-136.9,42.7,-16.0,64,382,0.00,2.55,0.00,0.000,6,0.000,0.103,2343,2120,3332,0,0,0,0,0,0,28.83,14.58,28.83
$GC,692,-1.50,-136.9,87.0,-14.7,125,700,0.00,2.78,0.00,0.000,4,0.000,0.158,2332,3530,3332,0,0,0,0,0,0,28.83,14.52,28.83
$GC,721,-1.50,-136.9,91.4,-15.6,129,729,0.10,2.55,0.00,0.000,6,0.303,0.102,2350,2110,3332,0,0,0,0,0,0,14.45,14.62,28.83
$GC,1040,-1.50,-136.9,136.6,-13.4,165,1049,0.00,2.53,0.00,0.000,4,0.000,0.129,2351,710,3332,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1155,-1.50,-136.9,153.2,-14.0,176,1164,0.00,2.65,0.00,0.000,6,0.000,0.131,2343,2125,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1465,-1.50,-136.9,194.3,-12.4,207,1474,0.00,2.67,0.00,0.000,4,0.000,0.148,2332,3531,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1500,-1.50,-136.9,198.7,-12.4,210,1509,0.00,2.50,0.00,0.000,6,0.000,0.099,2332,2119,3332,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1810,-1.50,-136.9,233.6,-11.7,241,1817,0.10,0.00,0.00,0.000,6,0.312,0.000,2350,2118,3331,0,0,0,0,0,0,14.53,28.83,28.83
$GC,2120,-1.50,-136.9,267.1,-10.5,272,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2435,-1.50,-136.9,299.5,-10.3,303,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2747,-1.50,-136.9,332.5,-10.5,334,2756,0.00,2.53,0.00,0.000,4,0.000,0.127,2351,714,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2786,-1.50,-136.9,337.0,-10.9,337,2793,0.00,2.65,0.00,0.000,6,0.000,0.132,2344,2125,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3094,-1.50,-136.9,371.8,-10.8,368,3103,0.00,2.70,0.00,0.000,4,0.000,0.153,2333,3525,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3130,-1.50,-136.9,375.8,-11.1,371,3139,0.00,2.47,0.00,0.000,6,0.000,0.097,2333,2118,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3445,-1.50,-136.9,410.4,-11.0,396,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3740,-1.50,-136.9,443.2,-10.9,406,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4040,-1.50,-136.9,475.4,-10.4,416,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4340,-1.50,-136.9,506.6,-10.2,426,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4639,-1.50,-136.9,536.4,-9.9,436,4645,0.00,2.53,0.00,0.000,4,0.000,0.127,2332,703,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4671,-1.50,-136.9,539.8,-10.0,437,4677,0.08,2.62,0.00,0.000,6,0.282,0.136,2345,2118,3332,0,0,0,0,0,0,14.51,14.64,28.83
$GC,5003,-1.50,-136.9,572.6,-9.9,448,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5298,begin apogee
$GC,5310,-0.38,0.0,603.3,-10.5,458,5458,0.88,0.00,137.85,2.454,6,0.257,0.000,2590,2149,2773,0,0,0,0,0,0,14.54,28.83,13.12
$STATE,5459,end apogee,CONTROL_FINISHED_OK
$STATE,5460,begin climb
$GC,5465,1.50,136.9,608.5,0.0,463,5630,1.38,2.90,149.50,2.388,4,0.161,0.136,3014,742,2214,0,0,0,0,0,0,13.93,13.31,12.59
$GC,5689,1.50,136.9,594.5,9.6,470,5697,0.00,2.83,0.00,0.000,6,0.000,0.125,3015,2155,2208,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5996,1.50,136.9,553.5,12.4,481,6002,0.00,2.78,0.00,0.000,4,0.000,0.150,3015,3559,2205,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6030,1.50,136.9,549.2,12.5,482,6036,0.00,2.60,0.00,0.000,6,0.000,0.107,3025,2145,2205,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6358,1.50,136.9,506.8,12.5,493,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2145,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6658,1.50,136.9,470.3,12.0,503,6663,0.00,2.78,0.00,0.000,4,0.000,0.148,3025,3564,2203,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6689,1.50,136.9,466.3,12.1,504,6695,0.10,2.55,0.00,0.000,6,0.265,0.103,3008,2145,2204,0,0,0,0,0,0,14.45,14.59,28.83
$GC,7021,1.50,136.9,428.0,11.6,515,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2145,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7320,1.50,136.9,392.8,11.9,529,7330,0.00,2.75,0.00,0.000,4,0.000,0.148,3008,3564,2201,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7355,1.50,136.9,388.1,12.9,532,7364,0.00,2.53,0.00,0.000,6,0.000,0.104,3017,2145,2201,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7665,1.50,136.9,348.9,12.0,563,7674,0.00,2.72,0.00,0.000,4,0.000,0.144,3017,3561,2201,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7690,1.50,136.9,345.6,12.7,565,7700,0.08,2.50,0.00,0.000,6,0.275,0.099,3007,2150,2201,0,0,0,0,0,0,14.50,14.66,28.83
$GC,8001,1.50,136.9,308.9,11.9,596,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2149,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8316,1.50,136.9,271.9,13.0,627,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2150,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8623,1.50,136.9,233.9,12.1,658,8632,0.00,2.72,0.00,0.000,4,0.000,0.145,3006,3566,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8697,1.50,136.9,224.4,13.0,665,8706,0.00,2.53,0.00,0.000,6,0.000,0.103,3016,2141,2201,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9007,1.50,136.9,188.8,10.3,696,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2141,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9322,1.50,136.9,157.8,9.5,727,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2141,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9634,1.50,136.9,125.9,10.6,758,9643,0.00,2.53,0.00,0.000,4,0.000,0.129,3027,739,2200,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9720,1.50,136.9,115.8,11.3,766,9729,0.00,2.58,0.00,0.000,6,0.000,0.114,3027,2154,2199,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10035,1.50,136.9,81.6,9.4,814,10041,0.00,2.67,0.00,0.000,4,0.000,0.142,3027,3562,2200,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10113,1.50,136.9,74.1,9.2,828,10120,0.15,2.53,0.00,0.000,6,0.278,0.099,3002,2140,2199,0,0,0,0,0,0,14.55,14.73,28.83
$GC,10435,1.59,211.2,54.6,5.7,889,10485,0.10,2.80,39.03,0.326,4,0.172,0.145,3043,3563,1908,0,0,0,0,0,0,14.76,14.56,14.50
$GC,10634,1.59,211.2,34.2,11.1,925,10643,0.12,2.55,0.00,0.000,6,0.291,0.102,3026,2146,1901,0,0,0,0,0,0,14.50,14.66,28.83
$GC,10955,1.59,211.2,4.4,9.0,986,10962,0.00,2.53,0.00,0.000,4,0.000,0.127,3035,742,1897,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,10967,end climb,SURFACE_DEPTH_REACHED
$STATE,10967,begin surface coast
$FINISH,2.1,1.014317
$STATE,10999,end surface coast,CONTROL_FINISHED_OK
$STATE,10999,begin surface
$SM_CCo,11029,39.12,0.175,0,0,1587,290.19
$SM_GC,3.17,8.52,2.62,39.12,0.102,0.125,0.175,132,2123,1587,-11.62,-0.42,290.19,0,0,0,0,0,0,14.71,14.61,14.55
$RAFOS_CLK,463
$RAFOS,6,1350809345,8.833333,8.818055,71,64,63,58,57,52,761,225,173,201,188,132
$RAFOS,5,1350808861,8.700000,8.683611,109,64,60,55,54,53,626,205,167,180,222,130
$RAFOS,4,1350808390,8.566667,8.552778,76,67,64,58,58,53,816,185,146,218,203,160
$RAFOS,3,1350807904,8.433333,8.417778,64,57,55,52,52,52,218,175,202,139,125,955
$RAFOS,2,1350807429,8.300000,8.285833,101,60,59,56,52,51,897,231,162,208,190,1107
$RAFOS,1,1350806946,8.166667,8.151667,60,57,53,53,53,49,197,951,167,120,156,143
$RAFOS,0,1350806466,8.033334,8.018333,63,58,58,53,47,47,196,115,217,170,136,126
$RAFOS_FIX,6650.767090,-5723.909668,211012,080820,4,89,3.76
$IRIDIUM_FIX,6631.12,-5653.72,211012,030339
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.45
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,14.00
$XPDR_PINGS,7
$24V_AH,12.6,78.106
$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,22.600,89.650,326.375,39.125,0.000,0.000,0.000,249.950,1.750,0.000,13.630,2517.073,6081.236,514.509,1840.214,532.084,0.000,1679.347,0.000,1622.788,2520.000,0.539,0.000
$DEVICE_MAMPS,444.465,238.680,2454.120,175.185,0.000,0.000,0.000,147.645,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.454,687.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188724
$DATA_FILE_SIZE,46848,994
$CAP_FILE_SIZE,105777,0
$CFSIZE,259252224,233930752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.6
$CURRENT,0.105,278.0,1
$GPS,211012,092604,6702.213,-5659.208,33,0.7,33,-33.5