version: 66.11
glider: 193
mission: 2
dive: 138
start: 10 2 112 17 53 14
data:
$ID,193
$MISSION,2
$DIVE,138
$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,-1014.9538
$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,2200
$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
$GPS1,021012,174604,6702.415,-5656.168,51,0.8,51,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-63.5
$GPS2,021012,175230,6702.435,-5656.161,4,0.8,4,-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,275.5,157261,-17.3,-8.919,-19.96
$D_GRID,624
$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,-136.9,0.0,0.0,0,43,0.00,0.00,-22.58,0.000,2,0.000,0.000,120,2137,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.50,-136.9,3.0,-3.9,4,136,10.93,2.72,-67.15,0.000,4,0.450,0.161,2349,710,3331,0,0,0,0,0,0,14.40,14.54,14.80
$GC,275,-1.50,-136.9,33.1,-20.1,44,282,0.00,2.65,0.00,0.000,6,0.000,0.138,2341,2127,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,592,-1.50,-136.9,79.4,-13.0,105,600,0.00,2.67,0.00,0.000,4,0.000,0.153,2330,3532,3332,0,0,0,0,0,0,28.83,14.63,28.83
$GC,620,-1.50,-136.9,83.3,-14.0,109,628,0.10,2.53,0.00,0.000,6,0.310,0.102,2348,2118,3332,0,0,0,0,0,0,14.57,14.69,28.83
$GC,939,-1.50,-136.9,125.0,-13.7,152,948,0.00,2.70,0.00,0.000,4,0.000,0.155,2339,3532,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,966,-1.50,-136.9,128.4,-14.0,154,972,0.00,2.53,0.00,0.000,6,0.000,0.100,2339,2109,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1274,-1.50,-136.9,169.4,-12.6,185,1283,0.00,2.50,0.00,0.000,4,0.000,0.129,2340,711,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1309,-1.50,-136.9,174.1,-13.0,188,1319,0.08,2.60,0.00,0.000,6,0.295,0.137,2349,2119,3332,0,0,0,0,0,0,14.62,14.69,28.83
$GC,1619,-1.50,-136.9,210.9,-11.5,219,1628,0.00,2.55,0.00,0.000,4,0.000,0.133,2350,706,3331,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1654,-1.50,-136.9,214.9,-11.5,222,1663,0.00,2.60,0.00,0.000,6,0.000,0.135,2342,2127,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1964,-1.50,-136.9,251.1,-11.6,253,1973,0.00,2.62,0.00,0.000,4,0.000,0.149,2332,3531,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2039,-1.50,-136.9,259.9,-11.9,260,2048,0.00,2.47,0.00,0.000,6,0.000,0.099,2332,2120,3331,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2349,-1.50,-136.9,295.9,-12.2,291,2358,0.10,2.53,0.00,0.000,4,0.324,0.128,2349,702,3330,0,0,0,0,0,0,14.69,14.75,28.83
$GC,2437,-1.50,-136.9,306.1,-12.1,299,2444,0.00,2.60,0.00,0.000,6,0.000,0.130,2343,2126,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2745,-1.50,-136.9,341.0,-11.4,330,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2126,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,-1.50,-136.9,375.4,-10.9,361,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2127,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3369,-1.50,-136.9,410.8,-11.2,386,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2127,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3669,-1.50,-136.9,444.6,-11.2,396,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2127,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3969,-1.50,-136.9,478.7,-11.2,406,3974,0.00,2.53,0.00,0.000,4,0.000,0.129,2343,711,3331,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4000,-1.50,-136.9,482.4,-11.2,407,4005,0.00,2.55,0.00,0.000,6,0.000,0.132,2335,2122,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4332,-1.50,-136.9,519.2,-11.0,418,4338,0.00,2.62,0.00,0.000,4,0.000,0.151,2324,3531,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4377,-1.50,-136.9,522.8,-11.0,419,4383,0.10,2.45,0.00,0.000,6,0.280,0.101,2351,2122,3331,0,0,0,0,0,0,14.73,14.85,28.83
$GC,4694,-1.50,-136.9,557.6,-10.5,430,4699,0.00,2.62,0.00,0.000,4,0.000,0.154,2342,3524,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4738,-1.50,-136.9,561.0,-10.6,431,4744,0.00,2.45,0.00,0.000,6,0.000,0.101,2342,2119,3331,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5055,-1.50,-136.9,594.5,-10.0,442,5061,0.00,2.50,0.00,0.000,4,0.000,0.130,2343,711,3332,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5100,-1.50,-136.9,597.8,-10.2,443,5106,0.00,2.55,0.00,0.000,6,0.000,0.133,2335,2118,3332,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,5352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5352,begin apogee
$GC,5364,-0.38,0.0,626.3,-10.4,452,5511,0.93,0.00,136.27,2.358,6,0.267,0.000,2591,2207,2772,0,0,0,0,0,0,14.76,28.83,13.19
$STATE,5512,end apogee,CONTROL_FINISHED_OK
$STATE,5512,begin climb
$GC,5517,1.50,136.9,631.0,0.0,457,5668,1.38,0.00,145.43,2.318,6,0.166,0.000,3004,2207,2214,0,0,0,0,0,0,13.97,28.83,12.78
$GC,5957,1.50,136.9,584.3,12.4,472,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2207,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6257,1.50,136.9,547.4,12.4,482,6262,0.00,2.67,0.00,0.000,4,0.000,0.143,3004,3607,2205,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6336,1.50,136.9,539.3,12.7,484,6345,0.00,2.55,0.00,0.000,6,0.000,0.104,3015,2198,2204,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6649,1.50,136.9,497.7,12.5,495,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2199,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6948,1.50,136.9,459.9,12.6,505,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2199,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7249,1.50,136.9,421.7,12.9,515,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2199,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7548,1.50,136.9,383.2,12.6,533,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2199,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,1.50,136.9,342.8,12.9,564,7871,0.00,2.65,0.00,0.000,4,0.000,0.144,3015,3608,2202,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7890,1.50,136.9,339.2,12.6,566,7898,0.00,2.53,0.00,0.000,6,0.000,0.106,3025,2194,2202,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8199,1.50,136.9,299.3,12.4,597,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2194,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8514,1.50,136.9,260.5,12.8,628,8522,0.00,2.67,0.00,0.000,4,0.000,0.148,3026,3613,2202,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8558,1.50,136.9,254.0,13.3,632,8567,0.10,2.50,0.00,0.000,6,0.272,0.106,3008,2198,2202,0,0,0,0,0,0,14.70,14.78,28.83
$GC,8869,1.50,136.9,219.3,10.9,663,8878,0.00,2.53,0.00,0.000,4,0.000,0.129,3017,785,2202,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8903,1.50,136.9,215.3,11.2,666,8913,0.00,2.53,0.00,0.000,6,0.000,0.121,3017,2202,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9215,1.50,136.9,179.6,11.3,697,9224,0.00,2.60,0.00,0.000,4,0.000,0.141,3017,3610,2201,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9376,1.50,136.9,159.9,13.0,712,9383,0.10,2.50,0.00,0.000,6,0.309,0.098,3008,2191,2202,0,0,0,0,0,0,14.71,14.82,28.83
$GC,9685,1.50,136.9,126.9,10.0,743,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2191,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9999,1.50,139.8,96.4,8.8,777,10006,0.00,2.67,0.00,0.000,4,0.000,0.145,3008,3612,2201,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10071,1.50,139.8,89.4,9.9,790,10080,0.00,2.50,0.00,0.000,6,0.000,0.103,3017,2199,2201,0,0,0,0,0,0,28.83,14.82,28.83
$GC,10391,1.53,164.0,62.1,7.9,851,10409,0.00,0.00,13.18,0.371,6,0.000,0.000,3017,2199,2103,0,0,0,0,0,0,28.83,28.83,14.63
$GC,10724,1.59,213.1,35.3,6.8,914,10756,0.00,2.60,26.42,0.284,4,0.000,0.129,3028,789,1901,0,0,0,0,0,0,28.83,14.71,14.62
$GC,10991,1.64,249.5,11.8,7.3,964,11017,0.00,2.58,18.02,0.216,6,0.000,0.125,3028,2203,1752,0,0,0,0,0,0,28.83,14.72,14.66
$STATE,11077,end climb,SURFACE_DEPTH_REACHED
$STATE,11077,begin surface coast
$FINISH,1.9,1.014843
$STATE,11106,end surface coast,CONTROL_FINISHED_OK
$STATE,11106,begin surface
$SM_CCo,11134,19.55,0.187,0,0,1587,290.19
$SM_GC,2.76,8.18,0.20,19.55,0.071,0.146,0.187,142,2113,1587,-11.60,0.40,290.19,0,0,0,0,0,0,14.75,14.73,14.66
$RAFOS_CLK,457
$RAFOS,6,1349210942,20.833334,20.817223,69,65,58,58,55,54,782,195,205,147,177,117
$RAFOS,5,1349210470,20.700001,20.686111,64,61,55,53,53,50,198,580,178,214,164,142
$RAFOS,4,1349209987,20.566668,20.551945,88,60,59,58,58,52,841,193,145,213,180,157
$RAFOS,3,1349209502,20.433332,20.417223,71,61,56,54,51,49,190,178,208,156,144,116
$RAFOS,2,1349209027,20.299999,20.285278,67,63,58,54,52,49,165,195,206,146,218,121
$RAFOS,1,1349208552,20.166666,20.153334,56,55,53,52,50,49,166,192,219,205,175,137
$RAFOS,0,1349208067,20.033333,20.018612,68,58,56,54,53,53,211,130,191,151,171,222
$RAFOS_FIX,6715.429199,-5717.586426,021012,202040,2,78,2.80
$IRIDIUM_FIX,6636.54,-5655.33,021012,141436
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.29
$INTERNAL_PRESSURE,8.76233
$TCM_TEMP,13.30
$XPDR_PINGS,5
$24V_AH,12.8,45.960
$10V_AH,13.2,0.000
$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,21.975,93.000,339.325,19.550,0.000,0.000,0.000,237.875,1.250,0.000,5.523,2489.182,6205.048,526.422,1812.318,525.639,0.000,1659.587,0.000,1609.061,2520.000,0.538,0.000
$DEVICE_MAMPS,449.820,181.305,2358.495,187.425,0.000,0.000,0.000,148.410,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.108,678.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188752
$DATA_FILE_SIZE,46655,985
$CAP_FILE_SIZE,107228,0
$CFSIZE,259252224,241086464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1461.4
$CURRENT,0.112,147.9,1
$GPS,021012,210128,6701.082,-5658.584,68,1.0,68,-33.5