version: 66.11
glider: 193
mission: 2
dive: 139
start: 10 2 112 21 8 32
data:
$ID,193
$MISSION,2
$DIVE,139
$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,-1016.2062
$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,14
$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
$GPS1,021012,210128,6701.082,-5658.584,68,1.0,68,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-64.2
$GPS2,021012,210748,6701.124,-5658.536,4,1.0,5,-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,317.2,155050,-17.3,-8.919,-19.96
$D_GRID,686
$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,-136.9,0.0,0.0,0,62,0.00,0.00,-40.45,0.000,2,0.000,0.000,127,2111,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.50,-136.9,3.2,-1.6,7,123,11.07,2.58,-35.80,0.000,4,0.458,0.158,2350,712,3330,0,0,0,0,0,0,14.40,14.54,14.81
$GC,359,-1.50,-136.9,47.4,-14.0,61,366,0.00,2.65,0.00,0.000,6,0.000,0.141,2343,2130,3332,0,0,0,0,0,0,28.83,14.61,28.83
$GC,677,-1.50,-136.9,90.5,-14.6,122,684,0.00,2.60,0.00,0.000,4,0.000,0.134,2343,711,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,725,-1.50,-136.9,97.8,-15.3,130,731,0.00,2.62,0.00,0.000,6,0.000,0.135,2334,2131,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1043,-1.50,-136.9,142.8,-13.9,162,1052,0.00,2.62,0.00,0.000,4,0.000,0.149,2323,3534,3333,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1130,-1.50,-136.9,154.7,-14.1,170,1138,0.12,2.53,0.00,0.000,6,0.304,0.101,2349,2113,3332,0,0,0,0,0,0,14.62,14.74,28.83
$GC,1438,-1.50,-136.9,192.3,-11.7,201,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2113,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1754,-1.50,-136.9,229.8,-12.2,232,1763,0.00,2.67,0.00,0.000,4,0.000,0.154,2339,3527,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1792,-1.50,-136.9,234.6,-12.1,235,1799,0.00,2.50,0.00,0.000,6,0.000,0.103,2339,2119,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2100,-1.50,-136.9,272.1,-11.7,266,2109,0.00,2.53,0.00,0.000,4,0.000,0.132,2339,705,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2165,-1.50,-136.9,280.1,-12.3,272,2174,0.05,2.58,0.00,0.000,6,0.303,0.132,2343,2123,3330,0,0,0,0,0,0,14.66,14.73,28.83
$GC,2475,-1.50,-136.9,313.1,-10.3,303,2483,0.00,2.60,0.00,0.000,4,0.000,0.148,2335,3528,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2529,-1.50,-136.9,319.1,-11.0,308,2537,0.00,2.45,0.00,0.000,6,0.000,0.099,2335,2124,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2839,-1.50,-136.9,352.8,-10.8,339,2848,0.00,2.53,0.00,0.000,4,0.000,0.129,2335,705,3329,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2884,-1.50,-136.9,357.9,-11.5,343,2893,0.08,2.58,0.00,0.000,6,0.291,0.128,2347,2127,3329,0,0,0,0,0,0,14.67,14.74,28.83
$GC,3194,-1.50,-136.9,389.8,-10.4,374,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2127,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3504,-1.50,-136.9,421.9,-10.3,391,3509,0.00,2.60,0.00,0.000,4,0.000,0.147,2338,3531,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3535,-1.50,-136.9,425.4,-10.5,392,3541,0.00,2.47,0.00,0.000,6,0.000,0.099,2338,2114,3330,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3866,-1.50,-136.9,460.4,-10.3,403,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2114,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4166,-1.50,-136.9,491.3,-10.3,413,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4467,-1.50,-136.9,522.7,-10.4,423,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4766,-1.50,-136.9,554.3,-10.7,433,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5066,-1.50,-136.9,586.0,-10.8,443,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2114,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5366,-1.50,-136.9,617.6,-10.5,453,5372,0.00,2.67,0.00,0.000,4,0.000,0.158,2328,3530,3332,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5441,-1.50,-136.9,624.3,-10.6,455,5447,0.08,2.47,0.00,0.000,6,0.280,0.108,2348,2125,3332,0,0,0,0,0,0,14.76,14.87,28.83
$GC,5759,-1.50,-136.9,657.0,-9.8,466,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2124,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6059,-1.50,-136.9,685.7,-9.5,476,6064,0.00,2.55,0.00,0.000,4,0.000,0.139,2348,699,3331,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,6084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6084,begin apogee
$GC,6099,-0.38,0.0,688.8,-9.6,477,6248,0.90,0.00,137.05,2.431,6,0.265,0.000,2592,2200,2773,0,0,0,0,0,0,14.77,28.83,13.16
$STATE,6249,end apogee,CONTROL_FINISHED_OK
$STATE,6249,begin climb
$GC,6255,1.50,136.9,693.3,0.0,482,6407,1.38,0.00,148.30,2.383,6,0.165,0.000,3005,2200,2214,0,0,0,0,0,0,13.95,28.83,12.71
$GC,6690,1.50,136.9,647.0,12.5,497,6695,0.00,2.78,0.00,0.000,4,0.000,0.149,3004,3606,2206,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6714,1.50,136.9,647.0,12.5,497,6721,0.00,2.65,0.00,0.000,6,0.000,0.105,3015,2191,2206,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7021,1.50,136.9,604.6,12.4,508,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2191,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7321,1.50,136.9,567.9,11.9,518,7327,0.00,2.72,0.00,0.000,4,0.000,0.148,3015,3610,2203,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7375,1.50,136.9,563.7,12.2,519,7382,0.00,2.58,0.00,0.000,6,0.000,0.106,3026,2191,2203,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7683,1.50,136.9,520.4,13.4,530,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2192,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7982,1.50,136.9,481.4,12.9,540,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2191,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8283,1.50,136.9,442.0,13.1,550,8288,0.00,2.70,0.00,0.000,4,0.000,0.146,3026,3614,2201,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8307,1.50,136.9,442.0,13.1,550,8315,0.15,2.55,0.00,0.000,6,0.292,0.105,3003,2190,2202,0,0,0,0,0,0,14.66,14.76,28.83
$GC,8614,1.50,136.9,402.4,11.6,561,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2190,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8914,1.50,136.9,368.2,11.8,589,8923,0.00,2.50,0.00,0.000,4,0.000,0.131,3013,791,2201,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8960,1.50,136.9,362.7,12.3,593,8969,0.00,2.53,0.00,0.000,6,0.000,0.121,3013,2198,2199,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9269,1.50,136.9,324.2,12.4,624,9278,0.00,2.62,0.00,0.000,4,0.000,0.142,3013,3607,2200,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9327,1.50,136.9,316.9,13.8,629,9334,0.00,2.50,0.00,0.000,6,0.000,0.103,3023,2197,2200,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9635,1.50,136.9,279.0,12.1,660,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9951,1.50,136.9,242.1,11.4,691,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2197,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10263,1.50,136.9,206.6,10.9,722,10271,0.00,2.65,0.00,0.000,4,0.000,0.146,3023,3610,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10331,1.50,136.9,198.3,12.2,728,10339,0.12,2.50,0.00,0.000,6,0.296,0.105,3006,2199,2200,0,0,0,0,0,0,14.73,14.83,28.83
$GC,10639,1.50,136.9,165.9,10.4,759,10648,0.00,2.50,0.00,0.000,4,0.000,0.129,3016,794,2199,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10683,1.50,136.9,161.3,10.5,763,10692,0.00,2.50,0.00,0.000,6,0.000,0.120,3016,2202,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10994,1.50,136.9,129.8,9.9,794,11000,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2202,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11304,1.50,136.9,99.6,9.8,825,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11621,1.50,136.9,69.1,9.3,886,11628,0.00,2.55,0.00,0.000,4,0.000,0.130,3025,790,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11668,1.50,136.9,64.9,9.2,894,11675,0.00,2.55,0.00,0.000,6,0.000,0.122,3026,2204,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11991,1.54,169.8,39.2,7.5,955,12016,0.00,2.70,16.20,0.299,4,0.000,0.145,3025,3613,2077,0,0,0,0,0,0,28.83,14.71,14.65
$GC,12047,1.54,169.8,33.7,10.3,964,12053,0.00,2.53,0.00,0.000,6,0.000,0.101,3036,2192,2075,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12365,1.57,196.3,9.6,7.8,1025,12385,0.00,2.53,13.25,0.218,4,0.000,0.128,3046,784,1970,0,0,0,0,0,0,28.83,14.73,14.68
$STATE,12440,end climb,SURFACE_DEPTH_REACHED
$STATE,12440,begin surface coast
$FINISH,1.9,1.024591
$STATE,12481,end surface coast,CONTROL_FINISHED_OK
$STATE,12481,begin surface
$SM_CCo,12512,47.30,0.187,0,0,1587,290.19
$SM_GC,3.69,9.23,2.50,47.30,0.174,0.124,0.187,144,2123,1587,-11.59,-0.48,290.19,0,0,0,0,0,0,14.75,14.71,14.63
$RAFOS_CLK,523
$RAFOS,3,1349223903,0.433333,0.417500,81,71,59,52,51,51,964,216,186,124,164,203
$RAFOS,2,1349223427,0.300000,0.285278,61,60,59,59,58,57,216,160,201,234,179,142
$RAFOS,1,1349222950,0.166667,0.152778,68,64,60,55,53,53,209,122,139,170,194,156
$RAFOS,0,1349222466,0.033333,0.018333,62,58,56,55,55,54,148,229,120,204,131,218
$RAFOS_FIX,6715.429199,-5717.586426,021012,202040,2,78,2.80
$IRIDIUM_FIX,6636.54,-5655.33,021012,171738
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.10
$INTERNAL_PRESSURE,8.75257
$TCM_TEMP,13.10
$XPDR_PINGS,2
$24V_AH,12.7,46.230
$10V_AH,13.1,0.000
$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,23.175,103.250,314.800,47.300,0.000,0.000,0.000,230.675,0.500,0.000,5.507,2641.346,7326.004,545.057,1874.572,559.784,0.000,1705.693,0.000,1685.982,1800.000,0.538,0.000
$DEVICE_MAMPS,458.235,157.590,2431.170,186.660,0.000,0.000,0.000,151.470,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.274,727.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188712
$DATA_FILE_SIZE,50069,1046
$CAP_FILE_SIZE,113996,0
$CFSIZE,259252224,241016832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.7
$CURRENT,0.108, 91.1,1
$GPS,031012,003934,6701.514,-5700.830,42,0.8,42,-33.5