version: 66.11
glider: 193
mission: 2
dive: 146
start: 10 4 112 0 31 49
data:
$ID,193
$MISSION,2
$DIVE,146
$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,-1037.5724
$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,16
$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
$GPS1,041012,002434,6659.049,-5723.950,34,0.7,34,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-68.1
$GPS2,041012,003106,6659.143,-5724.090,4,0.7,4,-33.6
$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,300.7,136001,-17.3,-8.919,-19.96
$D_GRID,810
$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,-136.9,0.0,0.0,0,45,0.00,0.00,-24.10,0.000,2,0.000,0.000,114,2111,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-1.50,-136.9,3.0,-1.4,4,152,11.27,2.80,-80.45,0.000,4,0.463,0.180,2338,3531,3330,0,0,0,0,0,0,14.34,14.47,14.77
$GC,387,-1.50,-136.9,48.8,-13.3,65,394,0.00,2.58,0.00,0.000,6,0.000,0.108,2338,2113,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,706,-1.50,-136.9,92.9,-14.4,126,713,0.00,2.78,0.00,0.000,4,0.000,0.163,2328,3531,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,847,-1.50,-136.9,112.6,-14.2,144,855,0.12,2.55,0.00,0.000,6,0.305,0.105,2352,2115,3331,0,0,0,0,0,0,14.53,14.66,28.83
$GC,1156,-1.50,-136.9,150.9,-12.2,175,1164,0.00,2.53,0.00,0.000,4,0.000,0.134,2352,713,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1225,-1.50,-136.9,159.4,-13.3,181,1232,0.00,2.62,0.00,0.000,6,0.000,0.138,2345,2124,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1532,-1.50,-136.9,200.6,-13.0,212,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1849,-1.50,-136.9,238.5,-11.8,243,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2124,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,-1.50,-136.9,274.3,-11.8,274,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2124,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2473,-1.50,-136.9,311.1,-11.9,305,2482,0.00,2.67,0.00,0.000,4,0.000,0.158,2334,3529,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2518,-1.50,-136.9,317.2,-12.5,309,2527,0.00,2.50,0.00,0.000,6,0.000,0.107,2334,2121,3329,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2828,-1.50,-136.9,355.3,-12.2,340,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2121,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,-1.50,-136.9,391.9,-11.6,371,3153,0.00,2.70,0.00,0.000,4,0.000,0.159,2324,3525,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3202,-1.50,-136.9,399.2,-12.0,376,3210,0.12,2.53,0.00,0.000,6,0.308,0.106,2350,2111,3330,0,0,0,0,0,0,14.64,14.78,28.83
$GC,3510,-1.50,-136.9,433.4,-11.0,387,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2112,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3809,-1.50,-136.9,465.5,-10.6,397,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2112,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4110,-1.50,-136.9,496.7,-10.3,407,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-1.50,-136.9,526.1,-9.6,417,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2112,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4710,-1.50,-136.9,555.0,-9.8,427,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5009,-1.50,-136.9,583.9,-9.6,437,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5310,-1.50,-136.9,611.5,-9.0,447,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2112,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5609,-1.50,-136.9,639.0,-9.1,457,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5910,-1.50,-136.9,666.4,-9.2,467,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6210,-1.50,-136.9,695.2,-9.8,477,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6510,-1.50,-136.9,724.8,-9.9,487,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2112,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6809,-1.50,-136.9,754.7,-10.1,497,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7110,-1.50,-136.9,785.0,-10.1,507,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7374,begin apogee
$GC,7386,-0.38,0.0,811.3,-9.6,516,7538,0.88,0.00,141.38,2.577,6,0.273,0.000,2592,2202,2772,0,0,0,0,0,0,14.75,28.83,13.06
$STATE,7539,end apogee,CONTROL_FINISHED_OK
$STATE,7539,begin climb
$GC,7544,1.50,136.9,815.8,0.0,521,7716,1.40,3.15,156.48,2.640,4,0.173,0.153,3005,3611,2214,0,0,0,0,0,0,13.86,13.13,12.43
$GC,7740,1.51,148.5,804.2,8.4,527,7761,0.00,2.85,14.07,2.303,6,0.000,0.110,3015,2197,2166,0,0,0,0,0,0,28.83,13.43,12.63
$GC,8078,1.51,148.5,757.4,12.9,539,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2197,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8377,1.51,148.5,718.9,13.0,549,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2197,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8677,1.51,148.5,680.8,12.6,559,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2197,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8977,1.51,148.5,642.7,12.7,569,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9278,1.51,148.5,605.1,12.5,579,9283,0.00,2.75,0.00,0.000,4,0.000,0.158,3016,3608,2154,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9309,1.51,148.5,600.9,12.6,580,9314,0.00,2.55,0.00,0.000,6,0.000,0.113,3026,2197,2155,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9641,1.51,148.5,559.2,12.4,591,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2196,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9940,1.51,148.5,522.0,12.5,601,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2197,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10241,1.51,148.5,485.7,12.1,611,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2197,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10540,1.51,148.5,448.8,12.6,621,10541,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2197,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10841,1.51,148.5,408.8,13.7,631,10847,0.00,2.70,0.00,0.000,4,0.000,0.153,3026,3609,2153,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10890,1.51,148.5,404.2,13.8,632,10900,0.08,2.53,0.00,0.000,6,0.287,0.112,3016,2193,2154,0,0,0,0,0,0,14.68,14.77,28.83
$GC,11203,1.51,148.5,358.9,13.7,663,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2192,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11519,1.51,148.5,319.8,12.0,694,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2192,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11831,1.51,148.5,283.0,12.1,725,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2192,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12142,1.51,148.5,243.8,13.0,756,12151,0.00,2.53,0.00,0.000,4,0.000,0.136,3025,780,2152,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12218,1.51,148.5,233.2,13.3,763,12227,0.00,2.58,0.00,0.000,6,0.000,0.127,3025,2204,2152,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12527,1.51,148.5,193.6,12.1,794,12537,0.00,2.62,0.00,0.000,4,0.000,0.148,3025,3614,2152,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12658,1.51,148.5,178.4,12.0,806,12668,0.08,2.50,0.00,0.000,6,0.279,0.106,3014,2199,2152,0,0,0,0,0,0,14.68,14.78,28.83
$GC,12969,1.52,155.2,149.9,8.6,837,12979,0.00,2.60,5.03,1.590,4,0.000,0.131,3023,790,2139,0,0,0,0,0,0,28.83,14.74,13.97
$GC,13048,1.52,155.2,142.5,10.1,844,13055,0.00,2.58,0.00,0.000,6,0.000,0.122,3023,2209,2139,0,0,0,0,0,0,28.83,14.73,28.83
$GC,13356,1.52,155.2,109.9,10.1,875,13365,0.00,2.65,0.00,0.000,4,0.000,0.145,3024,3618,2139,0,0,0,0,0,0,28.83,14.70,28.83
$GC,13393,1.52,155.2,106.1,10.8,878,13402,0.10,2.53,0.00,0.000,6,0.313,0.103,3014,2198,2139,0,0,0,0,0,0,14.66,14.78,28.83
$GC,13707,1.52,155.2,77.9,12.5,933,13714,0.00,2.70,0.00,0.000,4,0.000,0.150,3013,3614,2139,0,0,0,0,0,0,28.83,14.71,28.83
$GC,13766,1.52,155.2,70.5,12.7,943,13773,0.00,2.53,0.00,0.000,6,0.000,0.106,3023,2199,2139,0,0,0,0,0,0,28.83,14.76,28.83
$GC,14090,1.55,178.0,42.2,7.9,1004,14109,0.00,2.62,12.77,0.321,4,0.000,0.132,3033,787,2045,0,0,0,0,0,0,28.83,14.70,14.59
$GC,14344,1.62,235.0,20.3,6.4,1052,14381,0.00,2.60,30.60,0.248,6,0.000,0.124,3033,2209,1810,0,0,0,0,0,0,28.83,14.71,14.59
$STATE,14551,end climb,SURFACE_DEPTH_REACHED
$STATE,14551,begin surface coast
$FINISH,2.2,1.013322
$STATE,14582,end surface coast,CONTROL_FINISHED_OK
$STATE,14582,begin surface
$SM_CCo,14611,26.95,0.198,0,0,1588,290.19
$SM_GC,3.38,8.60,0.20,26.95,0.111,0.140,0.198,134,2115,1588,-11.62,0.51,290.19,0,0,0,0,0,0,14.73,14.71,14.60
$RAFOS_CLK,640
$RAFOS,3,1349324703,4.433333,4.417500,106,59,50,50,50,47,892,172,209,221,181,198
$RAFOS,2,1349324221,4.300000,4.283611,85,57,56,54,52,52,853,185,159,172,228,195
$RAFOS,1,1349323742,4.166667,4.150556,74,65,62,61,56,52,882,138,202,213,160,177
$RAFOS,0,1349323266,4.033333,4.018333,65,57,57,56,56,55,211,201,121,166,176,154
$RAFOS,6,1349311749,0.833333,0.819167,90,66,65,64,63,61,677,208,174,141,123,157
$RAFOS,5,1349311264,0.700000,0.684444,84,60,60,60,59,57,549,195,208,154,138,163
$RAFOS,4,1349310787,0.566667,0.551944,71,65,63,61,53,49,773,200,159,219,237,117
$RAFOS,2,1349309824,0.300000,0.284444,64,60,54,54,54,54,208,233,173,136,147,865
$RAFOS_FIX,6703.343262,-5743.286133,041012,000012,4,81,66.78
$IRIDIUM_FIX,6631.12,-5721.18,031012,202036
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.61
$INTERNAL_PRESSURE,8.70374
$TCM_TEMP,12.90
$XPDR_PINGS,5
$24V_AH,12.4,48.269
$10V_AH,12.8,0.000
$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,22.650,74.200,360.325,26.950,0.000,0.000,0.000,235.525,1.250,0.000,5.670,2818.300,9182.456,514.915,1964.114,583.579,0.000,1735.647,0.000,1773.862,2880.000,0.538,0.000
$DEVICE_MAMPS,462.825,184.365,2640.015,198.135,0.000,0.000,0.000,153.765,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.260,781.658,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188768
$DATA_FILE_SIZE,50032,1097
$CAP_FILE_SIZE,117994,0
$CFSIZE,259252224,240537600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.7
$CURRENT,0.140,330.6,1
$GPS,041012,043828,6700.230,-5730.257,68,0.8,69,-33.6