version: 66.11
glider: 193
mission: 2
dive: 179
start: 10 10 112 14 55 34
data:
$ID,193
$MISSION,2
$DIVE,179
$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,-2
$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,-1105.6642
$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,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
$GPS1,101012,144758,6645.251,-5955.083,39,0.7,39,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-68.8
$GPS2,101012,145451,6645.262,-5954.912,4,0.7,4,-33.9
$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,342.9,22863,-17.3,-8.919,-19.96
$D_GRID,692
$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,-5.53,0.000,2,0.000,0.000,140,2111,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.1,0.0,1,149,11.10,2.67,-93.53,0.000,4,0.457,0.164,2352,704,3330,0,0,0,0,0,0,14.34,14.45,14.76
$GC,383,-1.50,-136.9,46.1,-16.2,65,390,0.00,2.72,0.00,0.000,6,0.000,0.151,2343,2124,3332,0,0,0,0,0,0,28.83,14.53,28.83
$GC,701,-1.50,-136.9,91.0,-13.6,126,708,0.00,2.62,0.00,0.000,4,0.000,0.141,2343,709,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,771,-1.50,-136.9,101.1,-14.9,138,779,0.00,2.65,0.00,0.000,6,0.000,0.142,2334,2124,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1080,-1.50,-136.9,145.5,-14.7,169,1090,0.00,2.70,0.00,0.000,4,0.000,0.155,2324,3534,3332,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1125,-1.50,-136.9,152.3,-14.9,173,1135,0.10,2.53,0.00,0.000,6,0.287,0.104,2349,2116,3332,0,0,0,0,0,0,14.51,14.65,28.83
$GC,1436,-1.50,-136.9,192.3,-12.2,204,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2116,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1752,-1.50,-136.9,231.6,-12.6,235,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2064,-1.50,-136.9,270.8,-12.4,266,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2375,-1.50,-136.9,307.0,-11.6,297,2385,0.00,2.55,0.00,0.000,4,0.000,0.137,2349,710,3330,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2434,-1.50,-136.9,314.3,-12.4,302,2440,0.00,2.65,0.00,0.000,6,0.000,0.143,2342,2122,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2741,-1.50,-136.9,351.3,-11.8,333,2751,0.00,2.70,0.00,0.000,4,0.000,0.160,2331,3533,3330,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2797,-1.50,-136.9,358.0,-12.0,338,2806,0.05,2.53,0.00,0.000,6,0.282,0.107,2344,2121,3330,0,0,0,0,0,0,14.59,14.72,28.83
$GC,3107,-1.50,-136.9,393.9,-11.2,369,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,-1.50,-136.9,430.4,-10.6,384,3443,0.00,2.70,0.00,0.000,4,0.000,0.164,2335,3524,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3501,-1.50,-136.9,437.3,-10.9,386,3507,0.00,2.50,0.00,0.000,6,0.000,0.109,2335,2121,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3829,-1.50,-136.9,475.1,-11.5,397,3834,0.00,2.53,0.00,0.000,4,0.000,0.135,2335,710,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3890,-1.50,-136.9,482.7,-12.1,399,3897,0.08,2.62,0.00,0.000,6,0.298,0.138,2346,2126,3330,0,0,0,0,0,0,14.61,14.72,28.83
$GC,4223,-1.50,-136.9,521.3,-11.5,410,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2126,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4522,-1.50,-136.9,555.6,-11.6,420,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2126,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4824,-1.50,-136.9,589.8,-11.3,430,4830,0.00,2.58,0.00,0.000,4,0.000,0.135,2347,703,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4859,-1.50,-136.9,593.6,-11.2,431,4864,0.00,2.62,0.00,0.000,6,0.000,0.140,2340,2121,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5186,-1.50,-136.9,628.0,-10.0,442,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5486,-1.50,-136.9,658.0,-9.9,452,5491,0.00,2.65,0.00,0.000,4,0.000,0.159,2329,3524,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5525,-1.50,-136.9,661.2,-10.0,453,5531,0.08,2.47,0.00,0.000,6,0.284,0.106,2348,2122,3331,0,0,0,0,0,0,14.64,14.79,28.83
$STATE,5842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5842,begin apogee
$GC,5854,-0.38,0.0,693.7,-9.8,464,6005,0.88,0.00,138.77,2.505,6,0.275,0.000,2589,2201,2773,0,0,0,0,0,0,14.65,28.83,13.06
$STATE,6006,end apogee,CONTROL_FINISHED_OK
$STATE,6006,begin climb
$GC,6011,1.50,136.9,698.8,0.0,469,6175,1.40,0.00,152.90,2.427,6,0.177,0.000,3000,2201,2214,0,0,0,0,0,0,13.85,28.83,12.46
$GC,6482,1.50,136.9,653.0,11.7,485,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2201,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6777,1.50,136.9,618.0,11.6,495,6783,0.00,2.80,0.00,0.000,4,0.000,0.161,3000,3607,2203,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6818,1.50,136.9,614.1,11.9,496,6823,0.00,2.60,0.00,0.000,6,0.000,0.112,3010,2198,2203,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7140,1.50,136.9,574.3,11.5,507,7145,0.00,2.60,0.00,0.000,4,0.000,0.138,3020,787,2202,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7184,1.50,136.9,570.5,11.6,508,7189,0.00,2.62,0.00,0.000,6,0.000,0.132,3020,2198,2201,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7502,1.50,136.9,530.4,12.2,519,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7801,1.50,136.9,493.7,12.4,529,7806,0.00,2.67,0.00,0.000,4,0.000,0.149,3021,3605,2201,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7820,1.50,136.9,493.7,12.4,529,7829,0.08,2.53,0.00,0.000,6,0.286,0.106,3011,2195,2201,0,0,0,0,0,0,14.55,14.65,28.83
$GC,8132,1.50,136.9,452.2,12.4,540,8138,0.00,2.53,0.00,0.000,4,0.000,0.132,3019,788,2201,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8172,1.50,136.9,448.2,12.6,541,8177,0.00,2.55,0.00,0.000,6,0.000,0.122,3020,2201,2200,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8493,1.50,136.9,406.1,12.6,552,8499,0.00,2.70,0.00,0.000,4,0.000,0.149,3020,3617,2200,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8525,1.50,136.9,402.0,12.8,553,8531,0.08,2.53,0.00,0.000,6,0.285,0.107,3010,2198,2200,0,0,0,0,0,0,14.62,14.73,28.83
$GC,8837,1.50,136.9,363.4,12.3,582,8847,0.00,2.53,0.00,0.000,4,0.000,0.132,3019,784,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8862,1.50,136.9,360.3,12.0,584,8871,0.00,2.55,0.00,0.000,6,0.000,0.122,3019,2196,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9173,1.50,136.9,321.4,12.6,615,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2196,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9488,1.50,136.9,283.4,12.8,646,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2196,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9801,1.50,136.9,246.1,10.9,677,9809,0.00,2.67,0.00,0.000,4,0.000,0.151,3018,3612,2200,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9877,1.50,136.9,237.0,11.9,684,9885,0.12,2.55,0.00,0.000,6,0.306,0.109,3003,2192,2200,0,0,0,0,0,0,14.65,14.78,28.83
$GC,10186,1.50,136.9,206.5,9.2,715,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2192,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10502,1.51,148.9,179.9,8.4,746,10520,0.00,2.78,10.30,1.893,4,0.000,0.156,3003,3624,2165,0,0,0,0,0,0,28.83,14.66,13.96
$GC,10589,1.51,148.9,171.3,10.0,754,10597,0.00,2.58,0.00,0.000,6,0.000,0.108,3012,2194,2165,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10898,1.54,171.3,144.6,7.9,785,10927,0.00,2.58,23.38,1.945,4,0.000,0.132,3022,788,2073,0,0,0,0,0,0,28.83,14.49,13.83
$GC,10978,1.54,171.3,137.6,9.1,793,10987,0.00,2.62,0.00,0.000,6,0.000,0.124,3022,2206,2070,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11288,1.55,177.4,109.8,8.7,824,11298,0.00,2.67,3.20,1.177,4,0.000,0.146,3022,3613,2050,0,0,0,0,0,0,28.83,14.57,13.81
$GC,11373,1.55,177.4,101.4,10.3,832,11382,0.00,2.53,0.00,0.000,6,0.000,0.106,3032,2201,2049,0,0,0,0,0,0,28.83,14.61,28.83
$GC,11687,1.55,179.2,71.2,8.8,892,11694,0.00,2.55,0.00,0.000,4,0.000,0.132,3043,788,2047,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11731,1.55,179.2,67.0,9.8,899,11738,0.12,2.60,0.00,0.000,6,0.295,0.123,3017,2207,2047,0,0,0,0,0,0,14.56,14.64,28.83
$GC,12053,1.58,200.5,41.7,8.0,960,12073,0.00,2.75,12.80,0.313,4,0.000,0.149,3016,3614,1953,0,0,0,0,0,0,28.83,14.62,14.52
$GC,12140,1.58,200.5,33.7,10.7,975,12147,0.00,2.55,0.00,0.000,6,0.000,0.105,3024,2194,1951,0,0,0,0,0,0,28.83,14.68,28.83
$GC,12457,1.63,246.9,9.9,6.9,1036,12488,0.00,2.62,24.58,0.218,4,0.000,0.133,3034,785,1763,0,0,0,0,0,0,28.83,14.64,14.59
$STATE,12543,end climb,SURFACE_DEPTH_REACHED
$STATE,12543,begin surface coast
$FINISH,2.3,1.012923
$STATE,12585,end surface coast,CONTROL_FINISHED_OK
$STATE,12585,begin surface
$SM_CCo,12615,21.40,0.205,0,0,1588,290.19
$SM_GC,2.89,8.70,2.55,21.40,0.119,0.135,0.205,137,2121,1588,-11.60,-0.54,290.19,0,0,0,0,0,0,14.70,14.62,14.57
$RAFOS_CLK,554
$RAFOS,6,1349887741,16.833334,16.816944,110,57,56,56,53,52,749,192,219,163,202,178
$RAFOS,5,1349887285,16.700001,16.690277,105,69,58,56,53,52,764,210,170,114,145,302
$RAFOS,4,1349886792,16.566668,16.553333,60,57,54,53,50,49,203,135,118,212,168,153
$RAFOS,3,1349886324,16.433332,16.423334,102,66,64,58,58,54,618,195,181,221,208,118
$RAFOS,2,1349885844,16.299999,16.290001,76,60,58,52,52,52,400,186,221,120,198,150
$RAFOS,1,1349885361,16.166666,16.155834,109,60,55,54,54,52,376,206,126,112,185,144
$RAFOS,0,1349884881,16.033333,16.022499,56,55,53,51,49,49,116,191,158,206,140,218
$RAFOS_FIX,6647.961426,-5937.581055,101012,161632,3,106,2.15
$IRIDIUM_FIX,6620.33,-5953.65,101012,101044
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.45
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.60
$XPDR_PINGS,6
$24V_AH,12.5,58.903
$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,22.775,114.975,365.925,21.400,0.000,0.000,0.000,256.675,1.500,0.000,5.678,2707.972,7218.249,567.432,1990.377,580.918,0.000,1819.690,0.000,1770.544,2520.000,0.536,0.000
$DEVICE_MAMPS,457.470,192.780,2504.610,205.020,0.000,0.000,0.000,145.350,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.003,745.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188736
$DATA_FILE_SIZE,50067,1059
$CAP_FILE_SIZE,119952,0
$CFSIZE,259252224,238157824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.3
$CURRENT,0.163,161.8,1
$GPS,101012,182804,6645.178,-5957.459,40,0.8,40,-33.9