version: 66.11
glider: 193
mission: 2
dive: 180
start: 10 10 112 18 35 47
data:
$ID,193
$MISSION,2
$DIVE,180
$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,-1118.9353
$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
$GPS1,101012,182804,6645.178,-5957.459,40,0.8,40,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-68.6
$GPS2,101012,183512,6645.166,-5957.194,4,0.8,4,-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,338.5,21183,-17.3,-8.919,-19.96
$D_GRID,679
$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,-136.9,0.0,0.0,0,26,0.00,0.00,-5.50,0.000,2,0.000,0.000,136,2123,1684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.1,0.0,1,148,11.02,2.65,-95.62,0.000,4,0.453,0.161,2350,708,3330,0,0,0,0,0,0,14.34,14.49,14.76
$GC,313,-1.50,-136.9,33.9,-15.9,51,320,0.00,2.70,0.00,0.000,6,0.000,0.148,2343,2122,3331,0,0,0,0,0,0,28.83,14.52,28.83
$GC,632,-1.50,-136.9,82.5,-14.7,112,639,0.00,2.72,0.00,0.000,4,0.000,0.161,2332,3528,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,674,-1.50,-136.9,89.2,-15.6,119,680,0.00,2.55,0.00,0.000,6,0.000,0.105,2332,2111,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,986,-1.50,-136.9,134.1,-13.7,156,993,0.10,0.00,0.00,0.000,6,0.329,0.000,2350,2110,3332,0,0,0,0,0,0,14.54,28.83,28.83
$GC,1295,-1.50,-136.9,172.9,-12.7,187,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2110,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1613,-1.50,-136.9,210.4,-11.6,218,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2110,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1924,-1.50,-136.9,248.2,-12.4,249,1933,0.00,2.75,0.00,0.000,4,0.000,0.168,2341,3524,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1980,-1.50,-136.9,255.5,-12.3,254,1989,0.00,2.53,0.00,0.000,6,0.000,0.111,2340,2116,3331,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2289,-1.50,-136.9,293.9,-12.3,285,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2116,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2604,-1.50,-136.9,330.9,-11.7,316,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2915,-1.50,-136.9,366.4,-11.1,347,2924,0.00,2.55,0.00,0.000,4,0.000,0.138,2341,703,3330,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2991,-1.50,-136.9,376.3,-12.7,354,2999,0.00,2.62,0.00,0.000,6,0.000,0.142,2334,2118,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3325,-1.50,-136.9,414.8,-11.6,379,3330,0.00,2.58,0.00,0.000,4,0.000,0.135,2334,702,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3366,-1.50,-136.9,419.3,-11.7,380,3372,0.08,2.62,0.00,0.000,6,0.301,0.135,2345,2125,3330,0,0,0,0,0,0,14.59,14.71,28.83
$GC,3688,-1.50,-136.9,455.2,-10.5,391,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2126,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3987,-1.50,-136.9,485.1,-9.8,401,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2126,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4287,-1.50,-136.9,515.1,-10.0,411,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2125,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4588,-1.50,-136.9,544.9,-9.9,421,4593,0.00,2.65,0.00,0.000,4,0.000,0.155,2337,3527,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4627,-1.50,-136.9,548.3,-10.0,422,4632,0.00,2.47,0.00,0.000,6,0.000,0.103,2337,2120,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4949,-1.50,-136.9,582.9,-10.5,433,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5249,-1.50,-136.9,614.3,-10.7,443,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5549,-1.50,-136.9,647.2,-11.0,453,5554,0.00,2.70,0.00,0.000,4,0.000,0.166,2327,3528,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5598,-1.50,-136.9,650.8,-11.1,454,5603,0.08,2.50,0.00,0.000,6,0.282,0.107,2346,2113,3332,0,0,0,0,0,0,14.66,14.81,28.83
$STATE,5879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5879,begin apogee
$GC,5891,-0.38,0.0,681.7,-9.9,464,6039,0.88,0.00,137.75,2.488,6,0.276,0.000,2586,2203,2773,0,0,0,0,0,0,14.66,28.83,13.07
$STATE,6040,end apogee,CONTROL_FINISHED_OK
$STATE,6040,begin climb
$GC,6046,1.50,136.9,686.5,0.0,469,6207,1.42,0.00,151.88,2.417,6,0.177,0.000,3005,2202,2213,0,0,0,0,0,0,13.86,28.83,12.47
$GC,6514,1.50,136.9,640.7,11.3,485,6519,0.00,2.85,0.00,0.000,4,0.000,0.158,3005,3607,2204,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6568,1.50,136.9,636.4,11.5,486,6576,0.00,2.65,0.00,0.000,6,0.000,0.109,3015,2201,2204,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6876,1.50,136.9,595.6,12.5,497,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2199,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7176,1.50,136.9,559.3,12.1,507,7181,0.00,2.78,0.00,0.000,4,0.000,0.158,3015,3610,2202,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7230,1.50,136.9,555.3,12.2,508,7237,0.00,2.58,0.00,0.000,6,0.000,0.110,3026,2198,2202,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7541,1.50,136.9,512.9,12.9,519,7546,0.00,2.75,0.00,0.000,4,0.000,0.155,3026,3608,2201,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7575,1.50,136.9,508.2,13.0,520,7581,0.10,2.53,0.00,0.000,6,0.285,0.111,3010,2204,2201,0,0,0,0,0,0,14.50,14.62,28.83
$GC,7902,1.50,136.9,468.4,11.7,531,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2204,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8202,1.50,136.9,434.2,11.6,541,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2204,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8502,1.50,136.9,399.6,11.5,551,8511,0.00,2.55,0.00,0.000,4,0.000,0.133,3019,787,2200,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8566,1.50,136.9,392.2,11.8,557,8575,0.00,2.58,0.00,0.000,6,0.000,0.125,3019,2199,2198,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8877,1.50,136.9,355.0,11.7,588,8885,0.00,2.58,0.00,0.000,4,0.000,0.135,3029,787,2198,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8934,1.50,136.9,348.5,12.2,593,8941,0.10,2.58,0.00,0.000,6,0.311,0.125,3009,2201,2199,0,0,0,0,0,0,14.63,14.72,28.83
$GC,9242,1.50,136.9,312.4,11.5,624,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2201,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9557,1.50,136.9,275.6,11.9,655,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2201,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9871,1.50,136.9,239.6,11.2,686,9880,0.00,2.65,0.00,0.000,4,0.000,0.149,3009,3609,2199,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9926,1.50,136.9,232.3,12.0,691,9935,0.00,2.53,0.00,0.000,6,0.000,0.109,3018,2194,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10236,1.50,136.9,200.4,9.7,722,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2194,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10551,1.50,136.9,170.7,9.4,753,10560,0.00,2.70,0.00,0.000,4,0.000,0.156,3018,3610,2199,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10616,1.50,136.9,163.6,10.5,759,10625,0.08,2.50,0.00,0.000,6,0.282,0.108,3008,2202,2199,0,0,0,0,0,0,14.64,14.78,28.83
$GC,10927,1.51,145.9,136.3,8.5,790,10938,0.00,2.62,5.30,1.642,4,0.000,0.132,3017,778,2177,0,0,0,0,0,0,28.83,14.73,13.94
$GC,10954,1.54,167.4,134.1,8.0,792,10982,0.00,2.58,17.40,1.910,6,0.000,0.123,3017,2203,2089,0,0,0,0,0,0,28.83,14.69,13.90
$GC,11284,1.54,171.9,105.3,8.7,825,11294,0.00,2.72,2.00,0.557,4,0.000,0.154,3017,3616,2072,0,0,0,0,0,0,28.83,14.60,13.09
$GC,11375,1.54,171.9,96.1,10.6,837,11382,0.00,2.58,0.00,0.000,6,0.000,0.107,3026,2195,2071,0,0,0,0,0,0,28.83,14.67,28.83
$GC,11693,1.54,172.7,66.1,8.9,898,11700,0.00,2.75,0.00,0.000,4,0.000,0.155,3027,3614,2070,0,0,0,0,0,0,28.83,14.63,28.83
$GC,11771,1.54,172.7,58.4,10.1,912,11777,0.00,2.55,0.00,0.000,6,0.000,0.106,3037,2195,2070,0,0,0,0,0,0,28.83,14.70,28.83
$GC,12087,1.54,172.7,30.5,9.4,973,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,2069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12403,1.64,254.7,11.0,5.4,1034,12459,0.00,2.83,44.65,0.216,4,0.000,0.156,3037,3617,1729,0,0,0,0,0,0,28.83,14.57,14.58
$STATE,12490,end climb,SURFACE_DEPTH_REACHED
$STATE,12490,begin surface coast
$FINISH,2.3,1.024875
$STATE,12525,end surface coast,CONTROL_FINISHED_OK
$STATE,12525,begin surface
$SM_CCo,12556,16.92,0.201,0,0,1587,290.19
$SM_GC,3.03,8.65,2.80,16.92,0.111,0.112,0.201,136,2112,1587,-11.61,0.31,290.19,0,0,0,0,0,0,14.70,14.66,14.57
$RAFOS_CLK,573
$RAFOS,6,1349902163,20.833334,20.823055,118,63,59,57,56,53,633,186,145,221,210,163
$RAFOS,5,1349901678,20.700001,20.688334,112,62,61,57,55,55,812,202,193,216,165,181
$RAFOS,4,1349901197,20.566668,20.554722,103,63,57,54,54,53,605,200,143,223,166,182
$RAFOS,3,1349900701,20.433332,20.416945,127,65,56,56,52,50,762,124,219,201,187,80
$RAFOS,2,1349900231,20.299999,20.286388,65,64,59,53,53,51,161,218,200,175,184,124
$RAFOS,1,1349899748,20.166666,20.152222,130,71,69,57,53,51,439,203,219,157,190,175
$RAFOS,0,1349899270,20.033333,20.019444,72,56,55,53,53,52,218,122,198,138,174,162
$RAFOS_FIX,6648.786621,-5946.539062,101012,202028,4,115,1.38
$IRIDIUM_FIX,6614.97,-5951.67,101012,141440
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.94
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.60
$XPDR_PINGS,7
$24V_AH,12.5,59.192
$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,22.500,95.000,358.975,16.925,0.000,0.000,0.000,271.950,1.750,0.000,12.642,2652.430,7293.418,558.032,1938.929,568.212,0.000,1778.905,0.000,1705.275,2520.000,0.536,0.000
$DEVICE_MAMPS,452.880,186.660,2487.780,201.195,0.000,0.000,0.000,141.525,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.464,740.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188720
$DATA_FILE_SIZE,50122,1055
$CAP_FILE_SIZE,113882,0
$CFSIZE,259252224,238100480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.4
$CURRENT,0.046,132.3,1
$GPS,101012,220704,6645.823,-6000.073,29,0.9,29,-33.9