version: 66.11
glider: 193
mission: 2
dive: 181
start: 10 10 112 22 14 6
data:
$ID,193
$MISSION,2
$DIVE,181
$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,-1120.2855
$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,15
$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
$GPS1,101012,220704,6645.823,-6000.073,29,0.9,29,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-67.9
$GPS2,101012,221323,6645.744,-6000.010,3,0.8,4,-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,302.9,19286,-17.3,-8.919,-19.96
$D_GRID,660
$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,-5.47,0.000,2,0.000,0.000,135,2111,1683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.1,0.0,1,158,11.00,2.65,-101.68,0.000,4,0.453,0.160,2352,709,3331,0,0,0,0,0,0,14.37,14.47,14.78
$GC,273,-1.50,-136.9,26.4,-19.9,43,279,0.00,2.70,0.00,0.000,6,0.000,0.148,2344,2121,3331,0,0,0,0,0,0,28.83,14.52,28.83
$GC,589,-1.50,-136.9,77.2,-15.4,104,596,0.00,2.72,0.00,0.000,4,0.000,0.160,2333,3530,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,677,-1.50,-136.9,91.1,-15.3,120,683,0.00,2.55,0.00,0.000,6,0.000,0.107,2333,2116,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,989,-1.50,-136.9,136.7,-13.8,156,998,0.00,2.72,0.00,0.000,4,0.000,0.160,2323,3528,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1043,-1.50,-136.9,144.6,-14.3,161,1053,0.10,2.50,0.00,0.000,6,0.291,0.104,2348,2123,3332,0,0,0,0,0,0,14.50,14.65,28.83
$GC,1354,-1.50,-136.9,185.6,-13.5,192,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1669,-1.50,-136.9,230.3,-15.2,223,1678,0.00,2.55,0.00,0.000,4,0.000,0.136,2349,707,3332,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1765,-1.50,-136.9,245.6,-15.6,232,1774,0.00,2.62,0.00,0.000,6,0.000,0.140,2341,2124,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2074,-1.50,-136.9,290.3,-13.6,263,2083,0.00,2.67,0.00,0.000,4,0.000,0.158,2330,3533,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2119,-1.50,-136.9,296.4,-13.7,267,2128,0.08,2.50,0.00,0.000,6,0.291,0.104,2349,2121,3331,0,0,0,0,0,0,14.57,14.70,28.83
$GC,2430,-1.50,-136.9,333.8,-11.4,298,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2746,-1.50,-136.9,367.2,-10.2,329,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3058,-1.50,-136.9,400.8,-11.0,360,3063,0.00,2.72,0.00,0.000,4,0.000,0.162,2340,3531,3330,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3097,-1.50,-136.9,404.7,-11.1,361,3103,0.00,2.50,0.00,0.000,6,0.000,0.106,2340,2121,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3419,-1.50,-136.9,440.3,-10.7,372,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3719,-1.50,-136.9,473.2,-10.9,382,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4019,-1.50,-136.9,507.4,-11.5,392,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4319,-1.50,-136.9,539.7,-10.7,402,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4619,-1.50,-136.9,572.0,-10.8,412,4624,0.00,2.72,0.00,0.000,4,0.000,0.166,2330,3534,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4658,-1.50,-136.9,575.6,-11.0,413,4664,0.08,2.53,0.00,0.000,6,0.285,0.109,2349,2111,3331,0,0,0,0,0,0,14.65,14.80,28.83
$GC,4980,-1.50,-136.9,610.3,-10.1,424,4986,0.00,2.50,0.00,0.000,4,0.000,0.135,2349,712,3332,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5035,-1.50,-136.9,613.5,-10.1,425,5043,0.00,2.62,0.00,0.000,6,0.000,0.143,2343,2124,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5342,-1.50,-136.9,647.7,-10.8,436,5347,0.00,2.65,0.00,0.000,4,0.000,0.158,2333,3527,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5386,-1.50,-136.9,651.0,-10.7,437,5392,0.00,2.47,0.00,0.000,6,0.000,0.106,2332,2120,3332,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,5458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5458,begin apogee
$GC,5470,-0.38,0.0,660.9,-10.9,440,5617,0.95,0.00,137.12,2.466,6,0.277,0.000,2591,2199,2771,0,0,0,0,0,0,14.65,28.83,13.09
$STATE,5618,end apogee,CONTROL_FINISHED_OK
$STATE,5618,begin climb
$GC,5624,1.50,136.9,666.4,0.0,445,5788,1.40,3.10,149.35,2.393,4,0.174,0.155,3003,3614,2214,0,0,0,0,0,0,13.87,13.17,12.49
$GC,5826,1.50,136.9,650.5,9.4,451,5832,0.00,2.78,0.00,0.000,6,0.000,0.105,3013,2198,2210,0,0,0,0,0,0,28.83,13.52,28.83
$GC,6153,1.50,136.9,611.7,11.6,462,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2198,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6453,1.50,136.9,575.2,12.1,472,6459,0.00,2.78,0.00,0.000,4,0.000,0.152,3014,3610,2203,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6477,1.50,136.9,575.2,12.1,472,6484,0.00,2.60,0.00,0.000,6,0.000,0.106,3024,2195,2203,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6786,1.50,136.9,534.0,12.0,483,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2195,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7084,1.50,136.9,498.0,12.2,493,7090,0.00,2.75,0.00,0.000,4,0.000,0.151,3024,3614,2202,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7119,1.50,136.9,494.0,12.5,494,7125,0.10,2.55,0.00,0.000,6,0.284,0.108,3008,2201,2202,0,0,0,0,0,0,14.50,14.62,28.83
$GC,7447,1.50,136.9,454.5,11.8,505,7452,0.00,2.72,0.00,0.000,4,0.000,0.154,3008,3610,2202,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7460,1.50,136.9,454.5,11.8,505,7466,0.00,2.53,0.00,0.000,6,0.000,0.106,3017,2195,2202,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7780,1.50,136.9,413.2,12.5,516,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2195,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8078,1.50,136.9,377.2,11.7,538,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2195,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8388,1.50,136.9,342.7,10.8,569,8397,0.00,2.72,0.00,0.000,4,0.000,0.151,3017,3615,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8433,1.50,136.9,337.5,11.6,573,8442,0.08,2.53,0.00,0.000,6,0.291,0.107,3008,2197,2201,0,0,0,0,0,0,14.61,14.72,28.83
$GC,8743,1.50,136.9,304.6,11.0,604,8752,0.00,2.70,0.00,0.000,4,0.000,0.150,3007,3607,2201,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8801,1.50,136.9,297.8,13.0,609,8808,0.00,2.53,0.00,0.000,6,0.000,0.106,3017,2195,2201,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9109,1.50,136.9,263.0,10.1,640,9117,0.00,2.53,0.00,0.000,4,0.000,0.130,3027,782,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9153,1.50,136.9,258.4,10.6,644,9162,0.08,2.55,0.00,0.000,6,0.284,0.124,3007,2197,2199,0,0,0,0,0,0,14.62,14.70,28.83
$GC,9464,1.52,154.4,230.1,8.2,675,9490,0.00,2.70,15.73,1.994,4,0.000,0.148,3007,3614,2143,0,0,0,0,0,0,28.83,14.59,13.90
$GC,9611,1.52,154.4,216.0,10.6,689,9618,0.00,2.55,0.00,0.000,6,0.000,0.106,3016,2199,2142,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9918,1.52,154.4,185.3,10.0,720,9927,0.00,2.53,0.00,0.000,4,0.000,0.130,3027,791,2140,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9973,1.52,154.4,179.7,10.3,725,9982,0.00,2.55,0.00,0.000,6,0.000,0.122,3026,2196,2140,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10283,1.52,154.4,148.7,9.8,756,10293,0.00,2.67,0.00,0.000,4,0.000,0.148,3027,3612,2140,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10321,1.52,154.4,145.2,9.7,759,10329,0.12,2.53,0.00,0.000,6,0.299,0.103,3009,2198,2140,0,0,0,0,0,0,14.61,14.73,28.83
$GC,10630,1.52,156.3,118.3,8.8,790,10639,0.00,2.50,0.00,0.000,4,0.000,0.129,3019,790,2139,0,0,0,0,0,0,28.83,14.68,28.83
$GC,10668,1.52,156.3,114.8,9.3,793,10675,0.00,2.58,0.00,0.000,6,0.000,0.120,3019,2207,2139,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10979,1.53,165.4,87.4,8.5,838,10993,0.00,2.60,6.12,0.470,4,0.000,0.132,3029,787,2096,0,0,0,0,0,0,28.83,14.70,14.50
$GC,11029,1.54,171.8,83.1,8.6,846,11038,0.00,2.60,3.45,0.451,6,0.000,0.125,3029,2208,2070,0,0,0,0,0,0,28.83,14.71,14.49
$GC,11354,1.55,179.6,55.1,8.6,907,11367,0.00,2.72,4.25,0.369,4,0.000,0.151,3029,3611,2039,0,0,0,0,0,0,28.83,14.64,14.54
$GC,11437,1.55,179.6,47.0,9.5,922,11445,0.00,2.55,0.00,0.000,6,0.000,0.106,3039,2191,2037,0,0,0,0,0,0,28.83,14.72,28.83
$GC,11757,1.64,253.4,24.2,5.7,983,11805,0.00,0.00,40.12,0.261,6,0.000,0.000,3039,2190,1735,0,0,0,0,0,0,28.83,28.83,14.55
$STATE,12000,end climb,SURFACE_DEPTH_REACHED
$STATE,12000,begin surface coast
$FINISH,2.2,1.025702
$STATE,12032,end surface coast,CONTROL_FINISHED_OK
$STATE,12032,begin surface
$SM_CCo,12060,17.35,0.204,0,0,1587,290.19
$SM_GC,2.77,8.60,0.15,17.35,0.109,0.162,0.204,138,2112,1587,-11.60,0.34,290.19,0,0,0,0,0,0,14.72,14.69,14.59
$RAFOS_CLK,523
$RAFOS,6,1349916543,0.833333,0.817500,120,61,58,57,56,56,761,143,114,152,217,189
$RAFOS,5,1349916069,0.700000,0.685833,102,57,54,53,52,52,872,214,194,107,173,124
$RAFOS,4,1349915589,0.566667,0.552500,109,58,51,51,49,49,662,206,131,165,142,121
$RAFOS,3,1349915109,0.433333,0.419167,84,65,57,56,47,46,717,216,200,167,140,121
$RAFOS,2,1349914627,0.300000,0.285278,93,61,58,58,57,52,499,206,147,189,166,132
$RAFOS,1,1349914145,0.166667,0.151389,130,59,55,54,53,53,450,219,195,184,126,147
$RAFOS,0,1349913664,0.033333,0.017778,58,54,54,53,50,49,201,188,224,211,178,150
$RAFOS_FIX,6648.592773,-5951.230957,111012,000028,4,104,0.95
$IRIDIUM_FIX,6614.97,-6001.10,101012,181848
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.16
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,9
$24V_AH,12.5,59.474
$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,22.575,115.675,356.150,17.350,0.000,0.000,0.000,223.450,2.250,0.000,5.622,2645.428,6774.638,534.265,1938.670,583.530,0.000,1762.225,0.000,1750.779,2520.000,0.537,0.000
$DEVICE_MAMPS,452.880,191.250,2466.360,204.255,0.000,0.000,0.000,149.175,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.070,726.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46770,1035
$CAP_FILE_SIZE,119633,0
$CFSIZE,259252224,238030848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.3
$CURRENT,0.168,154.7,1
$GPS,111012,013704,6644.662,-6002.873,24,0.7,24,-33.9