version: 66.11
glider: 193
mission: 2
dive: 182
start: 10 11 112 1 44 32
data:
$ID,193
$MISSION,2
$DIVE,182
$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,-1121.6371
$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,17
$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
$GPS1,111012,013704,6644.662,-6002.873,24,0.7,24,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-65.4
$GPS2,111012,014353,6644.636,-6002.861,5,0.7,5,-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,339.6,16969,-17.3,-8.919,-19.96
$D_GRID,618
$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,14,begin dive
$GC,19,-1.50,-136.9,0.0,0.0,0,27,0.00,0.00,-5.60,0.000,2,0.000,0.000,135,2110,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.1,0.0,1,155,10.95,2.67,-103.22,0.000,4,0.450,0.163,2350,710,3330,0,0,0,0,0,0,14.33,14.50,14.78
$GC,291,-1.50,-136.9,29.2,-19.4,46,298,0.00,2.70,0.00,0.000,6,0.000,0.151,2342,2120,3332,0,0,0,0,0,0,28.83,14.51,28.83
$GC,607,-1.50,-136.9,84.1,-15.0,107,614,0.00,2.72,0.00,0.000,4,0.000,0.162,2332,3530,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,690,-1.50,-136.9,97.1,-16.1,122,697,0.10,2.55,0.00,0.000,6,0.314,0.108,2349,2114,3332,0,0,0,0,0,0,14.50,14.64,28.83
$GC,1004,-1.50,-136.9,141.1,-14.0,154,1013,0.00,2.55,0.00,0.000,4,0.000,0.135,2350,703,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1078,-1.50,-136.9,152.0,-14.6,161,1088,0.00,2.62,0.00,0.000,6,0.000,0.139,2342,2123,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1389,-1.50,-136.9,194.8,-13.6,192,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2123,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1705,-1.50,-136.9,236.7,-13.7,223,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2017,-1.50,-136.9,278.5,-13.1,254,2026,0.00,2.55,0.00,0.000,4,0.000,0.135,2341,713,3331,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2062,-1.50,-136.9,285.1,-13.2,258,2071,0.00,2.60,0.00,0.000,6,0.000,0.138,2335,2120,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2371,-1.50,-136.9,324.2,-12.5,289,2381,0.00,2.67,0.00,0.000,4,0.000,0.155,2324,3531,3330,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2507,-1.50,-136.9,341.6,-12.7,302,2517,0.10,2.50,0.00,0.000,6,0.288,0.103,2349,2116,3330,0,0,0,0,0,0,14.56,14.71,28.83
$GC,2818,-1.50,-136.9,377.5,-11.5,333,2827,0.00,2.50,0.00,0.000,4,0.000,0.132,2350,713,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2873,-1.50,-136.9,384.1,-12.2,338,2882,0.00,2.60,0.00,0.000,6,0.000,0.140,2343,2123,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3194,-1.50,-136.9,420.3,-11.1,358,3199,0.00,2.67,0.00,0.000,4,0.000,0.158,2333,3534,3330,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3248,-1.50,-136.9,424.2,-11.2,359,3255,0.00,2.53,0.00,0.000,6,0.000,0.104,2333,2114,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3556,-1.50,-136.9,462.3,-11.4,370,3561,0.00,2.50,0.00,0.000,4,0.000,0.132,2332,712,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3590,-1.50,-136.9,466.1,-11.4,371,3596,0.10,2.58,0.00,0.000,6,0.303,0.140,2350,2123,3331,0,0,0,0,0,0,14.59,14.71,28.83
$GC,3918,-1.50,-136.9,500.6,-10.1,382,3924,0.00,2.65,0.00,0.000,4,0.000,0.158,2341,3531,3331,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3949,-1.50,-136.9,503.8,-10.0,383,3955,0.00,2.47,0.00,0.000,6,0.000,0.106,2341,2124,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4282,-1.50,-136.9,538.9,-10.7,394,4287,0.00,2.53,0.00,0.000,4,0.000,0.133,2341,705,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4331,-1.50,-136.9,542.6,-10.7,395,4340,0.00,2.60,0.00,0.000,6,0.000,0.138,2334,2119,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4644,-1.50,-136.9,580.0,-11.4,406,4649,0.00,2.65,0.00,0.000,4,0.000,0.155,2323,3530,3330,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4684,-1.50,-136.9,583.6,-11.4,407,4690,0.10,2.47,0.00,0.000,6,0.286,0.103,2349,2117,3331,0,0,0,0,0,0,14.62,14.78,28.83
$GC,5006,-1.50,-136.9,617.5,-10.0,418,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2117,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5030,begin apogee
$GC,5043,-0.38,0.0,620.3,-9.9,419,5190,0.88,0.00,136.57,2.437,6,0.278,0.000,2588,2207,2772,0,0,0,0,0,0,14.65,28.83,13.09
$STATE,5191,end apogee,CONTROL_FINISHED_OK
$STATE,5191,begin climb
$GC,5197,1.50,136.9,624.9,0.0,424,5352,1.42,0.00,149.62,2.384,6,0.177,0.000,3006,2208,2214,0,0,0,0,0,0,13.85,28.83,12.50
$GC,5636,1.50,136.9,580.3,12.2,439,5641,0.00,2.85,0.00,0.000,4,0.000,0.155,3006,3614,2205,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5690,1.50,136.9,576.2,12.5,440,5697,0.00,2.67,0.00,0.000,6,0.000,0.107,3017,2195,2204,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5997,1.50,136.9,534.4,12.5,451,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2195,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6297,1.50,136.9,496.9,12.3,461,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2195,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6597,1.50,136.9,459.9,12.3,471,6603,0.00,2.55,0.00,0.000,4,0.000,0.132,3027,789,2202,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6632,1.50,136.9,455.9,12.3,472,6638,0.05,2.60,0.00,0.000,6,0.288,0.129,3014,2199,2200,0,0,0,0,0,0,14.50,14.58,28.83
$GC,6959,1.50,136.9,415.2,12.4,483,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2199,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7259,1.50,136.9,379.3,11.3,503,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2199,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7575,1.50,136.9,342.6,11.3,534,7584,0.00,2.67,0.00,0.000,4,0.000,0.152,3013,3611,2201,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7633,1.50,136.9,335.0,12.9,539,7640,0.00,2.58,0.00,0.000,6,0.000,0.110,3022,2189,2201,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7942,1.50,136.9,300.0,11.4,570,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2189,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8256,1.50,136.9,264.9,11.1,601,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2189,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8570,1.50,136.9,231.9,9.8,632,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2188,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8876,1.50,136.9,201.7,9.5,663,8885,0.00,2.72,0.00,0.000,4,0.000,0.155,3022,3611,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9065,1.50,136.9,181.8,10.5,681,9076,0.08,2.53,0.00,0.000,6,0.279,0.110,3012,2196,2200,0,0,0,0,0,0,14.62,14.73,28.83
$GC,9377,1.52,153.7,154.2,8.2,712,9397,0.00,2.58,15.07,1.951,4,0.000,0.136,3022,787,2145,0,0,0,0,0,0,28.83,14.62,13.92
$GC,9469,1.52,153.7,146.4,9.0,721,9478,0.00,2.58,0.00,0.000,6,0.000,0.126,3021,2198,2143,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9779,1.55,175.9,120.2,8.0,752,9799,0.00,2.80,13.48,1.834,4,0.000,0.154,3021,3614,2054,0,0,0,0,0,0,28.83,14.53,13.88
$GC,9831,1.55,175.9,115.3,9.9,757,9840,0.00,2.55,0.00,0.000,6,0.000,0.104,3031,2193,2052,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10146,1.55,175.9,84.2,9.2,803,10152,0.00,2.55,0.00,0.000,4,0.000,0.131,3041,783,2048,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10205,1.55,175.9,78.7,9.9,813,10213,0.12,2.60,0.00,0.000,6,0.292,0.125,3015,2199,2048,0,0,0,0,0,0,14.54,14.62,28.83
$GC,10531,1.56,183.6,50.9,8.6,874,10538,0.00,0.00,3.53,0.376,6,0.000,0.000,3015,2199,2022,0,0,0,0,0,0,28.83,28.83,14.51
$GC,10849,1.63,240.2,27.5,6.5,935,10886,0.00,2.67,31.12,0.272,4,0.000,0.135,3023,786,1790,0,0,0,0,0,0,28.83,14.62,14.53
$GC,11022,1.73,325.3,15.9,5.2,966,11073,0.12,2.60,44.78,0.233,6,0.161,0.126,3070,2199,1443,0,0,0,0,0,0,14.68,14.63,14.52
$STATE,11138,end climb,SURFACE_DEPTH_REACHED
$STATE,11138,begin surface coast
$FINISH,2.2,1.020070
$STATE,11164,end surface coast,CONTROL_FINISHED_OK
$STATE,11164,begin surface
$SM_CCo,11252,0.00,0.000,0,0,1429,329.44
$SM_GC,3.07,8.60,0.20,0.00,0.094,0.150,0.000,133,2112,1429,-11.62,0.31,329.44,0,0,0,0,0,0,14.64,14.62,28.83
$RAFOS_CLK,486
$RAFOS,5,1349930465,4.700000,4.684722,78,56,55,54,51,51,899,123,181,203,216,139
$RAFOS,4,1349929986,4.566667,4.551667,70,60,57,54,52,50,682,217,158,192,170,139
$RAFOS,3,1349929505,4.433333,4.418056,63,61,58,56,55,53,729,175,212,116,184,193
$RAFOS,2,1349929023,4.300000,4.284167,100,62,60,57,56,54,509,215,137,158,170,124
$RAFOS,1,1349928543,4.166667,4.150833,81,60,59,58,56,54,472,189,208,462,147,222
$RAFOS,0,1349928068,4.033333,4.018889,65,56,54,51,49,49,214,137,153,195,118,181
$RAFOS_FIX,6642.633301,-5955.793457,111012,040412,3,70,0.62
$IRIDIUM_FIX,6614.97,-5954.40,101012,222248
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.00
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.60
$XPDR_PINGS,9
$24V_AH,12.5,59.759
$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,22.625,99.400,394.175,0.000,0.000,0.000,0.000,251.650,2.250,0.000,6.460,2526.852,6157.143,561.235,1875.199,546.398,0.000,1749.310,0.000,1664.475,2520.000,0.536,0.000
$DEVICE_MAMPS,449.820,180.540,2436.525,0.000,0.000,0.000,0.000,145.350,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.630,694.846,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46771,991
$CAP_FILE_SIZE,110453,0
$CFSIZE,259252224,237981696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.0
$CURRENT,0.276,160.7,1
$GPS,111012,045334,6643.906,-6004.438,24,1.0,24,-33.8