version: 66.11
glider: 193
mission: 2
dive: 187
start: 10 11 112 17 48 55
data:
$ID,193
$MISSION,2
$DIVE,187
$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,-1127.9165
$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,16
$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
$GPS1,111012,174205,6643.690,-6012.766,17,0.8,17,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-66.3
$GPS2,111012,174812,6643.691,-6012.605,5,1.3,5,-33.9
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,68.5,152021,-17.3,-8.919,-19.96
$D_GRID,560
$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,-136.9,0.0,0.0,0,32,0.00,0.00,-11.65,0.000,2,0.000,0.000,141,2124,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.50,-136.9,3.0,0.0,2,152,11.20,2.83,-94.22,0.000,4,0.464,0.184,2338,3527,3330,0,0,0,0,0,0,14.32,14.47,14.77
$GC,342,-1.50,-136.9,39.6,-17.1,57,349,0.00,2.55,0.00,0.000,6,0.000,0.109,2338,2121,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,662,-1.50,-136.9,90.0,-15.7,118,669,0.00,2.58,0.00,0.000,4,0.000,0.138,2338,710,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,773,-1.50,-136.9,107.3,-15.6,134,780,0.10,2.65,0.00,0.000,6,0.333,0.142,2348,2121,3332,0,0,0,0,0,0,14.49,14.59,28.83
$GC,1081,-1.50,-136.9,152.1,-14.4,165,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1396,-1.50,-136.9,196.3,-13.5,196,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1709,-1.50,-136.9,235.7,-12.5,227,1717,0.00,2.58,0.00,0.000,4,0.000,0.141,2348,712,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1743,-1.50,-136.9,240.8,-12.3,230,1752,0.00,2.62,0.00,0.000,6,0.000,0.151,2341,2118,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2053,-1.50,-136.9,281.1,-13.5,261,2062,0.00,2.70,0.00,0.000,4,0.000,0.164,2330,3528,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2131,-1.50,-136.9,291.9,-14.5,268,2138,0.10,2.53,0.00,0.000,6,0.320,0.108,2348,2119,3331,0,0,0,0,0,0,14.58,14.73,28.83
$GC,2439,-1.50,-136.9,331.1,-11.7,299,2447,0.00,2.53,0.00,0.000,4,0.000,0.137,2348,712,3331,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2483,-1.50,-136.9,336.6,-12.5,303,2491,0.00,2.60,0.00,0.000,6,0.000,0.146,2342,2117,3330,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2794,-1.50,-136.9,373.0,-11.5,334,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3103,-1.50,-136.9,407.3,-11.0,361,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3403,-1.50,-136.9,441.3,-11.4,371,3408,0.00,2.55,0.00,0.000,4,0.000,0.136,2341,709,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3435,-1.50,-136.9,444.7,-11.3,372,3440,0.00,2.62,0.00,0.000,6,0.000,0.143,2334,2125,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3766,-1.50,-136.9,481.7,-10.9,383,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2126,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4066,-1.50,-136.9,515.1,-11.2,393,4071,0.00,2.65,0.00,0.000,4,0.000,0.158,2324,3527,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4105,-1.50,-136.9,518.7,-11.3,394,4111,0.10,2.47,0.00,0.000,6,0.295,0.106,2349,2124,3331,0,0,0,0,0,0,14.61,14.78,28.83
$GC,4427,-1.50,-136.9,552.8,-10.3,405,4433,0.00,2.67,0.00,0.000,4,0.000,0.163,2340,3523,3331,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4463,-1.50,-136.9,556.3,-10.4,406,4468,0.00,2.47,0.00,0.000,6,0.000,0.106,2340,2121,3331,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,4514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4514,begin apogee
$GC,4526,-0.38,0.0,562.8,-10.6,408,4668,0.93,0.00,136.07,2.381,6,0.282,0.000,2589,2200,2772,0,0,0,0,0,0,14.63,28.83,13.11
$STATE,4674,end apogee,CONTROL_FINISHED_OK
$STATE,4674,begin climb
$GC,4680,1.50,136.9,567.4,0.0,413,4838,1.42,3.15,147.95,2.310,4,0.183,0.156,3004,3610,2214,0,0,0,0,0,0,13.87,13.19,12.52
$GC,4854,1.50,136.9,554.6,8.9,419,4860,0.00,2.80,0.00,0.000,6,0.000,0.107,3014,2204,2212,0,0,0,0,0,0,28.83,13.40,28.83
$GC,5185,1.50,136.9,517.0,10.9,430,5191,0.00,2.85,0.00,0.000,4,0.000,0.155,3015,3610,2205,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5295,1.50,136.9,505.6,12.2,433,5304,0.00,2.62,0.00,0.000,6,0.000,0.108,3025,2195,2205,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5607,1.50,136.9,465.2,11.8,444,5612,0.00,2.75,0.00,0.000,4,0.000,0.154,3025,3609,2203,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5676,1.50,136.9,457.1,12.5,446,5682,0.10,2.58,0.00,0.000,6,0.289,0.108,3010,2197,2203,0,0,0,0,0,0,14.35,14.47,28.83
$GC,5999,1.50,136.9,418.2,11.8,457,6004,0.00,2.55,0.00,0.000,4,0.000,0.132,3019,789,2202,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6048,1.50,136.9,414.3,12.0,458,6057,0.00,2.58,0.00,0.000,6,0.000,0.125,3019,2198,2202,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6361,1.50,136.9,374.1,12.0,483,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2198,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6674,1.50,136.9,338.7,10.9,514,6684,0.00,2.58,0.00,0.000,4,0.000,0.134,3029,785,2201,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6760,1.50,136.9,328.5,11.5,522,6770,0.08,2.60,0.00,0.000,6,0.284,0.126,3009,2202,2201,0,0,0,0,0,0,14.56,14.63,28.83
$GC,7070,1.50,136.9,295.7,10.3,553,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2202,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7387,1.50,136.9,266.5,9.5,584,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2202,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7699,1.51,146.7,238.5,8.5,615,7711,0.00,0.00,8.30,1.895,6,0.000,0.000,3009,2202,2174,0,0,0,0,0,0,28.83,28.83,13.91
$GC,8014,1.51,146.7,209.8,9.1,647,8022,0.00,2.58,0.00,0.000,4,0.000,0.135,3018,788,2174,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8048,1.52,149.8,206.8,8.8,650,8059,0.00,2.60,5.03,1.635,6,0.000,0.126,3018,2206,2161,0,0,0,0,0,0,28.83,14.66,13.83
$GC,8360,1.52,149.8,179.3,9.4,681,8369,0.00,2.58,0.00,0.000,4,0.000,0.136,3028,791,2159,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8395,1.52,149.8,176.1,9.4,684,8403,0.00,2.60,0.00,0.000,6,0.000,0.127,3028,2203,2160,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8705,1.52,149.8,146.7,9.1,715,8714,0.00,2.58,0.00,0.000,4,0.000,0.135,3038,789,2159,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8800,1.52,149.8,137.2,10.3,724,8809,0.10,2.58,0.00,0.000,6,0.266,0.126,3010,2197,2159,0,0,0,0,0,0,14.59,14.66,28.83
$GC,9110,1.52,156.8,109.7,8.6,755,9117,0.00,0.00,4.12,1.392,6,0.000,0.000,3010,2197,2132,0,0,0,0,0,0,28.83,28.83,13.88
$GC,9427,1.55,180.9,83.6,7.9,805,9447,0.00,2.67,13.57,0.438,4,0.000,0.134,3019,779,2033,0,0,0,0,0,0,28.83,14.65,14.47
$GC,9528,1.55,180.9,74.7,9.4,823,9535,0.00,2.65,0.00,0.000,6,0.000,0.125,3019,2213,2029,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9845,1.57,198.3,48.3,8.2,884,9859,0.00,0.00,8.98,0.347,6,0.000,0.000,3019,2213,1963,0,0,0,0,0,0,28.83,28.83,14.51
$GC,10171,1.66,270.1,22.3,5.8,946,10220,0.10,2.70,38.50,0.261,4,0.179,0.136,3069,782,1669,0,0,0,0,0,0,14.72,14.58,14.53
$GC,10284,1.66,270.1,12.8,9.4,965,10291,0.12,2.65,0.00,0.000,6,0.296,0.132,3042,2209,1662,0,0,0,0,0,0,14.52,14.61,28.83
$STATE,10377,end climb,SURFACE_DEPTH_REACHED
$STATE,10377,begin surface coast
$FINISH,2.1,1.003501
$STATE,10413,end surface coast,CONTROL_FINISHED_OK
$STATE,10413,begin surface
$SM_CCo,10440,8.55,0.212,0,0,1588,290.19
$SM_GC,3.38,8.50,0.20,8.55,0.096,0.149,0.212,137,2118,1588,-11.60,0.51,290.19,0,0,0,0,0,0,14.69,14.66,14.57
$RAFOS_CLK,453
$RAFOS,4,1349987586,20.566668,20.551666,123,67,57,56,51,50,677,193,149,208,134,124
$RAFOS,3,1349987105,20.433332,20.418056,90,69,60,58,58,55,742,220,166,124,192,203
$RAFOS,2,1349986629,20.299999,20.285833,137,56,52,51,51,50,488,208,182,218,152,128
$RAFOS,1,1349986144,20.166666,20.151112,113,66,56,54,53,51,458,212,127,155,178,118
$RAFOS,0,1349985663,20.033333,20.017500,65,58,57,55,53,51,227,155,213,121,171,181
$RAFOS_FIX,6642.683105,-6001.341309,111012,202056,2,106,0.87
$IRIDIUM_FIX,6620.33,-6008.55,111012,141439
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.81
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,8
$24V_AH,12.5,61.124
$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,22.850,95.200,362.525,8.550,0.000,0.000,0.000,216.675,2.000,0.000,6.328,2484.956,5463.577,518.423,1843.803,520.471,0.000,1670.682,0.000,1661.418,2160.000,0.536,0.000
$DEVICE_MAMPS,463.590,192.015,2380.680,211.905,0.000,0.000,0.000,147.645,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.901,692.705,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188648
$DATA_FILE_SIZE,46699,989
$CAP_FILE_SIZE,106922,0
$CFSIZE,259252224,237678592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.9
$CURRENT,0.054, 54.7,1
$GPS,111012,204522,6644.976,-6009.921,68,1.0,68,-33.9