version: 66.11
glider: 193
mission: 2
dive: 188
start: 10 11 112 20 55 5
data:
$ID,193
$MISSION,2
$DIVE,188
$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,-1129.171
$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,12
$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
$GPS1,111012,204522,6644.976,-6009.921,68,1.0,68,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-66.0
$GPS2,111012,205426,6644.944,-6009.711,5,0.9,5,-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,115.7,149454,-17.3,-8.919,-19.96
$D_GRID,588
$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,-136.9,0.0,0.0,0,44,0.00,0.00,-23.08,0.000,2,0.000,0.000,136,2117,1999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.50,-136.9,3.0,-0.8,4,160,11.62,2.88,-84.82,0.000,4,0.477,0.190,2340,3528,3330,0,0,0,0,0,0,14.28,14.40,14.76
$GC,194,-1.50,-136.9,8.9,-17.4,27,201,0.00,2.58,0.00,0.000,6,0.000,0.109,2340,2112,3331,0,0,0,0,0,0,28.83,14.53,28.83
$GC,512,-1.50,-136.9,65.1,-15.2,88,519,0.00,2.58,0.00,0.000,4,0.000,0.135,2340,704,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,585,-1.50,-136.9,76.7,-15.8,101,593,0.10,2.67,0.00,0.000,6,0.336,0.140,2349,2122,3332,0,0,0,0,0,0,14.45,14.57,28.83
$GC,908,-1.50,-136.9,120.9,-13.9,148,917,0.00,2.58,0.00,0.000,4,0.000,0.132,2349,709,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,973,-1.50,-136.9,130.9,-16.3,154,982,0.00,2.65,0.00,0.000,6,0.000,0.137,2342,2124,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1282,-1.50,-136.9,175.9,-14.2,185,1292,0.00,2.58,0.00,0.000,4,0.000,0.132,2342,708,3332,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1418,-1.50,-136.9,196.5,-15.3,198,1426,0.00,2.62,0.00,0.000,6,0.000,0.135,2334,2126,3331,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1727,-1.50,-136.9,238.8,-13.8,229,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2126,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2044,-1.50,-136.9,279.8,-12.4,260,2052,0.00,2.67,0.00,0.000,4,0.000,0.153,2324,3534,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2101,-1.50,-136.9,287.5,-12.7,265,2110,0.12,2.53,0.00,0.000,6,0.319,0.104,2348,2119,3330,0,0,0,0,0,0,14.56,14.73,28.83
$GC,2410,-1.50,-136.9,322.7,-11.0,296,2419,0.00,2.53,0.00,0.000,4,0.000,0.133,2348,712,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2545,-1.50,-136.9,339.2,-12.0,309,2554,0.00,2.60,0.00,0.000,6,0.000,0.140,2342,2115,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2855,-1.50,-136.9,373.4,-10.1,340,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,-1.50,-136.9,406.9,-10.5,368,3181,0.00,2.55,0.00,0.000,4,0.000,0.133,2342,704,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3210,-1.50,-136.9,410.4,-10.6,369,3216,0.00,2.65,0.00,0.000,6,0.000,0.137,2334,2123,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3537,-1.50,-136.9,446.4,-11.1,380,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2123,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,-1.50,-136.9,481.8,-11.9,390,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2123,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4137,-1.50,-136.9,516.8,-11.4,400,4142,0.00,2.55,0.00,0.000,4,0.000,0.134,2334,706,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4181,-1.50,-136.9,520.4,-11.5,401,4187,0.08,2.62,0.00,0.000,6,0.314,0.141,2346,2122,3331,0,0,0,0,0,0,14.61,14.71,28.83
$GC,4498,-1.50,-136.9,555.6,-10.4,412,4504,0.00,2.65,0.00,0.000,4,0.000,0.157,2337,3523,3331,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4553,-1.50,-136.9,558.9,-10.5,413,4560,0.00,2.50,0.00,0.000,6,0.000,0.105,2337,2114,3331,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,4795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4795,begin apogee
$GC,4808,-0.38,0.0,588.2,-10.8,422,4955,0.95,0.00,136.98,2.412,6,0.281,0.000,2593,2204,2772,0,0,0,0,0,0,14.64,28.83,13.09
$STATE,4956,end apogee,CONTROL_FINISHED_OK
$STATE,4956,begin climb
$GC,4961,1.50,136.9,592.8,0.0,427,5128,1.40,3.08,148.95,2.332,4,0.178,0.155,3003,3611,2214,0,0,0,0,0,0,13.85,13.19,12.50
$GC,5147,1.53,164.0,582.1,7.7,433,5184,0.00,2.80,31.40,2.242,6,0.000,0.106,3013,2201,2102,0,0,0,0,0,0,28.83,13.45,12.60
$GC,5489,1.53,164.0,536.9,12.7,444,5494,0.00,2.70,0.00,0.000,4,0.000,0.135,3023,788,2094,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5533,1.53,164.0,532.8,12.7,445,5538,0.00,2.70,0.00,0.000,6,0.000,0.129,3023,2198,2094,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5850,1.53,164.0,489.5,13.1,456,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2198,2092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6150,1.53,164.0,450.4,12.8,466,6156,0.00,2.72,0.00,0.000,4,0.000,0.151,3023,3615,2092,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6195,1.53,164.0,446.0,13.1,467,6200,0.00,2.58,0.00,0.000,6,0.000,0.107,3034,2191,2092,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6512,1.53,164.0,401.9,13.1,478,6518,0.00,2.55,0.00,0.000,4,0.000,0.132,3044,781,2091,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6563,1.53,164.0,395.1,13.0,481,6573,0.10,2.60,0.00,0.000,6,0.280,0.125,3018,2206,2090,0,0,0,0,0,0,14.50,14.59,28.83
$GC,6874,1.53,164.0,359.4,11.1,512,6883,0.00,2.65,0.00,0.000,4,0.000,0.148,3017,3612,2090,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6901,1.53,164.0,356.6,11.6,514,6908,0.00,2.55,0.00,0.000,6,0.000,0.106,3026,2194,2090,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7208,1.53,164.0,321.0,11.3,545,7218,0.00,2.53,0.00,0.000,4,0.000,0.131,3036,791,2090,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7264,1.53,164.0,314.2,12.3,550,7274,0.08,2.58,0.00,0.000,6,0.272,0.122,3016,2201,2089,0,0,0,0,0,0,14.55,14.64,28.83
$GC,7575,1.53,164.0,277.1,12.1,581,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2201,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7889,1.53,164.0,240.1,11.6,612,7898,0.00,2.67,0.00,0.000,4,0.000,0.148,3016,3616,2090,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7934,1.53,164.0,234.2,12.1,616,7943,0.00,2.53,0.00,0.000,6,0.000,0.106,3024,2197,2090,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8244,1.53,164.0,199.6,11.1,647,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2197,2090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8561,1.53,164.0,167.1,10.0,678,8570,0.00,2.53,0.00,0.000,4,0.000,0.132,3034,784,2089,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8625,1.53,164.0,159.8,10.2,684,8634,0.08,2.58,0.00,0.000,6,0.270,0.125,3014,2205,2088,0,0,0,0,0,0,14.62,14.69,28.83
$GC,8935,1.53,164.0,131.6,9.4,715,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2205,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9251,1.54,166.7,104.7,8.8,746,9260,0.00,2.58,0.00,0.000,4,0.000,0.135,3023,786,2088,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9311,1.54,166.7,98.9,9.4,752,9318,0.00,2.60,0.00,0.000,6,0.000,0.123,3023,2211,2088,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9630,1.57,191.6,73.2,7.8,813,9648,0.00,0.00,13.62,0.405,6,0.000,0.000,3023,2210,1989,0,0,0,0,0,0,28.83,28.83,14.51
$GC,9958,1.57,193.0,43.7,8.9,876,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2211,1985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10274,1.63,245.0,19.0,6.7,937,10311,0.00,2.65,28.55,0.246,4,0.000,0.136,3033,777,1770,0,0,0,0,0,0,28.83,14.66,14.59
$GC,10397,1.63,245.0,9.3,9.1,958,10404,0.00,2.62,0.00,0.000,6,0.000,0.128,3033,2201,1762,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,10460,end climb,SURFACE_DEPTH_REACHED
$STATE,10460,begin surface coast
$FINISH,2.4,1.025691
$STATE,10491,end surface coast,CONTROL_FINISHED_OK
$STATE,10496,begin surface
$SM_CCo,10524,22.08,0.201,0,0,1588,290.19
$SM_GC,2.70,8.52,0.20,22.08,0.105,0.151,0.201,140,2114,1588,-11.59,0.37,290.19,0,0,0,0,0,0,14.73,14.69,14.59
$RAFOS_CLK,453
$RAFOS,5,1349988066,20.700001,20.684999,61,56,54,54,52,50,205,188,151,891,173,232
$RAFOS_FIX,6642.683105,-6001.341309,111012,202056,2,106,0.87
$IRIDIUM_FIX,6614.97,-6011.26,111012,202057
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.63
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.40
$XPDR_PINGS,6
$24V_AH,12.5,61.411
$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,23.050,100.150,359.500,22.075,0.000,0.000,0.000,328.250,1.500,0.000,6.310,2436.386,5638.445,531.603,1958.022,528.464,0.000,1812.287,0.000,1665.349,0.000,0.535,0.000
$DEVICE_MAMPS,477.360,189.720,2412.045,201.195,0.000,0.000,0.000,143.820,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,715.373,682.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188760
$DATA_FILE_SIZE,46869,976
$CAP_FILE_SIZE,108094,0
$CFSIZE,259252224,237617152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.4
$CURRENT,0.069, 10.1,1
$GPS,111012,235222,6645.590,-6005.879,31,0.6,31,-33.9