version: 66.11
glider: 193
mission: 2
dive: 191
start: 10 12 112 6 43 49
data:
$ID,193
$MISSION,2
$DIVE,191
$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,-1133.0374
$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
$GPS1,121012,063634,6644.049,-5958.373,90,0.8,90,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-66.6
$GPS2,121012,064306,6644.023,-5958.227,4,0.9,4,-33.8
$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,64.4,141796,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,49,0.00,0.00,-28.40,0.000,2,0.000,0.000,128,2119,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-1.50,-136.9,3.1,-1.9,5,143,11.73,2.83,-67.47,0.000,4,0.480,0.186,2341,3530,3329,0,0,0,0,0,0,14.34,14.45,14.77
$GC,257,-1.50,-136.9,28.4,-22.1,40,264,0.00,2.58,0.00,0.000,6,0.000,0.111,2341,2119,3331,0,0,0,0,0,0,28.83,14.56,28.83
$GC,575,-1.50,-136.9,79.5,-14.7,101,583,0.00,2.58,0.00,0.000,4,0.000,0.136,2341,710,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,644,-1.50,-136.9,90.1,-15.1,113,652,0.10,2.67,0.00,0.000,6,0.334,0.138,2349,2127,3331,0,0,0,0,0,0,14.47,14.59,28.83
$GC,958,-1.50,-136.9,133.8,-13.4,150,967,0.00,2.60,0.00,0.000,4,0.000,0.134,2350,703,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1016,-1.50,-136.9,141.4,-13.8,155,1023,0.00,2.65,0.00,0.000,6,0.000,0.136,2342,2125,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1323,-1.50,-136.9,180.8,-12.1,186,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2125,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1638,-1.50,-136.9,217.8,-11.9,217,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2125,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1952,-1.50,-136.9,256.4,-12.3,248,1961,0.00,2.58,0.00,0.000,4,0.000,0.134,2341,706,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2006,-1.50,-136.9,264.1,-12.5,253,2016,0.00,2.62,0.00,0.000,6,0.000,0.137,2336,2124,3329,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2317,-1.50,-136.9,302.5,-12.7,284,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2124,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2631,-1.50,-136.9,340.4,-11.8,315,2640,0.00,2.58,0.00,0.000,4,0.000,0.134,2335,704,3329,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2649,-1.50,-136.9,342.5,-12.3,316,2656,0.12,2.65,0.00,0.000,6,0.335,0.138,2352,2127,3329,0,0,0,0,0,0,14.57,14.69,28.83
$GC,2957,-1.50,-136.9,378.3,-11.2,347,2965,0.00,2.67,0.00,0.000,4,0.000,0.160,2343,3526,3329,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3051,-1.50,-136.9,389.6,-12.2,356,3060,0.00,2.50,0.00,0.000,6,0.000,0.106,2343,2115,3329,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3382,-1.50,-136.9,429.1,-12.0,373,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2115,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3681,-1.50,-136.9,464.2,-11.7,383,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2115,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3981,-1.50,-136.9,497.7,-10.9,393,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4282,-1.50,-136.9,529.4,-10.3,403,4287,0.00,2.75,0.00,0.000,4,0.000,0.165,2333,3531,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4336,-1.50,-136.9,532.9,-10.4,404,4343,0.00,2.53,0.00,0.000,6,0.000,0.106,2333,2116,3330,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4646,-1.50,-136.9,569.4,-11.1,415,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4943,-1.50,-136.9,602.6,-10.9,425,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5243,-1.50,-136.9,634.9,-10.6,435,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5543,-1.50,-136.9,666.2,-10.1,445,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5688,begin apogee
$GC,5701,-0.38,0.0,681.0,-9.8,450,5848,0.95,0.00,137.27,2.459,6,0.281,0.000,2590,2204,2772,0,0,0,0,0,0,14.64,28.83,13.09
$STATE,5849,end apogee,CONTROL_FINISHED_OK
$STATE,5849,begin climb
$GC,5854,1.50,136.9,685.9,0.0,455,6021,1.40,3.10,149.57,2.385,4,0.177,0.153,3000,3613,2214,0,0,0,0,0,0,13.85,13.19,12.50
$GC,6035,1.52,155.6,675.2,8.1,461,6063,0.00,2.83,22.10,2.256,6,0.000,0.110,3011,2199,2136,0,0,0,0,0,0,28.83,13.43,12.62
$GC,6388,1.52,155.6,628.9,12.5,473,6393,0.00,2.67,0.00,0.000,4,0.000,0.139,3021,792,2128,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6432,1.52,155.6,624.4,12.5,474,6438,0.00,2.70,0.00,0.000,6,0.000,0.127,3021,2201,2127,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6749,1.52,155.6,580.9,13.2,485,6755,0.00,2.75,0.00,0.000,4,0.000,0.148,3021,3612,2127,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6781,1.52,155.6,576.5,13.3,486,6787,0.00,2.62,0.00,0.000,6,0.000,0.107,3031,2193,2127,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7113,1.52,155.6,530.9,13.9,497,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2193,2127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7412,1.52,155.6,489.6,13.7,507,7418,0.00,2.53,0.00,0.000,4,0.000,0.132,3042,766,2126,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7452,1.52,155.6,485.2,13.6,508,7458,0.10,2.62,0.00,0.000,6,0.277,0.122,3015,2201,2124,0,0,0,0,0,0,14.51,14.60,28.83
$GC,7774,1.52,155.6,444.0,12.2,519,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8074,1.52,155.6,406.6,12.8,529,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8375,1.52,155.6,368.5,12.6,555,8383,0.00,2.65,0.00,0.000,4,0.000,0.148,3015,3611,2124,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8402,1.52,155.6,365.3,12.7,557,8410,0.00,2.55,0.00,0.000,6,0.000,0.106,3024,2191,2125,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8710,1.52,155.6,325.1,13.1,588,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2190,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9027,1.52,155.6,284.5,12.3,619,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2191,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9338,1.52,155.6,248.1,10.9,650,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2191,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9650,1.52,155.6,215.1,10.3,681,9659,0.00,2.50,0.00,0.000,4,0.000,0.132,3034,793,2123,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9728,1.52,155.6,206.5,10.9,688,9735,0.10,2.60,0.00,0.000,6,0.300,0.126,3015,2209,2123,0,0,0,0,0,0,14.65,14.73,28.83
$GC,10036,1.52,155.6,175.0,10.0,719,10045,0.00,2.65,0.00,0.000,4,0.000,0.151,3014,3611,2123,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10073,1.52,155.6,171.6,9.9,722,10080,0.00,2.53,0.00,0.000,6,0.000,0.106,3023,2197,2124,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10380,1.52,155.6,140.4,10.3,753,10390,0.00,2.53,0.00,0.000,4,0.000,0.132,3033,785,2123,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10446,1.52,155.6,133.4,11.0,759,10455,0.08,2.58,0.00,0.000,6,0.265,0.125,3013,2204,2123,0,0,0,0,0,0,14.63,14.71,28.83
$GC,10756,1.52,155.6,101.8,10.3,790,10765,0.00,2.65,0.00,0.000,4,0.000,0.148,3012,3615,2123,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10796,1.52,155.6,97.6,10.9,795,10803,0.00,2.53,0.00,0.000,6,0.000,0.105,3021,2198,2123,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11113,1.54,166.2,68.3,8.5,856,11120,0.00,0.00,4.15,0.412,6,0.000,0.000,3021,2198,2093,0,0,0,0,0,0,28.83,28.83,14.54
$GC,11430,1.58,203.1,43.0,7.3,917,11456,0.00,2.62,20.42,0.313,4,0.000,0.132,3031,783,1943,0,0,0,0,0,0,28.83,14.68,14.56
$GC,11636,1.63,242.5,26.8,7.2,955,11667,0.00,2.60,21.08,0.270,6,0.000,0.127,3031,2206,1780,0,0,0,0,0,0,28.83,14.67,14.53
$STATE,11896,end climb,SURFACE_DEPTH_REACHED
$STATE,11897,begin surface coast
$FINISH,2.1,1.025649
$STATE,11923,end surface coast,CONTROL_FINISHED_OK
$STATE,11923,begin surface
$SM_CCo,11952,23.77,0.200,0,0,1588,290.19
$SM_GC,2.73,8.70,0.20,23.77,0.122,0.142,0.200,138,2112,1588,-11.61,0.42,290.19,0,0,0,0,0,0,14.71,14.71,14.59
$RAFOS_CLK,526
$RAFOS,6,1350031758,8.833333,8.821667,81,62,60,58,57,50,655,192,215,114,168,155
$RAFOS,5,1350031276,8.700000,8.687778,72,63,52,51,50,48,811,190,122,209,168,136
$RAFOS,4,1350030793,8.566667,8.553611,99,57,57,54,54,53,614,205,194,220,121,182
$RAFOS,3,1350030301,8.433333,8.416945,58,57,57,56,55,51,194,206,216,163,745,149
$RAFOS,2,1350029827,8.300000,8.285277,93,58,57,57,54,50,502,167,198,146,130,220
$RAFOS,1,1350029347,8.166667,8.151944,71,66,56,54,53,52,460,179,145,162,203,219
$RAFOS,0,1350028867,8.033334,8.018611,61,58,55,54,53,52,219,203,119,180,144,231
$RAFOS_FIX,6658.013672,-5951.534180,121012,080822,3,84,3.66
$IRIDIUM_FIX,6620.33,-6001.10,121012,030322
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.48
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.70
$XPDR_PINGS,9
$24V_AH,12.5,62.252
$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,23.275,89.975,354.600,23.775,0.000,0.000,0.000,236.525,2.250,0.000,5.377,2572.876,6894.452,526.431,1841.141,549.864,0.000,1686.757,0.000,1644.871,2520.000,0.536,0.000
$DEVICE_MAMPS,480.420,186.660,2458.710,199.665,0.000,0.000,0.000,148.410,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.831,709.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188752
$DATA_FILE_SIZE,46731,1010
$CAP_FILE_SIZE,109336,0
$CFSIZE,259252224,237432832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.1
$CURRENT,0.010,103.0,1
$GPS,121012,100504,6645.422,-5955.650,26,0.7,26,-33.9