version: 66.11
glider: 193
mission: 2
dive: 232
start: 10 19 112 20 56 49
data:
$ID,193
$MISSION,2
$DIVE,232
$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,-3
$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,-1225.1633
$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,2150
$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
$GPS1,191012,204922,6702.745,-5701.932,37,0.9,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-68.3
$GPS2,191012,205606,6702.727,-5701.955,5,0.7,5,-33.5
$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,135.4,10090,-17.3,-8.919,-19.96
$D_GRID,665
$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,-136.9,0.0,0.0,0,38,0.00,0.00,-17.58,0.000,2,0.000,0.000,134,2120,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.50,-136.9,3.0,-3.7,3,148,10.95,2.60,-84.25,0.000,4,0.443,0.151,2350,704,3330,0,0,0,0,0,0,14.29,14.48,14.80
$GC,382,-1.50,-136.9,43.7,-16.8,65,389,0.00,2.70,0.00,0.000,6,0.000,0.142,2342,2124,3332,0,0,0,0,0,0,28.83,14.52,28.83
$GC,701,-1.50,-136.9,93.5,-15.1,126,708,0.00,2.60,0.00,0.000,4,0.000,0.131,2342,709,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,824,-1.50,-136.9,111.5,-15.5,141,832,0.00,2.67,0.00,0.000,6,0.000,0.134,2333,2132,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1133,-1.50,-136.9,155.9,-13.1,172,1142,0.00,2.67,0.00,0.000,4,0.000,0.147,2323,3526,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1198,-1.50,-136.9,164.2,-12.8,178,1207,0.10,2.47,0.00,0.000,6,0.276,0.099,2348,2122,3331,0,0,0,0,0,0,14.45,14.63,28.83
$GC,1508,-1.50,-136.9,199.1,-11.2,209,1518,0.00,2.55,0.00,0.000,4,0.000,0.128,2349,702,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1564,-1.50,-136.9,205.7,-11.9,214,1573,0.00,2.62,0.00,0.000,6,0.000,0.129,2342,2119,3331,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1874,-1.50,-136.9,241.8,-11.0,245,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2190,-1.50,-136.9,277.5,-12.0,276,2199,0.00,2.70,0.00,0.000,4,0.000,0.151,2332,3531,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2225,-1.50,-136.9,282.3,-12.0,279,2234,0.05,2.50,0.00,0.000,6,0.279,0.099,2344,2114,3330,0,0,0,0,0,0,14.50,14.69,28.83
$GC,2535,-1.50,-136.9,316.9,-10.7,310,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2851,-1.50,-136.9,348.0,-9.8,341,2861,0.00,2.50,0.00,0.000,4,0.000,0.126,2345,712,3330,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2880,-1.50,-136.9,351.3,-10.1,343,2886,0.00,2.65,0.00,0.000,6,0.000,0.136,2338,2129,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3187,-1.50,-136.9,383.5,-10.6,374,3196,0.00,2.67,0.00,0.000,4,0.000,0.155,2327,3525,3330,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3204,-1.50,-136.9,384.7,-10.6,375,3211,0.12,2.50,0.00,0.000,6,0.300,0.102,2352,2120,3330,0,0,0,0,0,0,14.52,14.73,28.83
$GC,3533,-1.50,-136.9,418.7,-10.0,396,3539,0.00,2.53,0.00,0.000,4,0.000,0.129,2352,712,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3567,-1.50,-136.9,422.0,-10.0,397,3572,0.00,2.62,0.00,0.000,6,0.000,0.134,2346,2119,3330,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3894,-1.50,-136.9,454.0,-9.5,408,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4195,-1.50,-136.9,482.4,-9.6,418,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4495,-1.50,-136.9,511.5,-9.4,428,4500,0.00,2.55,0.00,0.000,4,0.000,0.129,2346,703,3331,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4529,-1.50,-136.9,514.8,-9.7,429,4534,0.00,2.62,0.00,0.000,6,0.000,0.133,2338,2120,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4856,-1.50,-136.9,547.8,-10.0,440,4862,0.00,2.70,0.00,0.000,4,0.000,0.151,2328,3532,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4881,-1.50,-136.9,547.8,-10.0,440,4889,0.12,2.50,0.00,0.000,6,0.297,0.098,2353,2115,3331,0,0,0,0,0,0,14.56,14.78,28.83
$GC,5188,-1.50,-136.9,578.1,-8.9,451,5193,0.00,2.50,0.00,0.000,4,0.000,0.127,2353,712,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5272,-1.50,-136.9,583.9,-9.0,453,5280,0.00,2.65,0.00,0.000,6,0.000,0.136,2347,2130,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5580,-1.50,-136.9,614.7,-9.7,464,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2130,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5880,-1.50,-136.9,644.7,-10.0,474,5885,0.00,2.65,0.00,0.000,4,0.000,0.157,2336,3524,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5924,-1.50,-136.9,647.8,-9.8,475,5929,0.00,2.47,0.00,0.000,6,0.000,0.103,2336,2125,3331,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,6176,end dive,NO_VERTICAL_VELOCITY
$STATE,6176,begin apogee
$GC,6189,-0.38,0.0,650.5,0.0,484,6339,0.85,0.00,138.85,2.514,6,0.203,0.000,2591,2148,2773,0,0,0,0,0,0,14.62,28.83,13.11
$STATE,6340,end apogee,CONTROL_FINISHED_OK
$STATE,6340,begin climb
$GC,6346,1.50,136.9,650.5,0.0,489,6515,1.38,3.08,151.30,2.433,4,0.165,0.154,3002,3562,2214,0,0,0,0,0,0,13.90,13.28,12.57
$GC,6554,1.50,136.9,633.9,10.0,496,6559,0.00,2.75,0.00,0.000,6,0.000,0.106,3013,2147,2211,0,0,0,0,0,0,28.83,13.64,28.83
$GC,6882,1.50,136.9,591.2,12.7,507,6887,0.00,2.83,0.00,0.000,4,0.000,0.149,3013,3562,2205,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6921,1.50,136.9,586.9,12.9,508,6927,0.00,2.60,0.00,0.000,6,0.000,0.103,3024,2145,2205,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7243,1.50,136.9,543.1,13.0,519,7249,0.00,2.55,0.00,0.000,4,0.000,0.128,3035,741,2203,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7288,1.50,136.9,539.0,13.0,520,7294,0.10,2.60,0.00,0.000,6,0.267,0.119,3008,2155,2202,0,0,0,0,0,0,14.38,14.48,28.83
$GC,7605,1.50,136.9,498.3,12.2,531,7611,0.00,2.67,0.00,0.000,4,0.000,0.145,3007,3560,2202,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7670,1.50,136.9,490.1,12.7,533,7675,0.00,2.50,0.00,0.000,6,0.000,0.102,3017,2153,2202,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7997,1.50,136.9,446.8,13.3,544,8003,0.00,2.55,0.00,0.000,4,0.000,0.127,3027,743,2201,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8042,1.50,136.9,442.5,13.3,545,8048,0.08,2.58,0.00,0.000,6,0.275,0.115,3007,2157,2200,0,0,0,0,0,0,14.52,14.64,28.83
$GC,8359,1.50,136.9,400.1,12.4,556,8364,0.00,2.65,0.00,0.000,4,0.000,0.142,3007,3562,2200,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8451,1.50,136.9,387.9,13.5,563,8459,0.00,2.50,0.00,0.000,6,0.000,0.103,3016,2148,2200,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8760,1.50,136.9,348.8,12.6,594,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2148,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9077,1.50,136.9,308.3,13.3,625,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2148,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9388,1.50,136.9,269.7,11.7,656,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2148,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9700,1.50,136.9,234.3,11.2,687,9709,0.00,2.72,0.00,0.000,4,0.000,0.146,3016,3566,2200,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9754,1.50,136.9,227.3,12.1,692,9763,0.00,2.53,0.00,0.000,6,0.000,0.108,3026,2150,2200,0,0,0,0,0,0,28.83,14.68,28.83
$GC,10065,1.50,136.9,192.7,10.9,723,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2150,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10381,1.50,136.9,159.4,10.7,754,10390,0.00,2.53,0.00,0.000,4,0.000,0.130,3037,735,2199,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10420,1.50,136.9,154.8,10.9,757,10427,0.12,2.60,0.00,0.000,6,0.288,0.120,3008,2157,2198,0,0,0,0,0,0,14.58,14.70,28.83
$GC,10728,1.50,136.9,124.9,9.9,788,10736,0.00,2.58,0.00,0.000,4,0.000,0.130,3018,736,2198,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10822,1.50,136.9,115.5,10.1,797,10831,0.00,2.58,0.00,0.000,6,0.000,0.118,3018,2149,2198,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11138,1.50,138.3,86.4,8.9,843,11144,0.00,2.70,0.00,0.000,4,0.000,0.144,3018,3566,2199,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11230,1.50,138.3,77.3,10.5,860,11237,0.00,2.53,0.00,0.000,6,0.000,0.102,3028,2147,2200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11551,1.50,138.3,47.3,9.5,921,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2146,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11867,1.59,208.4,24.1,5.9,982,11911,0.00,2.55,37.35,0.243,4,0.000,0.125,3038,739,1920,0,0,0,0,0,0,28.83,14.64,14.54
$GC,12007,1.59,211.4,12.6,8.8,1006,12016,0.00,2.62,0.00,0.000,6,0.000,0.117,3038,2158,1912,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,12112,end climb,SURFACE_DEPTH_REACHED
$STATE,12112,begin surface coast
$FINISH,2.0,1.025880
$STATE,12152,end surface coast,CONTROL_FINISHED_OK
$STATE,12152,begin surface
$SM_CCo,12180,41.15,0.183,0,0,1586,290.19
$SM_GC,3.07,8.52,0.10,41.15,0.103,0.173,0.183,139,2119,1586,-11.59,0.59,290.19,0,0,0,0,0,0,14.71,14.68,14.54
$RAFOS_CLK,501
$RAFOS,1,1350691745,0.166667,0.151389,83,59,58,57,52,52,968,130,205,179,221,147
$RAFOS,0,1350691264,0.033333,0.017778,62,59,57,55,54,53,181,153,199,223,119,190
$RAFOS,5,1350679264,20.700001,20.684444,93,73,63,60,55,54,611,215,194,203,144,170
$RAFOS_FIX,6654.995605,-5717.759766,191012,202031,5,88,0.00
$IRIDIUM_FIX,6631.12,-5658.34,191012,171726
$TT8_MAMPS,0.028462,0.028462
$HUMID,45.47
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,14.20
$XPDR_PINGS,7
$24V_AH,12.6,75.201
$10V_AH,12.9,0.000
$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,22.400,120.175,327.500,41.150,0.000,0.000,0.000,246.300,1.750,0.000,6.602,2627.195,6897.788,530.661,2000.326,592.620,0.000,1802.317,0.000,1790.995,1080.000,0.539,0.000
$DEVICE_MAMPS,442.935,231.030,2513.790,182.835,0.000,0.000,0.000,156.060,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,758.049,717.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188704
$DATA_FILE_SIZE,46781,1033
$CAP_FILE_SIZE,119426,0
$CFSIZE,259252224,234561536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.2
$CURRENT,0.061,167.8,1
$GPS,201012,002228,6702.097,-5657.920,38,0.9,38,-33.5