version: 66.11
glider: 193
mission: 2
dive: 233
start: 10 20 112 0 29 58
data:
$ID,193
$MISSION,2
$DIVE,233
$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,-1239.7953
$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,18
$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
$GPS1,201012,002228,6702.097,-5657.920,38,0.9,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-66.1
$GPS2,201012,002923,6702.049,-5657.896,5,0.8,5,-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,95.2,7361,-17.3,-8.919,-19.96
$D_GRID,641
$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,-17.77,0.000,2,0.000,0.000,139,2119,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.50,-136.9,3.1,-2.4,3,154,11.02,2.88,-86.72,0.000,4,0.447,0.182,2338,3531,3330,0,0,0,0,0,0,14.26,14.40,14.80
$GC,170,-1.50,-136.9,4.3,-8.2,22,176,0.00,2.58,0.00,0.000,6,0.000,0.106,2338,2114,3330,0,0,0,0,0,0,28.83,14.52,28.83
$GC,487,-1.50,-136.9,59.3,-15.6,83,494,0.00,2.80,0.00,0.000,4,0.000,0.161,2326,3535,3332,0,0,0,0,0,0,28.83,14.49,28.83
$GC,729,-1.50,-136.9,94.5,-13.6,129,737,0.12,2.55,0.00,0.000,6,0.298,0.103,2352,2116,3331,0,0,0,0,0,0,14.42,14.62,28.83
$GC,1044,-1.50,-136.9,132.9,-12.3,163,1053,0.00,2.55,0.00,0.000,4,0.000,0.129,2353,705,3331,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1119,-1.50,-136.9,143.1,-13.6,170,1128,0.00,2.62,0.00,0.000,6,0.000,0.129,2345,2122,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1428,-1.50,-136.9,182.0,-12.7,201,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1744,-1.50,-136.9,222.2,-13.1,232,1753,0.00,2.70,0.00,0.000,4,0.000,0.151,2334,3524,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1798,-1.50,-136.9,230.0,-13.0,237,1808,0.00,2.50,0.00,0.000,6,0.000,0.104,2334,2124,3331,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2109,-1.50,-136.9,267.5,-11.6,268,2118,0.00,2.55,0.00,0.000,4,0.000,0.129,2333,707,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2186,-1.50,-136.9,276.6,-12.3,275,2194,0.12,2.62,0.00,0.000,6,0.311,0.129,2350,2120,3330,0,0,0,0,0,0,14.49,14.63,28.83
$GC,2495,-1.50,-136.9,311.2,-11.2,306,2503,0.00,2.55,0.00,0.000,4,0.000,0.128,2351,703,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2522,-1.50,-136.9,314.0,-11.1,308,2529,0.00,2.65,0.00,0.000,6,0.000,0.127,2344,2130,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2830,-1.50,-136.9,349.1,-11.1,339,2839,0.00,2.65,0.00,0.000,4,0.000,0.148,2334,3523,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2868,-1.50,-136.9,353.1,-11.7,342,2874,0.00,2.50,0.00,0.000,6,0.000,0.097,2333,2114,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3175,-1.50,-136.9,388.7,-11.8,373,3185,0.00,2.50,0.00,0.000,4,0.000,0.124,2334,712,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3220,-1.50,-136.9,394.0,-11.9,377,3230,0.08,2.60,0.00,0.000,6,0.287,0.129,2345,2120,3331,0,0,0,0,0,0,14.47,14.58,28.83
$GC,3552,-1.50,-136.9,428.3,-10.3,392,3557,0.00,2.67,0.00,0.000,4,0.000,0.150,2336,3530,3331,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3596,-1.50,-136.9,431.7,-10.2,393,3602,0.00,2.50,0.00,0.000,6,0.000,0.100,2336,2115,3331,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3913,-1.50,-136.9,466.0,-10.3,404,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4214,-1.50,-136.9,495.8,-9.7,414,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2115,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4513,-1.50,-136.9,526.1,-10.1,424,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4813,-1.50,-136.9,555.7,-9.6,434,4819,0.00,2.50,0.00,0.000,4,0.000,0.129,2336,716,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4848,-1.50,-136.9,558.8,-9.7,435,4854,0.08,2.60,0.00,0.000,6,0.291,0.137,2348,2112,3332,0,0,0,0,0,0,14.52,14.65,28.83
$GC,5176,-1.50,-136.9,591.1,-9.7,446,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2112,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5476,-1.50,-136.9,616.0,-6.5,456,5481,0.00,2.72,0.00,0.000,4,0.000,0.159,2339,3530,3332,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,5687,end dive,NO_VERTICAL_VELOCITY
$STATE,5687,begin apogee
$GC,5701,-0.38,0.0,615.9,0.0,463,5851,0.82,0.00,138.18,2.495,6,0.184,0.000,2594,2147,2775,0,0,0,0,0,0,14.63,28.83,13.12
$STATE,5852,end apogee,CONTROL_FINISHED_OK
$STATE,5852,begin climb
$GC,5857,1.50,136.9,615.6,0.0,468,6026,1.35,3.10,150.90,2.379,4,0.162,0.154,3000,3563,2214,0,0,0,0,0,0,13.91,13.30,12.60
$GC,6257,1.50,136.9,573.6,13.2,481,6263,0.00,2.65,0.00,0.000,6,0.000,0.106,3011,2151,2207,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6574,1.50,136.9,532.2,12.4,492,6580,0.00,2.78,0.00,0.000,4,0.000,0.149,3011,3557,2205,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6609,1.50,136.9,527.9,12.6,493,6615,0.00,2.58,0.00,0.000,6,0.000,0.105,3021,2143,2205,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6936,1.50,136.9,485.9,12.7,504,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2142,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7236,1.50,136.9,447.7,12.7,514,7242,0.00,2.72,0.00,0.000,4,0.000,0.146,3021,3558,2203,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7276,1.50,136.9,443.4,12.8,515,7282,0.08,2.53,0.00,0.000,6,0.279,0.103,3011,2141,2203,0,0,0,0,0,0,14.49,14.63,28.83
$GC,7599,1.50,136.9,401.5,12.7,526,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2141,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7899,1.50,136.9,364.2,12.2,554,7908,0.00,2.72,0.00,0.000,4,0.000,0.144,3011,3557,2202,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7957,1.50,136.9,357.0,13.3,559,7964,0.00,2.55,0.00,0.000,6,0.000,0.104,3020,2136,2202,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8265,1.50,136.9,317.6,12.6,590,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2136,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8579,1.50,136.9,279.2,12.4,621,8589,0.00,2.70,0.00,0.000,4,0.000,0.143,3020,3553,2201,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8615,1.50,136.9,273.9,12.8,624,8624,0.08,2.50,0.00,0.000,6,0.274,0.104,3010,2147,2201,0,0,0,0,0,0,14.52,14.67,28.83
$GC,8925,1.50,136.9,235.2,12.4,655,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2147,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9241,1.50,136.9,196.8,12.5,686,9250,0.00,2.53,0.00,0.000,4,0.000,0.127,3019,734,2200,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9289,1.50,136.9,190.1,13.1,690,9296,0.00,2.58,0.00,0.000,6,0.000,0.116,3019,2151,2199,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9596,1.50,136.9,153.1,10.8,721,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2151,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,1.50,136.9,118.8,11.0,752,9922,0.00,2.67,0.00,0.000,4,0.000,0.145,3019,3558,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9991,1.50,136.9,109.9,10.7,759,9998,0.12,2.53,0.00,0.000,6,0.296,0.106,3003,2148,2201,0,0,0,0,0,0,14.57,14.73,28.83
$GC,10306,1.52,150.8,82.2,8.3,810,10320,0.00,2.53,6.00,0.437,4,0.000,0.125,3012,740,2156,0,0,0,0,0,0,28.83,14.69,14.39
$GC,10351,1.54,171.1,78.4,8.0,817,10371,0.00,2.58,11.35,0.408,6,0.000,0.118,3012,2155,2074,0,0,0,0,0,0,28.83,14.68,14.45
$GC,10687,1.59,209.0,49.7,7.3,880,10713,0.00,2.78,20.20,0.324,4,0.000,0.145,3012,3567,1919,0,0,0,0,0,0,28.83,14.62,14.49
$GC,10868,1.59,209.0,32.0,10.4,913,10875,0.00,2.55,0.00,0.000,6,0.000,0.106,3022,2149,1913,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11187,1.60,216.3,3.9,8.6,974,11195,0.00,2.62,2.70,0.211,4,0.000,0.128,3033,736,1887,0,0,0,0,0,0,28.83,14.62,14.59
$STATE,11200,end climb,SURFACE_DEPTH_REACHED
$STATE,11201,begin surface coast
$FINISH,2.1,1.013945
$STATE,11237,end surface coast,CONTROL_FINISHED_OK
$STATE,11237,begin surface
$SM_CCo,11267,38.10,0.177,0,0,1588,290.19
$SM_GC,3.20,8.45,2.62,38.10,0.096,0.125,0.177,132,2125,1588,-11.62,-0.40,290.19,0,0,0,0,0,0,14.73,14.61,14.56
$RAFOS_CLK,480
$RAFOS,6,1350694141,0.833333,0.816944,96,64,59,59,58,57,792,161,204,193,152,214
$RAFOS,5,1350693666,0.700000,0.685000,121,59,59,56,55,54,615,213,162,180,192,223
$RAFOS,4,1350693185,0.566667,0.551389,61,59,58,58,55,53,215,205,191,848,146,169
$RAFOS,2,1350692221,0.300000,0.283611,65,64,63,55,53,51,163,123,180,213,193,229
$RAFOS_FIX,6708.252930,-5723.811035,201012,000050,3,100,69.09
$IRIDIUM_FIX,6631.12,-5658.34,191012,202004
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.88
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,13.90
$XPDR_PINGS,6
$24V_AH,12.6,75.476
$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,22.325,110.125,329.325,38.100,0.000,0.000,0.000,256.325,1.500,0.000,14.002,2530.531,6158.565,530.574,1951.748,559.061,0.000,1758.515,0.000,1728.468,1080.000,0.539,0.000
$DEVICE_MAMPS,446.760,182.070,2494.665,177.480,0.000,0.000,0.000,143.055,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.176,679.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188764
$DATA_FILE_SIZE,46768,983
$CAP_FILE_SIZE,112358,0
$CFSIZE,259252224,234508288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.6
$CURRENT,0.138,330.5,1
$GPS,201012,034022,6703.410,-5656.004,45,0.8,45,-33.5