version: 66.11
glider: 193
mission: 2
dive: 234
start: 10 20 112 3 51 29
data:
$ID,193
$MISSION,2
$DIVE,234
$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,-1241.1467
$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,15
$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
$GPS1,201012,034022,6703.410,-5656.004,45,0.8,45,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-67.5
$GPS2,201012,035046,6703.435,-5656.256,5,0.8,5,-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,157.7,6017,-17.3,-8.919,-19.96
$D_GRID,564
$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,-17.35,0.000,2,0.000,0.000,131,2128,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.50,-136.9,3.1,-1.5,3,153,10.98,2.83,-85.93,0.000,4,0.441,0.177,2338,3528,3331,0,0,0,0,0,0,14.24,14.40,14.78
$GC,389,-1.50,-136.9,42.6,-16.9,66,395,0.00,2.55,0.00,0.000,6,0.000,0.106,2338,2122,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,707,-1.50,-136.9,88.7,-14.0,127,713,0.00,2.80,0.00,0.000,4,0.000,0.161,2327,3534,3332,0,0,0,0,0,0,28.83,14.51,28.83
$GC,759,-1.50,-136.9,96.2,-14.3,136,766,0.12,2.55,0.00,0.000,6,0.296,0.105,2352,2119,3332,0,0,0,0,0,0,14.42,14.62,28.83
$GC,1077,-1.50,-136.9,135.6,-11.7,169,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2119,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-1.50,-136.9,172.5,-11.6,200,1400,0.00,2.55,0.00,0.000,4,0.000,0.132,2352,709,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1476,-1.50,-136.9,183.5,-12.4,208,1485,0.00,2.62,0.00,0.000,6,0.000,0.133,2345,2116,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1786,-1.50,-136.9,220.1,-11.9,239,1795,0.00,2.55,0.00,0.000,4,0.000,0.129,2344,710,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1824,-1.50,-136.9,224.1,-11.7,242,1830,0.00,2.65,0.00,0.000,6,0.000,0.132,2337,2130,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2132,-1.50,-136.9,261.1,-11.1,273,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2130,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2446,-1.50,-136.9,296.0,-11.1,304,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2130,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,-1.50,-136.9,329.1,-10.5,335,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2130,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3066,-1.50,-136.9,361.6,-10.7,366,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2130,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3378,-1.50,-136.9,393.6,-10.8,397,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2130,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3706,-1.50,-136.9,428.9,-10.7,412,3712,0.00,2.67,0.00,0.000,4,0.000,0.152,2326,3527,3331,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3745,-1.50,-136.9,432.5,-10.9,413,3751,0.08,2.50,0.00,0.000,6,0.274,0.105,2346,2121,3331,0,0,0,0,0,0,14.53,14.69,28.83
$GC,4067,-1.50,-136.9,466.3,-10.2,424,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4368,-1.50,-136.9,495.7,-9.7,434,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4667,-1.50,-136.9,524.8,-9.7,444,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4968,-1.50,-136.9,554.1,-10.2,454,4973,0.00,2.75,0.00,0.000,4,0.000,0.163,2337,3524,3332,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4999,-1.50,-136.9,557.4,-10.1,455,5005,0.00,2.50,0.00,0.000,6,0.000,0.109,2338,2122,3332,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,5086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5086,begin apogee
$GC,5098,-0.38,0.0,566.8,-10.4,458,5246,0.93,0.00,137.25,2.427,6,0.262,0.000,2591,2149,2773,0,0,0,0,0,0,14.52,28.83,13.15
$STATE,5247,end apogee,CONTROL_FINISHED_OK
$STATE,5247,begin climb
$GC,5252,1.50,136.9,570.9,0.0,463,5418,1.38,2.92,148.82,2.350,4,0.168,0.138,3012,730,2214,0,0,0,0,0,0,13.90,13.31,12.62
$GC,5437,1.53,160.3,560.0,7.9,469,5470,0.00,2.88,26.83,2.224,6,0.000,0.128,3012,2149,2117,0,0,0,0,0,0,28.83,13.52,12.74
$GC,5781,1.53,160.3,511.5,13.4,481,5787,0.00,2.80,0.00,0.000,4,0.000,0.145,3012,3564,2111,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5850,1.53,160.3,503.0,13.6,483,5856,0.00,2.60,0.00,0.000,6,0.000,0.103,3022,2149,2111,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6173,1.53,160.3,458.9,13.3,494,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2150,2110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6473,1.53,160.3,419.2,13.3,504,6478,0.00,2.75,0.00,0.000,4,0.000,0.147,3022,3573,2108,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6522,1.53,160.3,414.7,13.5,505,6532,0.00,2.55,0.00,0.000,6,0.000,0.105,3033,2154,2109,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6840,1.53,160.3,368.9,14.0,530,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2154,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7151,1.53,160.3,324.3,14.4,561,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2154,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7464,1.53,160.3,280.7,13.7,592,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2154,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7776,1.53,160.3,238.1,14.4,623,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2154,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8089,1.53,160.3,194.7,13.8,654,8097,0.00,2.53,0.00,0.000,4,0.000,0.129,3043,740,2107,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8127,1.53,160.3,189.1,13.7,657,8135,0.12,2.58,0.00,0.000,6,0.293,0.114,3016,2157,2106,0,0,0,0,0,0,14.57,14.69,28.83
$GC,8436,1.53,160.3,147.9,13.1,688,8445,0.00,2.65,0.00,0.000,4,0.000,0.143,3016,3558,2107,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8463,1.53,160.3,144.8,12.8,690,8470,0.00,2.53,0.00,0.000,6,0.000,0.105,3025,2145,2107,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8771,1.53,160.3,109.6,10.8,721,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2145,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9086,1.53,160.3,76.3,9.8,773,9094,0.00,2.75,0.00,0.000,4,0.000,0.148,3025,3570,2107,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9135,1.53,160.3,71.3,9.9,781,9143,0.10,2.55,0.00,0.000,6,0.304,0.106,3015,2146,2107,0,0,0,0,0,0,14.57,14.72,28.83
$GC,9454,1.59,207.4,45.0,6.9,842,9486,0.00,2.72,24.70,0.308,4,0.000,0.145,3015,3562,1924,0,0,0,0,0,0,28.83,14.62,14.48
$GC,9587,1.59,207.4,33.5,10.1,865,9595,0.00,2.53,0.00,0.000,6,0.000,0.103,3024,2150,1919,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9905,1.59,213.2,3.3,8.7,926,9913,0.00,2.60,1.70,0.228,4,0.000,0.125,3034,741,1901,0,0,0,0,0,0,28.83,14.65,14.60
$STATE,9918,end climb,SURFACE_DEPTH_REACHED
$STATE,9918,begin surface coast
$FINISH,2.1,1.025679
$STATE,9965,end surface coast,CONTROL_FINISHED_OK
$STATE,9965,begin surface
$SM_CCo,9995,39.85,0.179,0,0,1587,290.19
$SM_GC,2.97,8.45,2.65,39.85,0.095,0.129,0.179,130,2130,1587,-11.62,-0.14,290.19,0,0,0,0,0,0,14.74,14.60,14.57
$RAFOS_CLK,404
$RAFOS,6,1350708549,4.833333,4.819167,80,64,58,56,56,55,736,205,225,167,158,178
$RAFOS,5,1350708067,4.700000,4.685278,101,57,56,56,56,53,602,194,212,233,157,113
$RAFOS,4,1350707586,4.566667,4.551667,76,62,57,55,53,53,848,216,197,123,172,156
$RAFOS,3,1350707105,4.433333,4.418056,88,62,61,53,53,51,967,159,213,115,190,203
$RAFOS,2,1350706630,4.300000,4.286111,61,61,59,59,56,55,166,905,236,190,210,139
$RAFOS,1,1350706151,4.166667,4.153056,66,62,58,53,52,52,224,147,204,946,183,118
$RAFOS,0,1350705664,4.033333,4.017778,60,59,59,57,55,52,211,197,186,222,171,139
$RAFOS_FIX,6708.529297,-5715.985352,201012,040428,4,86,5.85
$IRIDIUM_FIX,6636.54,-5652.31,201012,030356
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.37
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,14.20
$XPDR_PINGS,3
$24V_AH,12.6,75.762
$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,22.150,74.175,339.300,39.850,0.000,0.000,0.000,410.850,0.750,0.000,6.616,2375.426,5396.175,517.603,1849.843,541.708,0.000,1782.050,0.000,1516.788,2520.000,0.538,0.000
$DEVICE_MAMPS,441.405,236.385,2426.580,179.010,0.000,0.000,0.000,144.585,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.031,645.629,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188732
$DATA_FILE_SIZE,43399,937
$CAP_FILE_SIZE,99506,0
$CFSIZE,259252224,234463232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.0
$CURRENT,0.251,306.3,1
$GPS,201012,064034,6703.478,-5656.260,32,0.8,32,-33.5