version: 66.11
glider: 193
mission: 2
dive: 238
start: 10 20 112 16 3 57
data:
$ID,193
$MISSION,2
$DIVE,238
$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,-1260.2711
$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
$GPS1,201012,155643,6703.909,-5651.077,21,0.9,21,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-68.7
$GPS2,201012,160314,6703.885,-5651.281,5,1.9,5,-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,171.8,2881,-17.3,-8.919,-19.96
$D_GRID,512
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-1.50,-136.9,0.0,0.0,0,33,0.00,0.00,-11.68,0.000,2,0.000,0.000,129,2122,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.50,-136.9,3.1,0.0,2,148,10.75,2.88,-90.85,0.000,4,0.434,0.181,2339,3535,3330,0,0,0,0,0,0,14.29,14.45,14.81
$GC,382,-1.50,-136.9,45.0,-17.9,65,389,0.00,2.58,0.00,0.000,6,0.000,0.109,2337,2115,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,701,-1.50,-136.9,90.3,-14.1,126,708,0.00,2.58,0.00,0.000,4,0.000,0.133,2338,702,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,749,-1.50,-136.9,97.3,-14.7,134,757,0.10,2.67,0.00,0.000,6,0.313,0.136,2348,2123,3331,0,0,0,0,0,0,14.45,14.56,28.83
$GC,1063,-1.50,-136.9,137.2,-11.8,166,1071,0.00,2.58,0.00,0.000,4,0.000,0.134,2349,710,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1087,-1.50,-136.9,140.5,-12.7,168,1095,0.00,2.62,0.00,0.000,6,0.000,0.134,2341,2122,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1397,-1.50,-136.9,179.9,-11.8,199,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1712,-1.50,-136.9,216.1,-11.2,230,1721,0.00,2.70,0.00,0.000,4,0.000,0.155,2331,3526,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1777,-1.50,-136.9,224.1,-11.7,236,1786,0.08,2.50,0.00,0.000,6,0.271,0.104,2350,2118,3331,0,0,0,0,0,0,14.47,14.64,28.83
$GC,2087,-1.50,-136.9,256.4,-9.9,267,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2397,-1.50,-136.9,287.3,-10.5,298,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2714,-1.50,-136.9,318.7,-10.0,329,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,-1.50,-136.9,349.5,-9.5,360,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3339,-1.50,-136.9,380.0,-9.9,391,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3655,-1.50,-136.9,411.8,-9.7,415,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3955,-1.50,-136.9,440.6,-9.7,425,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4256,-1.50,-136.9,469.7,-9.4,435,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4555,-1.50,-136.9,498.3,-9.6,445,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4856,-1.50,-136.9,507.8,0.0,455,4861,0.00,2.53,0.00,0.000,4,0.000,0.134,2350,707,3332,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,4882,end dive,NO_VERTICAL_VELOCITY
$STATE,4882,begin apogee
$GC,4897,-0.38,0.0,507.9,0.0,456,5042,0.77,0.00,135.10,2.365,6,0.174,0.000,2594,2148,2772,0,0,0,0,0,0,14.63,28.83,13.18
$STATE,5043,end apogee,CONTROL_FINISHED_OK
$STATE,5043,begin climb
$GC,5048,1.50,136.9,507.7,0.0,461,5215,1.35,3.08,146.82,2.300,4,0.162,0.150,3002,3559,2214,0,0,0,0,0,0,13.96,13.35,12.66
$GC,5324,1.50,136.9,480.7,13.1,470,5330,0.00,2.67,0.00,0.000,6,0.000,0.107,3013,2152,2209,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5642,1.50,136.9,437.4,12.8,481,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2152,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5942,1.50,136.9,399.3,12.5,491,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2152,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6256,1.50,136.9,360.2,12.1,522,6266,0.00,2.72,0.00,0.000,4,0.000,0.147,3013,3559,2205,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6293,1.50,136.9,355.0,12.9,525,6302,0.00,2.53,0.00,0.000,6,0.000,0.106,3023,2147,2205,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6603,1.50,136.9,316.7,12.0,556,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2147,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6920,1.50,136.9,279.0,12.2,587,6928,0.00,2.70,0.00,0.000,4,0.000,0.145,3023,3559,2205,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6954,1.50,136.9,273.9,12.4,590,6964,0.08,2.50,0.00,0.000,6,0.271,0.105,3012,2150,2204,0,0,0,0,0,0,14.53,14.65,28.83
$GC,7265,1.50,136.9,236.8,11.6,621,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2150,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7579,1.50,136.9,199.5,12.0,652,7588,0.00,2.70,0.00,0.000,4,0.000,0.144,3012,3562,2204,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7617,1.50,136.9,194.4,12.7,655,7623,0.00,2.53,0.00,0.000,6,0.000,0.104,3021,2147,2204,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7924,1.50,136.9,156.5,11.6,686,7934,0.00,2.70,0.00,0.000,4,0.000,0.142,3021,3564,2204,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7989,1.50,136.9,148.7,11.9,692,7999,0.08,2.50,0.00,0.000,6,0.269,0.103,3010,2149,2203,0,0,0,0,0,0,14.55,14.67,28.83
$GC,8300,1.50,136.9,118.1,9.4,723,8309,0.00,2.53,0.00,0.000,4,0.000,0.126,3019,736,2202,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8368,1.50,136.9,111.9,9.5,729,8375,0.00,2.55,0.00,0.000,6,0.000,0.114,3019,2151,2201,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8680,1.50,136.9,81.5,9.8,778,8687,0.00,2.65,0.00,0.000,4,0.000,0.141,3019,3564,2202,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8844,1.50,136.9,65.9,9.6,808,8851,0.12,2.53,0.00,0.000,6,0.292,0.103,3003,2142,2202,0,0,0,0,0,0,14.57,14.73,28.83
$GC,9162,1.56,188.8,41.8,6.7,869,9200,0.00,2.58,27.30,0.298,4,0.000,0.127,3012,740,2000,0,0,0,0,0,0,28.83,14.63,14.51
$GC,9271,1.58,205.2,33.6,8.2,888,9284,0.00,2.55,8.50,0.275,6,0.000,0.114,3012,2152,1935,0,0,0,0,0,0,28.83,14.65,14.50
$GC,9595,1.59,206.6,5.7,8.9,950,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2151,1928,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9623,end climb,SURFACE_DEPTH_REACHED
$STATE,9623,begin surface coast
$FINISH,2.0,1.025648
$STATE,9654,end surface coast,CONTROL_FINISHED_OK
$STATE,9655,begin surface
$SM_CCo,9682,43.33,0.179,0,0,1587,290.19
$SM_GC,2.86,8.27,0.10,43.33,0.087,0.174,0.179,137,2115,1587,-11.59,0.42,290.19,0,0,0,0,0,0,14.75,14.70,14.57
$RAFOS_CLK,389
$RAFOS,6,1350751743,16.833334,16.817499,82,65,60,60,58,55,781,209,140,194,170,152
$RAFOS,5,1350751269,16.700001,16.685833,84,65,59,54,51,49,607,213,138,167,152,120
$RAFOS,4,1350750783,16.566668,16.550833,81,62,61,57,55,52,884,176,215,192,138,152
$RAFOS,3,1350750309,16.433332,16.419167,68,65,59,58,56,55,156,959,225,195,171,137
$RAFOS,2,1350749824,16.299999,16.284445,67,64,63,60,58,57,210,115,188,163,954,150
$RAFOS,1,1350749343,16.166666,16.150833,62,56,56,54,53,53,991,200,158,233,119,138
$RAFOS_FIX,6711.525879,-5716.673340,201012,161640,4,77,12.29
$IRIDIUM_FIX,6636.54,-5655.33,201012,131320
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.31
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,14.10
$XPDR_PINGS,4
$24V_AH,12.7,76.805
$10V_AH,13.0,0.000
$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,21.600,68.450,317.725,43.325,0.000,0.000,0.000,239.175,1.000,0.000,11.262,2403.124,5007.897,503.688,1735.572,490.863,0.000,1601.296,0.000,1538.769,2160.000,0.539,0.000
$DEVICE_MAMPS,433.755,180.540,2365.380,179.010,0.000,0.000,0.000,148.410,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.008,657.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43385,961
$CAP_FILE_SIZE,96448,0
$CFSIZE,259252224,234233856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.8
$CURRENT,0.292,317.2,1
$GPS,201012,184759,6704.139,-5651.872,37,0.8,37,-33.5