version: 66.11
glider: 193
mission: 2
dive: 244
start: 10 21 112 9 33 8
data:
$ID,193
$MISSION,2
$DIVE,244
$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,-1303.4431
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,211012,092604,6702.213,-5659.208,33,0.7,33,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-68.7
$GPS2,211012,093233,6702.186,-5659.284,5,0.8,5,-33.5
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,282.3,154931,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-1.50,-136.9,0.0,0.0,0,26,0.00,0.00,-5.53,0.000,2,0.000,0.000,131,2127,1690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.0,0.0,1,152,10.40,2.75,-98.68,0.000,4,0.416,0.168,2341,3531,3330,0,0,0,0,0,0,14.33,14.44,14.81
$GC,387,-1.50,-136.9,39.4,-16.3,66,394,0.00,2.55,0.00,0.000,6,0.000,0.103,2341,2118,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,704,-1.50,-136.9,86.2,-13.9,127,711,0.00,2.80,0.00,0.000,4,0.000,0.158,2331,3534,3332,0,0,0,0,0,0,28.83,14.51,28.83
$GC,877,-1.50,-136.9,110.4,-14.4,153,885,0.10,2.55,0.00,0.000,6,0.303,0.103,2349,2116,3331,0,0,0,0,0,0,14.45,14.63,28.83
$GC,1186,-1.50,-136.9,151.0,-11.6,184,1195,0.00,2.53,0.00,0.000,4,0.000,0.130,2350,715,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1223,-1.50,-136.9,155.4,-12.6,187,1230,0.00,2.62,0.00,0.000,6,0.000,0.129,2342,2121,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1530,-1.50,-136.9,193.0,-11.8,218,1539,0.00,2.67,0.00,0.000,4,0.000,0.148,2331,3528,3331,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1575,-1.50,-136.9,198.4,-11.5,222,1585,0.08,2.47,0.00,0.000,6,0.271,0.096,2350,2121,3331,0,0,0,0,0,0,14.42,14.62,28.83
$GC,1885,-1.50,-136.9,233.0,-11.1,253,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-1.50,-136.9,266.4,-10.9,284,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2513,-1.50,-136.9,301.3,-11.4,315,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2825,-1.50,-136.9,336.7,-11.2,346,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,-1.50,-136.9,371.5,-10.8,377,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3465,-1.50,-136.9,406.5,-10.5,406,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3764,-1.50,-136.9,436.6,-9.7,416,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4064,-1.50,-136.9,465.1,-9.8,426,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4364,-1.50,-136.9,493.1,-9.3,436,4369,0.00,2.72,0.00,0.000,4,0.000,0.156,2341,3528,3332,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4418,-1.50,-136.9,495.9,-9.2,437,4426,0.00,2.53,0.00,0.000,6,0.000,0.102,2341,2111,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4725,-1.50,-136.9,529.0,-10.2,448,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2110,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5026,-1.50,-136.9,560.2,-10.3,458,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2110,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5326,-1.50,-136.9,590.9,-10.1,468,5331,0.00,2.75,0.00,0.000,4,0.000,0.158,2331,3525,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5365,-1.50,-136.9,594.3,-10.3,469,5370,0.00,2.50,0.00,0.000,6,0.000,0.106,2331,2115,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5687,-1.50,-136.9,629.5,-10.7,480,5689,0.10,0.00,0.00,0.000,6,0.308,0.000,2350,2115,3332,0,0,0,0,0,0,14.59,28.83,28.83
$GC,5988,-1.50,-136.9,659.4,-10.0,490,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6192,begin apogee
$GC,6204,-0.38,0.0,679.5,-9.6,497,6356,0.88,0.00,140.45,2.560,6,0.254,0.000,2595,2150,2773,0,0,0,0,0,0,14.52,28.83,13.06
$STATE,6357,end apogee,CONTROL_FINISHED_OK
$STATE,6357,begin climb
$GC,6362,1.50,136.9,684.7,0.0,502,6525,1.35,2.97,153.57,2.474,4,0.158,0.137,3013,741,2214,0,0,0,0,0,0,13.88,13.29,12.57
$GC,6544,1.50,140.0,672.8,8.8,508,6558,0.00,2.88,4.45,1.665,6,0.000,0.127,3013,2146,2201,0,0,0,0,0,0,28.83,13.52,12.75
$GC,6861,1.50,140.0,631.1,12.3,519,6867,0.00,2.80,0.00,0.000,4,0.000,0.148,3013,3560,2196,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6931,1.50,140.0,623.1,12.5,521,6936,0.00,2.60,0.00,0.000,6,0.000,0.103,3023,2144,2195,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7253,1.50,140.0,583.0,12.2,532,7258,0.00,2.78,0.00,0.000,4,0.000,0.147,3024,3565,2194,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7292,1.50,140.0,579.0,12.3,533,7299,0.08,2.55,0.00,0.000,6,0.275,0.101,3013,2146,2194,0,0,0,0,0,0,14.37,14.52,28.83
$GC,7614,1.50,140.0,539.7,11.9,544,7620,0.00,2.75,0.00,0.000,4,0.000,0.143,3013,3565,2193,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7649,1.50,140.0,535.5,12.2,545,7655,0.00,2.53,0.00,0.000,6,0.000,0.100,3022,2149,2193,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7976,1.50,140.0,494.0,12.5,556,7982,0.00,2.72,0.00,0.000,4,0.000,0.144,3022,3564,2193,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8008,1.50,140.0,489.9,12.5,557,8014,0.08,2.53,0.00,0.000,6,0.273,0.102,3012,2149,2193,0,0,0,0,0,0,14.50,14.65,28.83
$GC,8340,1.50,140.0,448.8,12.5,568,8346,0.00,2.72,0.00,0.000,4,0.000,0.145,3012,3560,2193,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8375,1.50,140.0,444.6,12.8,569,8381,0.00,2.53,0.00,0.000,6,0.000,0.102,3021,2151,2193,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8702,1.50,140.0,402.4,12.4,580,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2151,2191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9007,1.50,140.0,366.0,12.3,608,9015,0.00,2.72,0.00,0.000,4,0.000,0.143,3021,3566,2191,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9051,1.50,140.0,359.6,13.0,612,9060,0.08,2.53,0.00,0.000,6,0.273,0.105,3011,2149,2192,0,0,0,0,0,0,14.54,14.66,28.83
$GC,9364,1.50,140.0,323.7,11.3,643,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2149,2191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9676,1.50,140.0,288.9,11.7,674,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2149,2191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9982,1.50,140.0,252.9,11.1,705,9992,0.00,2.72,0.00,0.000,4,0.000,0.142,3011,3565,2191,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10028,1.50,140.0,247.4,12.1,709,10037,0.00,2.53,0.00,0.000,6,0.000,0.105,3020,2145,2192,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10338,1.50,140.0,212.3,10.7,740,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2145,2191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10653,1.50,140.0,178.2,11.0,771,10661,0.00,2.75,0.00,0.000,4,0.000,0.147,3020,3566,2192,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10730,1.50,140.0,168.5,12.2,778,10738,0.12,2.55,0.00,0.000,6,0.290,0.103,3004,2142,2191,0,0,0,0,0,0,14.56,14.72,28.83
$GC,11040,1.50,140.0,134.2,10.9,809,11049,0.00,2.72,0.00,0.000,4,0.000,0.143,3003,3562,2191,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11128,1.50,140.0,124.3,11.5,817,11136,0.00,2.53,0.00,0.000,6,0.000,0.101,3013,2148,2192,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11437,1.56,184.0,98.7,7.0,849,11467,0.00,0.00,23.80,0.467,6,0.000,0.000,3013,2148,2020,0,0,0,0,0,0,28.83,28.83,14.37
$GC,11785,1.56,184.0,65.9,10.2,914,11792,0.00,2.55,0.00,0.000,4,0.000,0.128,3023,737,2014,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11827,1.56,184.0,61.2,9.9,921,11835,0.00,2.60,0.00,0.000,6,0.000,0.119,3023,2152,2012,0,0,0,0,0,0,28.83,14.63,28.83
$GC,12150,1.58,202.7,31.6,8.1,982,12163,0.00,0.00,9.27,0.273,6,0.000,0.000,3023,2152,1944,0,0,0,0,0,0,28.83,28.83,14.50
$GC,12475,1.61,226.5,5.0,7.9,1044,12495,0.00,2.60,12.23,0.184,4,0.000,0.130,3032,740,1845,0,0,0,0,0,0,28.83,14.63,14.58
$STATE,12500,end climb,SURFACE_DEPTH_REACHED
$STATE,12500,begin surface coast
$FINISH,2.2,1.025974
$STATE,12536,end surface coast,CONTROL_FINISHED_OK
$STATE,12537,begin surface
$SM_CCo,12566,32.55,0.174,0,0,1587,290.19
$SM_GC,3.50,8.43,2.67,32.55,0.093,0.137,0.174,134,2123,1587,-11.61,-0.45,290.19,0,0,0,0,0,0,14.71,14.59,14.56
$RAFOS_CLK,536
$RAFOS,6,1350823741,12.833333,12.816944,96,65,55,55,54,50,774,223,174,184,153,136
$RAFOS,5,1350823269,12.700000,12.685833,73,63,57,57,55,54,572,206,221,175,230,149
$RAFOS,4,1350822781,12.566667,12.550278,105,62,60,57,52,49,857,225,175,208,140,193
$RAFOS,3,1350822310,12.433333,12.419444,59,54,52,52,51,50,201,910,219,152,131,180
$RAFOS,2,1350821825,12.300000,12.284722,62,61,59,57,56,51,200,162,210,177,904,219
$RAFOS,1,1350821344,12.166667,12.151111,71,64,60,60,57,49,951,199,217,183,162,152
$RAFOS,0,1350820864,12.033333,12.017777,63,63,56,55,51,50,185,203,215,161,172,149
$RAFOS_FIX,6707.500488,-5725.157715,211012,121212,4,86,1.92
$IRIDIUM_FIX,6636.54,-5655.33,211012,060605
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.85
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,14.10
$XPDR_PINGS,6
$24V_AH,12.6,78.394
$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,21.675,95.375,343.775,32.550,0.000,0.000,0.000,236.000,1.500,0.000,13.786,2679.446,7272.512,542.599,1940.396,568.939,0.000,1748.456,0.000,1740.011,2520.000,0.539,0.000
$DEVICE_MAMPS,416.160,220.320,2559.690,173.655,0.000,0.000,0.000,147.645,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.743,729.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188716
$DATA_FILE_SIZE,50065,1055
$CAP_FILE_SIZE,114967,0
$CFSIZE,259252224,233852928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.5
$CURRENT,0.115,167.1,1
$GPS,211012,130504,6700.866,-5702.848,38,0.7,38,-33.5