version: 66.11
glider: 193
mission: 2
dive: 37
start: 9 14 112 14 36 45
data:
$ID,193
$MISSION,2
$DIVE,37
$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,310
$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,-797.39191
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$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
$GPS1,140912,142934,6702.246,-5703.011,35,0.8,35,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-66.7
$GPS2,140912,143606,6702.225,-5703.115,4,0.9,4,-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,276.3,152212,-17.3,-8.919,-19.96
$D_GRID,706
$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,-136.9,0.0,0.0,0,85,0.00,0.00,-64.18,0.000,2,0.000,0.000,122,2109,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-1.50,-136.9,3.2,-3.0,11,124,11.00,2.83,-15.35,0.000,4,0.457,0.182,2339,3536,3331,0,0,0,0,0,0,14.41,14.51,14.76
$GC,335,-1.50,-136.9,48.9,-14.6,56,341,0.00,2.53,0.00,0.000,6,0.000,0.103,2339,2119,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,652,-1.50,-136.9,89.9,-13.6,117,660,0.00,2.58,0.00,0.000,4,0.000,0.138,2339,699,3333,0,0,0,0,0,0,28.83,14.64,28.83
$GC,720,-1.50,-136.9,99.8,-14.7,129,729,0.10,2.62,0.00,0.000,6,0.321,0.143,2348,2122,3333,0,0,0,0,0,0,14.59,14.64,28.83
$GC,1029,-1.50,-136.9,140.7,-13.1,160,1038,0.00,2.62,0.00,0.000,4,0.000,0.155,2340,3528,3333,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1124,-1.50,-136.9,153.6,-13.5,169,1134,0.00,2.47,0.00,0.000,6,0.000,0.104,2339,2117,3333,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1434,-1.50,-136.9,194.5,-12.9,200,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2117,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1750,-1.50,-136.9,233.1,-12.1,231,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2117,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2062,-1.50,-136.9,269.5,-10.7,262,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2373,-1.50,-136.9,302.9,-11.2,293,2383,0.00,2.67,0.00,0.000,4,0.000,0.163,2329,3533,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2419,-1.50,-136.9,308.6,-11.2,297,2429,0.08,2.47,0.00,0.000,6,0.283,0.106,2348,2117,3331,0,0,0,0,0,0,14.70,14.79,28.83
$GC,2730,-1.50,-136.9,342.4,-10.9,328,2738,0.00,2.65,0.00,0.000,4,0.000,0.163,2339,3525,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2766,-1.50,-136.9,346.2,-11.1,331,2774,0.00,2.45,0.00,0.000,6,0.000,0.103,2339,2117,3331,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3076,-1.50,-136.9,380.9,-10.9,362,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3405,-1.50,-136.9,417.2,-11.1,385,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3705,-1.50,-136.9,448.5,-10.6,395,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4005,-1.50,-136.9,479.8,-10.2,405,4010,0.00,2.62,0.00,0.000,4,0.000,0.158,2329,3525,3330,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4039,-1.50,-136.9,483.2,-10.4,406,4045,0.08,2.42,0.00,0.000,6,0.282,0.101,2349,2122,3331,0,0,0,0,0,0,14.77,14.86,28.83
$GC,4366,-1.50,-136.9,515.1,-9.7,417,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4666,-1.50,-136.9,544.1,-9.5,427,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4967,-1.50,-136.9,573.0,-9.7,437,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5266,-1.50,-136.9,602.5,-10.0,447,5272,0.00,2.62,0.00,0.000,4,0.000,0.161,2340,3528,3331,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5311,-1.50,-136.9,605.8,-10.2,448,5316,0.00,2.47,0.00,0.000,6,0.000,0.109,2340,2115,3331,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5628,-1.50,-136.9,640.8,-10.8,459,5633,0.00,2.65,0.00,0.000,4,0.000,0.166,2330,3529,3331,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5659,-1.50,-136.9,644.3,-10.9,460,5664,0.00,2.45,0.00,0.000,6,0.000,0.109,2330,2123,3331,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5990,-1.50,-136.9,680.5,-10.9,471,5996,0.10,2.65,0.00,0.000,4,0.321,0.163,2339,3527,3331,0,0,0,0,0,0,14.81,14.85,28.83
$GC,6025,-1.50,-136.9,684.0,-10.9,472,6031,0.00,2.45,0.00,0.000,6,0.000,0.106,2340,2115,3331,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,6231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6231,begin apogee
$GC,6243,-0.38,0.0,706.6,-10.5,479,6395,0.90,0.00,141.18,2.446,6,0.261,0.000,2593,2209,2773,0,0,0,0,0,0,14.81,28.83,13.07
$STATE,6396,end apogee,CONTROL_FINISHED_OK
$STATE,6396,begin climb
$GC,6402,1.50,136.9,711.5,0.0,484,6557,1.38,0.00,150.88,2.400,6,0.161,0.000,3006,2208,2213,0,0,0,0,0,0,13.87,28.83,12.92
$GC,6842,1.50,136.9,666.3,12.6,499,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2208,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7138,1.50,136.9,629.2,12.2,509,7144,0.00,2.70,0.00,0.000,4,0.000,0.148,3006,3615,2203,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7178,1.50,136.9,625.2,12.4,510,7183,0.00,2.55,0.00,0.000,6,0.000,0.105,3017,2199,2203,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7500,1.50,136.9,582.1,12.8,521,7505,0.00,2.58,0.00,0.000,4,0.000,0.139,3027,794,2202,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7541,1.50,136.9,578.2,12.6,522,7546,0.00,2.55,0.00,0.000,6,0.000,0.127,3027,2201,2201,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7863,1.50,136.9,536.6,12.3,533,7869,0.00,2.62,0.00,0.000,4,0.000,0.145,3027,3614,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7902,1.50,136.9,532.2,12.5,534,7908,0.10,2.50,0.00,0.000,6,0.280,0.103,3011,2198,2200,0,0,0,0,0,0,14.57,14.66,28.83
$GC,8225,1.50,136.9,492.9,11.8,545,8230,0.00,2.53,0.00,0.000,4,0.000,0.135,3020,794,2200,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8279,1.50,136.9,489.1,12.0,546,8286,0.00,2.55,0.00,0.000,6,0.000,0.125,3020,2208,2199,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8586,1.50,136.9,448.3,12.4,557,8592,0.00,2.60,0.00,0.000,4,0.000,0.148,3020,3617,2199,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8626,1.50,136.9,444.2,12.6,558,8632,0.08,2.50,0.00,0.000,6,0.289,0.105,3010,2195,2200,0,0,0,0,0,0,14.66,14.74,28.83
$GC,8947,1.50,136.9,404.9,11.8,569,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2195,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9248,1.50,136.9,370.2,11.5,595,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2195,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9562,1.50,136.9,334.3,11.7,626,9571,0.00,2.53,0.00,0.000,4,0.000,0.138,3020,786,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9607,1.50,136.9,328.5,12.0,630,9616,0.00,2.53,0.00,0.000,6,0.000,0.128,3020,2198,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9917,1.50,136.9,291.1,11.9,661,9927,0.00,2.60,0.00,0.000,4,0.000,0.150,3019,3611,2199,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9982,1.50,136.9,282.6,13.3,667,9991,0.08,2.47,0.00,0.000,6,0.292,0.106,3010,2199,2199,0,0,0,0,0,0,14.71,14.80,28.83
$GC,10293,1.50,136.9,248.3,10.8,698,10302,0.00,2.53,0.00,0.000,4,0.000,0.137,3019,791,2198,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10321,1.50,136.9,245.5,10.8,700,10327,0.00,2.55,0.00,0.000,6,0.000,0.128,3019,2211,2198,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10628,1.50,136.9,211.9,11.1,731,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2211,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10943,1.50,136.9,179.0,10.2,762,10952,0.00,2.55,0.00,0.000,4,0.000,0.147,3019,3608,2198,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10960,1.50,136.9,177.4,10.0,763,10968,0.12,2.50,0.00,0.000,6,0.314,0.104,3003,2190,2198,0,0,0,0,0,0,14.73,14.83,28.83
$GC,11269,1.50,136.9,147.7,9.0,794,11278,0.00,2.50,0.00,0.000,4,0.000,0.136,3013,784,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11317,1.50,136.9,143.4,9.2,798,11324,0.00,2.55,0.00,0.000,6,0.000,0.128,3013,2208,2197,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11624,1.50,136.9,113.7,9.4,829,11634,0.00,2.55,0.00,0.000,4,0.000,0.148,3013,3607,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11663,1.50,136.9,110.0,10.3,832,11670,0.00,2.50,0.00,0.000,6,0.000,0.106,3023,2190,2198,0,0,0,0,0,0,28.83,14.83,28.83
$GC,11975,1.50,136.9,80.5,9.1,883,11981,0.00,2.53,0.00,0.000,4,0.000,0.139,3033,780,2198,0,0,0,0,0,0,28.83,14.79,28.83
$GC,12002,1.50,136.9,77.9,9.4,887,12010,0.12,2.55,0.00,0.000,6,0.307,0.131,3007,2202,2197,0,0,0,0,0,0,14.73,14.79,28.83
$GC,12324,1.52,156.1,51.4,8.1,948,12338,0.00,0.00,8.38,0.355,6,0.000,0.000,3007,2202,2134,0,0,0,0,0,0,28.83,28.83,14.68
$GC,12649,1.72,315.6,28.7,2.0,1010,12741,0.12,2.65,84.43,0.265,4,0.162,0.144,3068,783,1482,0,0,0,0,0,0,14.78,14.62,14.58
$GC,12817,1.72,315.6,16.4,10.8,1038,12823,0.00,2.60,0.00,0.000,6,0.000,0.138,3068,2199,1472,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,12934,end climb,SURFACE_DEPTH_REACHED
$STATE,12934,begin surface coast
$FINISH,1.5,1.012970
$STATE,12965,end surface coast,CONTROL_FINISHED_OK
$STATE,12965,begin surface
$SM_CCo,13053,0.00,0.000,0,0,1464,320.85
$SM_GC,2.22,8.73,0.17,0.00,0.114,0.157,0.000,137,2121,1464,-11.62,0.68,320.85,0,0,0,0,0,0,14.69,14.69,28.83
$RAFOS_CLK,548
$RAFOS,6,1347641354,16.833334,16.820555,106,59,58,52,52,51,693,214,194,160,130,1734
$RAFOS,5,1347640869,16.700001,16.685833,120,67,66,65,65,59,572,161,209,221,129,179
$RAFOS,4,1347640388,16.566668,16.552221,64,62,58,57,55,51,217,117,193,787,151,161
$RAFOS,3,1347639906,16.433332,16.418333,57,57,56,54,53,51,163,212,186,221,148,929
$RAFOS,2,1347639422,16.299999,16.283890,72,65,56,56,46,44,217,164,122,143,134,53
$RAFOS,1,1347638967,16.166666,16.157499,69,60,59,57,57,53,821,214,135,168,203,118
$RAFOS,0,1347638486,16.033333,16.023890,57,57,55,55,54,50,163,186,198,208,222,147
$RAFOS_FIX,6708.137695,-5730.394043,140912,161650,3,98,3.16
$IRIDIUM_FIX,6631.12,-5701.34,140912,101040
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.48
$INTERNAL_PRESSURE,8.7428
$TCM_TEMP,13.20
$XPDR_PINGS,4
$24V_AH,12.9,15.635
$10V_AH,13.2,0.000
$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,22.975,112.975,384.850,0.000,0.000,0.000,0.000,233.900,1.000,0.000,5.953,2723.822,7647.596,534.666,1961.535,587.958,0.000,1770.535,0.000,1765.665,2520.000,0.538,0.000
$DEVICE_MAMPS,456.705,182.070,2446.470,0.000,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.738,745.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188800
$DATA_FILE_SIZE,50046,1066
$CAP_FILE_SIZE,121270,0
$CFSIZE,259252224,247988224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.5
$CURRENT,0.149,157.2,1
$GPS,140912,181604,6700.518,-5706.089,35,0.9,35,-33.5