version: 66.11
glider: 193
mission: 2
dive: 39
start: 9 14 112 22 20 26
data:
$ID,193
$MISSION,2
$DIVE,39
$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,-800.00024
$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
$GPS1,140912,221258,6700.515,-5708.064,62,0.7,62,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-65.8
$GPS2,140912,221943,6700.521,-5708.096,5,0.8,5,-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,319.5,147977,-17.3,-8.919,-19.96
$D_GRID,735
$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,-136.9,0.0,0.0,0,91,0.00,0.00,-69.25,0.000,2,0.000,0.000,118,2115,2781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.50,-136.9,3.2,-2.4,12,130,11.20,2.85,-14.57,0.000,4,0.464,0.187,2338,3539,3331,0,0,0,0,0,0,14.39,14.49,14.74
$GC,195,-1.50,-136.9,23.5,-23.1,29,203,0.00,2.58,0.00,0.000,6,0.000,0.110,2337,2117,3332,0,0,0,0,0,0,28.83,14.55,28.83
$GC,515,-1.50,-136.9,71.0,-13.4,90,522,0.00,2.58,0.00,0.000,4,0.000,0.143,2337,711,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,577,-1.50,-136.9,79.9,-14.5,101,585,0.12,2.65,0.00,0.000,6,0.315,0.148,2353,2129,3334,0,0,0,0,0,0,14.54,14.60,28.83
$GC,897,-1.50,-136.9,121.5,-12.9,146,906,0.00,2.60,0.00,0.000,4,0.000,0.141,2353,705,3334,0,0,0,0,0,0,28.83,14.64,28.83
$GC,982,-1.50,-136.9,133.4,-14.0,154,990,0.00,2.60,0.00,0.000,6,0.000,0.144,2345,2118,3334,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1291,-1.50,-136.9,174.2,-13.2,185,1301,0.00,2.65,0.00,0.000,4,0.000,0.155,2334,3532,3334,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1400,-1.50,-136.9,188.4,-13.6,195,1407,0.00,2.50,0.00,0.000,6,0.000,0.102,2334,2117,3334,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1708,-1.50,-136.9,229.3,-12.9,226,1717,0.00,2.50,0.00,0.000,4,0.000,0.136,2334,718,3333,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1765,-1.50,-136.9,236.7,-13.6,231,1772,0.12,2.58,0.00,0.000,6,0.323,0.140,2349,2122,3333,0,0,0,0,0,0,14.65,14.72,28.83
$GC,2073,-1.50,-136.9,273.0,-11.4,262,2082,0.00,2.62,0.00,0.000,4,0.000,0.155,2341,3534,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2138,-1.50,-136.9,280.7,-12.0,268,2146,0.00,2.47,0.00,0.000,6,0.000,0.102,2341,2120,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2448,-1.50,-136.9,315.7,-11.0,299,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2764,-1.50,-136.9,348.8,-10.5,330,2773,0.00,2.62,0.00,0.000,4,0.000,0.161,2331,3525,3332,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2811,-1.50,-136.9,354.5,-11.0,334,2819,0.10,2.50,0.00,0.000,6,0.317,0.104,2349,2107,3332,0,0,0,0,0,0,14.70,14.79,28.83
$GC,3119,-1.50,-136.9,386.3,-10.0,365,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2107,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3439,-1.50,-136.9,419.1,-10.4,385,3445,0.00,2.67,0.00,0.000,4,0.000,0.160,2341,3531,3332,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3471,-1.50,-136.9,422.5,-10.5,386,3477,0.00,2.47,0.00,0.000,6,0.000,0.104,2340,2116,3332,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3803,-1.50,-136.9,457.9,-10.8,397,3808,0.00,2.50,0.00,0.000,4,0.000,0.139,2340,711,3332,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3836,-1.50,-136.9,461.5,-10.9,398,3843,0.05,2.55,0.00,0.000,6,0.301,0.142,2345,2118,3331,0,0,0,0,0,0,14.73,14.79,28.83
$GC,4164,-1.50,-136.9,496.3,-10.3,409,4170,0.00,2.62,0.00,0.000,4,0.000,0.158,2336,3528,3331,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4219,-1.50,-136.9,499.6,-10.2,410,4226,0.00,2.47,0.00,0.000,6,0.000,0.104,2336,2119,3332,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4526,-1.50,-136.9,534.0,-10.4,421,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4826,-1.50,-136.9,565.1,-10.3,431,4831,0.00,2.62,0.00,0.000,4,0.000,0.161,2325,3525,3331,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4875,-1.50,-136.9,568.3,-10.3,432,4884,0.08,2.45,0.00,0.000,6,0.294,0.103,2346,2118,3331,0,0,0,0,0,0,14.76,14.84,28.83
$GC,5187,-1.50,-136.9,601.6,-10.0,443,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5488,-1.50,-136.9,631.1,-9.8,453,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5787,-1.50,-136.9,660.5,-9.8,463,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6087,-1.50,-136.9,690.1,-9.9,473,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6388,-1.50,-136.9,720.0,-10.0,483,6393,0.00,2.65,0.00,0.000,4,0.000,0.165,2337,3532,3330,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6432,-1.50,-136.9,723.1,-10.1,484,6438,0.00,2.47,0.00,0.000,6,0.000,0.110,2336,2122,3331,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,6535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6535,begin apogee
$GC,6547,-0.38,0.0,735.5,-10.3,488,6699,0.90,0.00,141.38,2.485,6,0.270,0.000,2588,2202,2771,0,0,0,0,0,0,14.81,28.83,13.05
$STATE,6700,end apogee,CONTROL_FINISHED_OK
$STATE,6700,begin climb
$GC,6705,1.50,136.9,740.5,0.0,493,6863,1.40,0.00,152.50,2.451,6,0.171,0.000,3002,2202,2213,0,0,0,0,0,0,13.84,28.83,12.86
$GC,7164,1.50,136.9,693.7,12.1,509,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2202,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7465,1.50,136.9,657.4,12.0,519,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2202,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7764,1.50,136.9,621.9,11.9,529,7769,0.00,2.65,0.00,0.000,4,0.000,0.148,3013,781,2200,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7798,1.50,136.9,618.2,11.8,530,7803,0.00,2.62,0.00,0.000,6,0.000,0.136,3013,2204,2200,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8125,1.50,136.9,578.1,12.0,541,8131,0.00,2.67,0.00,0.000,4,0.000,0.156,3013,3616,2200,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8149,1.50,136.9,578.1,12.0,541,8156,0.00,2.58,0.00,0.000,6,0.000,0.109,3023,2189,2200,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8458,1.50,136.9,536.6,12.4,552,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2190,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8756,1.50,136.9,500.4,12.1,562,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2190,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9056,1.50,136.9,463.6,12.3,572,9062,0.00,2.55,0.00,0.000,4,0.000,0.142,3034,786,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9095,1.50,136.9,459.6,12.4,573,9101,0.10,2.55,0.00,0.000,6,0.286,0.132,3007,2200,2198,0,0,0,0,0,0,14.64,14.71,28.83
$GC,9418,1.50,136.9,421.5,11.5,584,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2199,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9717,1.50,136.9,386.3,12.0,600,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2199,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10033,1.50,136.9,349.9,11.6,631,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2199,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10344,1.50,136.9,313.6,11.4,662,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2199,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10657,1.50,136.9,277.8,11.3,693,10666,0.00,2.55,0.00,0.000,4,0.000,0.142,3016,795,2196,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10682,1.50,136.9,274.3,11.1,695,10691,0.00,2.53,0.00,0.000,6,0.000,0.132,3017,2202,2197,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10992,1.50,136.9,238.7,11.7,726,11002,0.00,2.60,0.00,0.000,4,0.000,0.153,3016,3611,2197,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11050,1.50,136.9,231.9,12.7,731,11057,0.00,2.50,0.00,0.000,6,0.000,0.108,3027,2199,2197,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11358,1.50,136.9,195.6,11.6,762,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2199,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11674,1.50,136.9,161.7,10.9,793,11683,0.00,2.53,0.00,0.000,4,0.000,0.140,3037,791,2197,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11771,1.50,136.9,150.2,11.3,802,11779,0.15,2.55,0.00,0.000,6,0.297,0.129,3004,2209,2196,0,0,0,0,0,0,14.73,14.79,28.83
$GC,12080,1.50,136.9,119.2,9.7,833,12089,0.00,2.58,0.00,0.000,4,0.000,0.149,3003,3613,2197,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12145,1.50,136.9,112.3,10.8,839,12154,0.00,2.50,0.00,0.000,6,0.000,0.105,3013,2192,2198,0,0,0,0,0,0,28.83,14.81,28.83
$GC,12461,1.50,136.9,81.3,9.6,889,12468,0.00,2.53,0.00,0.000,4,0.000,0.137,3023,784,2197,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12519,1.50,138.1,75.9,8.9,899,12526,0.00,2.55,0.00,0.000,6,0.000,0.129,3023,2203,2197,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12836,1.54,171.7,49.8,7.5,960,12862,0.00,2.67,16.73,0.342,4,0.000,0.151,3023,3608,2070,0,0,0,0,0,0,28.83,14.71,14.65
$GC,12897,1.54,171.7,44.5,9.6,970,12904,0.00,2.50,0.00,0.000,6,0.000,0.107,3033,2199,2069,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13217,1.66,267.3,22.8,4.8,1031,13278,0.00,2.62,50.83,0.251,4,0.000,0.140,3043,790,1677,0,0,0,0,0,0,28.83,14.64,14.61
$GC,13363,1.66,267.3,10.8,9.3,1056,13370,0.00,2.58,0.00,0.000,6,0.000,0.133,3044,2202,1669,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,13445,end climb,SURFACE_DEPTH_REACHED
$STATE,13445,begin surface coast
$FINISH,1.5,1.004613
$STATE,13483,end surface coast,CONTROL_FINISHED_OK
$STATE,13483,begin surface
$SM_CCo,13511,9.45,0.203,0,0,1587,290.19
$SM_GC,3.29,8.55,0.20,9.45,0.106,0.144,0.203,139,2108,1587,-11.60,0.31,290.19,0,0,0,0,0,0,14.71,14.71,14.64
$RAFOS_CLK,582
$RAFOS,6,1347670157,0.833333,0.821389,75,75,61,56,56,54,226,664,207,149,119,193
$RAFOS,5,1347669677,0.700000,0.688056,125,63,60,55,49,48,516,171,184,213,229,138
$RAFOS,4,1347669196,0.566667,0.554444,87,64,60,59,58,57,731,223,214,165,181,201
$RAFOS,3,1347668715,0.433333,0.420833,75,63,59,57,53,53,884,214,183,137,169,160
$RAFOS,2,1347668235,0.300000,0.287500,69,63,57,54,54,53,850,198,143,226,123,175
$RAFOS,1,1347667760,0.166667,0.155556,64,64,57,56,51,50,179,214,201,224,137,118
$RAFOS,0,1347667278,0.033333,0.021667,61,56,55,53,52,52,233,198,182,170,114,138
$RAFOS_FIX,6655.298828,-5725.205078,150912,000028,4,89,1.99
$IRIDIUM_FIX,6631.12,-5701.34,140912,181800
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.73
$INTERNAL_PRESSURE,8.7428
$TCM_TEMP,13.20
$XPDR_PINGS,8
$24V_AH,12.9,16.207
$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,22.775,113.575,361.425,9.450,0.000,0.000,0.000,250.500,2.000,0.000,6.035,2771.237,8035.223,550.151,1999.504,589.570,0.000,1803.289,0.000,1785.977,2520.000,0.537,0.000
$DEVICE_MAMPS,464.355,195.075,2485.485,203.490,0.000,0.000,0.000,147.645,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.269,762.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188812
$DATA_FILE_SIZE,50186,1078
$CAP_FILE_SIZE,123355,0
$CFSIZE,259252224,247853056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.3
$CURRENT,0.087,347.2,1
$GPS,150912,020734,6701.733,-5712.852,29,0.8,30,-33.6