version: 66.11
glider: 193
mission: 2
dive: 42
start: 9 15 112 10 39 2
data:
$ID,193
$MISSION,2
$DIVE,42
$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,-803.86652
$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,18
$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
$GPS1,150912,103128,6659.696,-5718.195,39,0.8,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-67.8
$GPS2,150912,103819,6659.724,-5718.256,5,0.9,5,-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,320.2,140399,-17.3,-8.919,-19.96
$D_GRID,786
$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,-136.9,0.0,0.0,0,81,0.00,0.00,-58.85,0.000,2,0.000,0.000,134,2112,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-1.50,-136.9,3.1,-2.1,10,125,11.15,2.78,-19.30,0.000,4,0.465,0.184,2341,3534,3330,0,0,0,0,0,0,14.38,14.47,14.73
$GC,255,-1.50,-136.9,32.3,-14.2,40,261,0.00,2.58,0.00,0.000,6,0.000,0.110,2341,2112,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,571,-1.50,-136.9,74.8,-13.9,101,579,0.00,2.58,0.00,0.000,4,0.000,0.144,2341,709,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,709,-1.50,-136.9,95.5,-15.2,127,716,0.10,2.65,0.00,0.000,6,0.324,0.148,2349,2129,3332,0,0,0,0,0,0,14.55,14.62,28.83
$GC,1022,-1.50,-136.9,139.5,-13.5,160,1030,0.00,2.62,0.00,0.000,4,0.000,0.159,2340,3527,3333,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1089,-1.50,-136.9,148.6,-14.0,166,1096,0.00,2.53,0.00,0.000,6,0.000,0.106,2340,2110,3333,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1396,-1.50,-136.9,188.8,-12.3,197,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2110,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1712,-1.50,-136.9,227.4,-12.3,228,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2110,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2024,-1.50,-136.9,263.4,-11.2,259,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2110,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2335,-1.50,-136.9,296.8,-10.7,290,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2110,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2648,-1.50,-136.9,330.3,-10.8,321,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2110,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2960,-1.50,-136.9,364.7,-10.8,352,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2111,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3271,-1.50,-136.9,397.9,-10.4,383,3280,0.00,2.70,0.00,0.000,4,0.000,0.162,2330,3531,3330,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3299,-1.50,-136.9,401.2,-11.1,385,3307,0.10,2.50,0.00,0.000,6,0.314,0.106,2348,2117,3331,0,0,0,0,0,0,14.71,14.80,28.83
$GC,3606,-1.50,-136.9,434.4,-10.5,396,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3907,-1.50,-136.9,465.8,-10.5,406,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4206,-1.50,-136.9,497.2,-10.5,416,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4507,-1.50,-136.9,528.4,-10.2,426,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4806,-1.50,-136.9,559.2,-10.3,436,4812,0.00,2.53,0.00,0.000,4,0.000,0.143,2348,710,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4840,-1.50,-136.9,562.4,-10.3,437,4846,0.00,2.60,0.00,0.000,6,0.000,0.152,2341,2124,3330,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5167,-1.50,-136.9,596.9,-10.5,448,5173,0.00,2.62,0.00,0.000,4,0.000,0.167,2330,3527,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5199,-1.50,-136.9,600.2,-10.5,449,5205,0.08,2.47,0.00,0.000,6,0.283,0.109,2350,2117,3331,0,0,0,0,0,0,14.77,14.85,28.83
$GC,5530,-1.50,-136.9,633.0,-10.0,460,5536,0.00,2.53,0.00,0.000,4,0.000,0.144,2350,708,3330,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5561,-1.50,-136.9,636.3,-10.1,461,5567,0.00,2.58,0.00,0.000,6,0.000,0.151,2343,2115,3330,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5895,-1.50,-136.9,670.2,-10.2,472,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6193,-1.50,-136.9,700.9,-10.3,482,6198,0.00,2.65,0.00,0.000,4,0.000,0.161,2332,3534,3330,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6233,-1.50,-136.9,704.3,-10.4,483,6238,0.00,2.47,0.00,0.000,6,0.000,0.105,2333,2117,3331,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6555,-1.50,-136.9,739.2,-10.6,494,6561,0.10,2.53,0.00,0.000,4,0.327,0.140,2351,712,3330,0,0,0,0,0,0,14.78,14.83,28.83
$GC,6600,-1.50,-136.9,742.6,-10.6,495,6605,0.00,2.55,0.00,0.000,6,0.000,0.145,2344,2118,3330,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6917,-1.50,-136.9,775.2,-9.7,506,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7032,begin apogee
$GC,7044,-0.38,0.0,787.1,-9.9,510,7196,0.88,0.00,141.75,2.519,6,0.269,0.000,2587,2206,2771,0,0,0,0,0,0,14.78,28.83,13.02
$STATE,7197,end apogee,CONTROL_FINISHED_OK
$STATE,7197,begin climb
$GC,7202,1.50,136.9,791.4,0.0,515,7360,1.40,0.00,153.18,2.476,6,0.172,0.000,3000,2205,2214,0,0,0,0,0,0,13.83,28.83,12.81
$GC,7666,1.50,136.9,744.9,12.2,531,7672,0.00,2.72,0.00,0.000,4,0.000,0.141,3011,790,2204,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7690,1.50,136.9,744.9,12.2,531,7698,0.00,2.67,0.00,0.000,6,0.000,0.131,3011,2202,2203,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7998,1.50,136.9,703.9,12.1,542,8004,0.00,2.72,0.00,0.000,4,0.000,0.151,3011,3616,2202,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8029,1.50,136.9,699.7,12.3,543,8035,0.00,2.60,0.00,0.000,6,0.000,0.106,3021,2201,2203,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8362,1.50,136.9,657.6,12.7,554,8367,0.00,2.60,0.00,0.000,4,0.000,0.138,3032,788,2201,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8381,1.50,136.9,657.6,12.7,554,8390,0.08,2.58,0.00,0.000,6,0.285,0.128,3012,2197,2200,0,0,0,0,0,0,14.44,14.50,28.83
$GC,8693,1.50,136.9,616.2,12.3,565,8698,0.00,2.65,0.00,0.000,4,0.000,0.149,3012,3611,2200,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8725,1.50,136.9,612.3,12.3,566,8730,0.00,2.53,0.00,0.000,6,0.000,0.105,3021,2200,2201,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9056,1.50,136.9,570.5,12.6,577,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2200,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9356,1.50,136.9,533.4,12.3,587,9361,0.00,2.53,0.00,0.000,4,0.000,0.138,3031,793,2199,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9369,1.50,136.9,533.4,12.3,587,9376,0.08,2.55,0.00,0.000,6,0.291,0.129,3011,2203,2197,0,0,0,0,0,0,14.62,14.68,28.83
$GC,9688,1.50,136.9,495.0,11.6,598,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2202,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9987,1.50,136.9,459.7,11.8,608,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2203,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10287,1.50,136.9,425.3,11.5,618,10293,0.00,2.62,0.00,0.000,4,0.000,0.154,3011,3612,2198,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10319,1.50,136.9,421.5,11.6,619,10324,0.00,2.53,0.00,0.000,6,0.000,0.109,3020,2198,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10631,1.50,136.9,384.0,12.3,638,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10946,1.50,136.9,346.7,12.1,669,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2198,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11258,1.50,136.9,308.6,12.3,700,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11570,1.50,136.9,271.2,11.9,731,11576,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2198,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11881,1.50,136.9,234.9,11.5,762,11888,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12195,1.50,136.9,199.8,10.9,793,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2198,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12506,1.50,136.9,166.6,11.0,824,12515,0.00,2.55,0.00,0.000,4,0.000,0.144,3031,789,2197,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12532,1.50,136.9,163.5,10.6,826,12541,0.08,2.55,0.00,0.000,6,0.286,0.135,3011,2201,2197,0,0,0,0,0,0,14.73,14.78,28.83
$GC,12842,1.50,136.9,132.5,9.9,857,12851,0.00,2.58,0.00,0.000,4,0.000,0.141,3019,791,2197,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12887,1.50,136.9,128.0,10.0,861,12897,0.00,2.53,0.00,0.000,6,0.000,0.135,3019,2198,2196,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13199,1.50,136.9,98.2,9.1,893,13206,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2198,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13517,1.50,136.9,69.2,9.3,954,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2198,2196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13834,1.52,151.4,41.7,8.3,1015,13847,0.00,2.65,5.68,0.337,4,0.000,0.154,3019,3615,2153,0,0,0,0,0,0,28.83,14.75,14.67
$GC,14083,1.71,308.4,23.4,2.1,1062,14173,0.10,2.53,80.32,0.249,6,0.184,0.107,3066,2196,1511,0,0,0,0,0,0,14.79,14.78,14.59
$STATE,14307,end climb,SURFACE_DEPTH_REACHED
$STATE,14307,begin surface coast
$FINISH,1.7,1.013602
$STATE,14334,end surface coast,CONTROL_FINISHED_OK
$STATE,14334,begin surface
$SM_CCo,14422,0.00,0.000,0,0,1493,313.49
$SM_GC,2.47,8.75,0.15,0.00,0.116,0.172,0.000,137,2118,1493,-11.62,0.54,313.49,0,0,0,0,0,0,14.69,14.67,28.83
$RAFOS_CLK,631
$RAFOS,6,1347713354,12.833333,12.820556,103,71,59,58,58,58,652,189,150,120,221,162
$RAFOS,5,1347712868,12.700000,12.685555,116,66,63,60,58,55,532,190,134,226,152,208
$RAFOS,4,1347712393,12.566667,12.553611,92,60,59,57,57,51,714,167,193,227,207,121
$RAFOS,3,1347711911,12.433333,12.419723,105,62,59,58,56,51,872,202,146,156,193,174
$RAFOS,2,1347711429,12.300000,12.285833,115,68,67,66,61,60,847,146,177,223,196,168
$RAFOS,1,1347710947,12.166667,12.151944,97,61,58,57,54,52,887,202,146,178,213,119
$RAFOS,0,1347710464,12.033333,12.017777,66,57,53,52,52,48,214,198,142,116,180,163
$RAFOS_FIX,6701.620605,-5749.714844,150912,121238,6,105,3.39
$IRIDIUM_FIX,6631.12,-5624.69,150912,060654
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.88
$INTERNAL_PRESSURE,8.7135
$TCM_TEMP,13.00
$XPDR_PINGS,5
$24V_AH,12.8,17.085
$10V_AH,13.1,0.000
$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,22.875,93.450,380.925,0.000,0.000,0.000,0.000,254.500,1.250,0.000,6.007,2839.671,8891.629,531.214,2004.178,589.000,0.000,1785.895,0.000,1785.093,2520.000,0.538,0.000
$DEVICE_MAMPS,465.120,194.310,2519.145,0.000,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,805.890,780.911,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188772
$DATA_FILE_SIZE,50082,1108
$CAP_FILE_SIZE,121464,0
$CFSIZE,259252224,247656448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.5
$CURRENT,0.110,330.6,1
$GPS,150912,144123,6701.005,-5724.162,36,1.0,37,-33.6