version: 66.11
glider: 193
mission: 2
dive: 78
start: 9 22 112 13 49 48
data:
$ID,193
$MISSION,2
$DIVE,78
$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,-2
$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,-878.83081
$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,14
$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
$GPS1,220912,134234,6643.713,-5956.607,27,0.8,27,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-70.3
$GPS2,220912,134905,6643.662,-5956.479,4,0.8,4,-33.8
$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,350.5,21605,-17.3,-8.919,-19.96
$D_GRID,669
$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,-5.50,0.000,2,0.000,0.000,133,2111,1690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.1,0.0,1,140,11.07,2.88,-85.53,0.000,4,0.461,0.197,2338,3528,3331,0,0,0,0,0,0,14.37,14.47,14.73
$GC,251,-1.50,-136.9,29.8,-22.1,39,258,0.00,2.60,0.00,0.000,6,0.000,0.116,2338,2109,3332,0,0,0,0,0,0,28.83,14.55,28.83
$GC,568,-1.50,-136.9,78.2,-15.0,100,575,0.00,2.78,0.00,0.000,4,0.000,0.168,2328,3538,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,640,-1.50,-136.9,89.5,-15.1,113,648,0.12,2.55,0.00,0.000,6,0.304,0.108,2352,2119,3332,0,0,0,0,0,0,14.54,14.63,28.83
$GC,959,-1.50,-136.9,131.9,-13.1,151,967,0.00,2.70,0.00,0.000,4,0.000,0.160,2343,3534,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,993,-1.50,-136.9,136.4,-12.7,154,1003,0.00,2.53,0.00,0.000,6,0.000,0.105,2343,2121,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1304,-1.50,-136.9,177.2,-13.6,185,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1618,-1.50,-136.9,216.5,-12.4,216,1627,0.00,2.55,0.00,0.000,4,0.000,0.141,2343,711,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1693,-1.50,-136.9,226.9,-13.5,223,1702,0.00,2.60,0.00,0.000,6,0.000,0.145,2334,2121,3331,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2002,-1.50,-136.9,268.3,-13.1,254,2012,0.00,2.65,0.00,0.000,4,0.000,0.157,2324,3535,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2028,-1.50,-136.9,271.8,-13.5,256,2037,0.10,2.50,0.00,0.000,6,0.287,0.106,2349,2120,3331,0,0,0,0,0,0,14.64,14.73,28.83
$GC,2338,-1.50,-136.9,311.3,-12.4,287,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2653,-1.50,-136.9,347.1,-11.2,318,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2966,-1.50,-136.9,381.0,-10.4,349,2975,0.00,2.67,0.00,0.000,4,0.000,0.162,2340,3530,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3035,-1.50,-136.9,388.6,-10.9,355,3041,0.00,2.53,0.00,0.000,6,0.000,0.109,2340,2113,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3352,-1.50,-136.9,422.9,-10.8,373,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2112,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3653,-1.50,-136.9,455.6,-10.9,383,3659,0.00,2.53,0.00,0.000,4,0.000,0.139,2340,708,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3702,-1.50,-136.9,459.3,-11.1,384,3711,0.05,2.58,0.00,0.000,6,0.301,0.141,2345,2122,3330,0,0,0,0,0,0,14.71,14.76,28.83
$GC,4015,-1.50,-136.9,494.8,-10.4,395,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4314,-1.50,-136.9,526.2,-10.3,405,4320,0.00,2.62,0.00,0.000,4,0.000,0.158,2336,3533,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4353,-1.50,-136.9,529.7,-10.4,406,4359,0.00,2.50,0.00,0.000,6,0.000,0.109,2336,2116,3332,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4676,-1.50,-136.9,564.6,-10.4,417,4682,0.00,2.67,0.00,0.000,4,0.000,0.162,2326,3524,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4725,-1.50,-136.9,568.2,-10.7,418,4735,0.08,2.47,0.00,0.000,6,0.278,0.109,2346,2117,3331,0,0,0,0,0,0,14.73,14.81,28.83
$GC,5037,-1.50,-136.9,602.9,-10.3,429,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5338,-1.50,-136.9,633.5,-10.7,439,5344,0.00,2.67,0.00,0.000,4,0.000,0.164,2337,3534,3332,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5460,-1.50,-136.9,647.2,-11.1,443,5465,0.00,2.50,0.00,0.000,6,0.000,0.108,2337,2112,3332,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,5666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5666,begin apogee
$GC,5678,-0.38,0.0,672.0,-12.4,450,5819,0.93,0.00,135.68,2.429,6,0.270,0.000,2594,2205,2772,0,0,0,0,0,0,14.76,28.83,13.07
$STATE,5825,end apogee,CONTROL_FINISHED_OK
$STATE,5825,begin climb
$GC,5830,1.50,136.9,676.5,0.0,455,5981,1.38,0.00,145.68,2.371,6,0.170,0.000,3003,2205,2214,0,0,0,0,0,0,13.87,28.83,12.76
$GC,6271,1.50,136.9,633.5,10.7,470,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2205,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6571,1.50,136.9,599.7,11.3,480,6577,0.00,2.72,0.00,0.000,4,0.000,0.152,3003,3605,2204,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6605,1.50,136.9,595.8,11.7,481,6611,0.00,2.58,0.00,0.000,6,0.000,0.110,3013,2203,2204,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6933,1.50,136.9,554.9,12.5,492,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2203,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7232,1.50,136.9,518.0,12.4,502,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2203,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7532,1.50,136.9,479.6,12.8,512,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2203,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7833,1.50,136.9,442.6,12.2,522,7838,0.00,2.58,0.00,0.000,4,0.000,0.141,3024,792,2201,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7887,1.50,136.9,438.8,12.1,523,7894,0.00,2.58,0.00,0.000,6,0.000,0.132,3023,2200,2200,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8194,1.50,136.9,397.7,12.6,534,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2200,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8504,1.50,136.9,359.2,11.7,565,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2200,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8821,1.50,136.9,323.4,11.6,596,8829,0.00,2.65,0.00,0.000,4,0.000,0.156,3024,3617,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8875,1.50,136.9,315.7,12.8,601,8884,0.10,2.53,0.00,0.000,6,0.283,0.114,3007,2202,2200,0,0,0,0,0,0,14.69,14.73,28.83
$GC,9185,1.50,136.9,282.2,10.5,632,9194,0.00,2.58,0.00,0.000,4,0.000,0.142,3016,790,2199,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9230,1.50,136.9,277.0,11.6,636,9239,0.00,2.55,0.00,0.000,6,0.000,0.130,3016,2205,2199,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9540,1.50,136.9,243.1,10.4,667,9549,0.00,2.62,0.00,0.000,4,0.000,0.151,3016,3614,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9694,1.50,136.9,226.8,11.0,681,9701,0.00,2.55,0.00,0.000,6,0.000,0.109,3027,2192,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10002,1.50,136.9,194.5,10.1,712,10010,0.00,2.55,0.00,0.000,4,0.000,0.138,3037,780,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10029,1.50,136.9,192.1,9.9,714,10037,0.15,2.58,0.00,0.000,6,0.299,0.129,3004,2203,2198,0,0,0,0,0,0,14.68,14.75,28.83
$GC,10339,1.50,138.4,164.4,8.9,745,10347,0.00,2.60,0.00,0.000,4,0.000,0.151,3004,3607,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10436,1.50,138.4,155.2,9.7,754,10443,0.00,2.53,0.00,0.000,6,0.000,0.107,3013,2194,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10745,1.52,151.7,128.2,8.3,785,10758,0.00,2.58,7.03,1.744,4,0.000,0.139,3023,779,2152,0,0,0,0,0,0,28.83,14.69,14.06
$GC,10832,1.52,152.1,120.9,8.9,793,10839,0.00,2.60,0.00,0.000,6,0.000,0.131,3024,2206,2151,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11144,1.54,172.7,93.7,8.0,831,11163,0.00,2.65,11.77,0.467,4,0.000,0.149,3023,3622,2067,0,0,0,0,0,0,28.83,14.66,14.54
$GC,11238,1.54,172.7,85.1,9.3,848,11245,0.00,2.55,0.00,0.000,6,0.000,0.108,3034,2199,2065,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11556,1.57,191.3,58.9,8.1,909,11576,0.00,2.78,9.62,0.361,4,0.000,0.152,3033,3619,1991,0,0,0,0,0,0,28.83,14.66,14.58
$GC,11617,1.57,191.3,53.5,10.0,919,11625,0.10,2.55,0.00,0.000,6,0.319,0.107,3024,2196,1989,0,0,0,0,0,0,14.62,14.71,28.83
$GC,11939,1.58,206.2,25.6,8.3,980,11953,0.00,2.62,7.62,0.264,4,0.000,0.138,3033,791,1930,0,0,0,0,0,0,28.83,14.68,14.62
$GC,12006,1.66,269.0,21.6,6.2,991,12048,0.00,2.58,33.53,0.247,6,0.000,0.128,3033,2208,1674,0,0,0,0,0,0,28.83,14.69,14.58
$STATE,12248,end climb,SURFACE_DEPTH_REACHED
$STATE,12248,begin surface coast
$FINISH,2.1,1.010030
$STATE,12283,end surface coast,CONTROL_FINISHED_OK
$STATE,12284,begin surface
$SM_CCo,12311,8.98,0.198,0,0,1588,290.19
$SM_GC,4.09,8.55,0.20,8.98,0.105,0.148,0.198,135,2118,1588,-11.62,0.51,290.19,0,0,0,0,0,0,14.69,14.69,14.62
$RAFOS_CLK,536
$RAFOS,6,1348332544,16.833334,16.817778,103,62,61,58,54,50,741,156,214,184,125,227
$RAFOS,5,1348332070,16.700001,16.686111,108,62,62,57,55,51,863,204,151,228,185,172
$RAFOS,4,1348331584,16.566668,16.551111,107,66,65,54,54,53,646,191,152,135,170,218
$RAFOS,3,1348331102,16.433332,16.417223,116,58,54,54,53,53,760,139,192,173,231,208
$RAFOS,2,1348330621,16.299999,16.283611,102,54,54,51,49,49,549,222,155,1833,193,140
$RAFOS,1,1348330147,16.166666,16.151945,80,67,61,59,57,53,450,188,168,215,110,151
$RAFOS,0,1348329666,16.033333,16.018333,64,58,57,56,54,50,190,127,209,222,165,836
$RAFOS_FIX,6641.482910,-5945.382324,220912,161624,5,107,0.91
$IRIDIUM_FIX,6614.97,-5954.40,220912,101017
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.36
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,8
$24V_AH,12.8,28.369
$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,22.625,109.550,350.925,8.975,0.000,0.000,0.000,234.750,2.000,0.000,6.044,2658.535,7012.708,524.039,1958.690,576.733,0.000,1751.254,0.000,1762.010,2520.000,0.537,0.000
$DEVICE_MAMPS,461.295,196.605,2428.875,198.135,0.000,0.000,0.000,145.350,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,762.088,733.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188760
$DATA_FILE_SIZE,50130,1044
$CAP_FILE_SIZE,118405,0
$CFSIZE,259252224,245075968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.6
$CURRENT,0.108,348.2,1
$GPS,220912,171704,6645.596,-5959.742,40,0.7,40,-33.9