version: 66.11
glider: 193
mission: 2
dive: 126
start: 10 1 112 1 9 21
data:
$ID,193
$MISSION,2
$DIVE,126
$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,-982.70721
$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,17
$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
$GPS1,011012,010134,6659.607,-5716.980,34,0.9,35,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-67.8
$GPS2,011012,010838,6659.559,-5717.046,4,0.8,4,-33.5
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,110.5,21922,-17.3,-8.919,-19.96
$D_GRID,783
$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,-136.9,0.0,0.0,0,68,0.00,0.00,-46.70,0.000,2,0.000,0.000,138,2131,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.50,-136.9,3.2,-1.4,8,139,11.40,2.75,-47.05,0.000,4,0.474,0.162,2351,702,3330,0,0,0,0,0,0,14.38,14.50,14.76
$GC,373,-1.50,-136.9,43.1,-14.2,63,380,0.00,2.70,0.00,0.000,6,0.000,0.146,2343,2122,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,690,-1.50,-136.9,85.4,-13.1,124,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2122,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1007,-1.50,-136.9,127.5,-13.1,165,1016,0.00,2.58,0.00,0.000,4,0.000,0.141,2343,716,3333,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1076,-1.50,-136.9,136.6,-14.1,171,1083,0.00,2.65,0.00,0.000,6,0.000,0.143,2333,2129,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1384,-1.50,-136.9,177.9,-13.4,202,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2129,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1700,-1.50,-136.9,218.2,-12.6,233,1709,0.00,2.65,0.00,0.000,4,0.000,0.156,2322,3530,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1738,-1.50,-136.9,223.5,-12.8,236,1745,0.12,2.53,0.00,0.000,6,0.310,0.106,2348,2117,3331,0,0,0,0,0,0,14.64,14.76,28.83
$GC,2046,-1.50,-136.9,261.6,-12.5,267,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2363,-1.50,-136.9,298.8,-12.1,298,2372,0.00,2.53,0.00,0.000,4,0.000,0.135,2349,710,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2410,-1.50,-136.9,305.2,-12.2,302,2417,0.00,2.62,0.00,0.000,6,0.000,0.138,2341,2132,3330,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2718,-1.50,-136.9,342.9,-12.1,333,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2132,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3034,-1.50,-136.9,378.7,-11.3,364,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2131,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-1.50,-136.9,413.5,-11.2,387,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2131,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-1.50,-136.9,447.4,-11.3,397,3647,0.00,2.62,0.00,0.000,4,0.000,0.153,2330,3533,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3686,-1.50,-136.9,450.9,-11.2,398,3692,0.08,2.47,0.00,0.000,6,0.283,0.103,2349,2123,3331,0,0,0,0,0,0,14.71,14.82,28.83
$GC,4003,-1.50,-136.9,485.6,-10.1,409,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4303,-1.50,-136.9,514.9,-9.5,419,4309,0.00,2.53,0.00,0.000,4,0.000,0.135,2349,709,3331,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4334,-1.50,-136.9,518.1,-9.6,420,4340,0.00,2.58,0.00,0.000,6,0.000,0.137,2343,2124,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4666,-1.50,-136.9,551.0,-10.1,431,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4966,-1.50,-136.9,580.5,-10.0,441,4971,0.00,2.62,0.00,0.000,4,0.000,0.155,2332,3530,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5005,-1.50,-136.9,583.8,-10.1,442,5011,0.00,2.47,0.00,0.000,6,0.000,0.104,2332,2121,3331,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5327,-1.50,-136.9,619.9,-11.1,453,5329,0.10,0.00,0.00,0.000,6,0.323,0.000,2350,2121,3331,0,0,0,0,0,0,14.76,28.83,28.83
$GC,5628,-1.50,-136.9,649.7,-9.9,463,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5927,-1.50,-136.9,678.3,-9.4,473,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2121,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6227,-1.50,-136.9,706.8,-9.4,483,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6527,-1.50,-136.9,735.3,-9.3,493,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6828,-1.50,-136.9,763.0,-9.3,503,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7033,begin apogee
$GC,7045,-0.38,0.0,783.6,-9.9,510,7193,0.77,0.00,138.48,2.508,6,0.181,0.000,2596,2199,2772,0,0,0,0,0,0,14.84,28.83,13.10
$STATE,7194,end apogee,CONTROL_FINISHED_OK
$STATE,7194,begin climb
$GC,7200,1.50,136.9,784.7,0.0,515,7359,1.38,0.00,150.73,2.454,6,0.168,0.000,3006,2199,2213,0,0,0,0,0,0,13.90,28.83,12.57
$GC,7662,1.50,136.9,736.9,12.2,531,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7962,1.50,136.9,701.2,11.9,541,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8263,1.50,136.9,666.1,11.5,551,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2199,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8562,1.50,136.9,631.3,11.7,561,8568,0.00,2.72,0.00,0.000,4,0.000,0.155,3006,3606,2201,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8596,1.50,136.9,627.5,11.8,562,8602,0.00,2.55,0.00,0.000,6,0.000,0.116,3017,2202,2201,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8924,1.50,136.9,587.7,11.9,573,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2202,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9224,1.50,136.9,551.1,12.4,583,9230,0.00,2.58,0.00,0.000,4,0.000,0.142,3026,790,2200,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9258,1.50,136.9,547.2,12.5,584,9263,0.00,2.58,0.00,0.000,6,0.000,0.133,3027,2195,2199,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9586,1.50,136.9,506.8,12.1,595,9592,0.00,2.67,0.00,0.000,4,0.000,0.152,3027,3611,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9655,1.50,136.9,498.4,12.8,597,9661,0.10,2.53,0.00,0.000,6,0.276,0.109,3010,2199,2200,0,0,0,0,0,0,14.66,14.76,28.83
$GC,9977,1.50,136.9,459.6,11.8,608,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10278,1.50,136.9,424.1,11.9,618,10284,0.00,2.53,0.00,0.000,4,0.000,0.135,3019,790,2199,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10320,1.50,136.9,420.1,11.9,619,10326,0.00,2.53,0.00,0.000,6,0.000,0.122,3019,2199,2197,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10632,1.50,136.9,381.8,11.7,639,10640,0.00,2.62,0.00,0.000,4,0.000,0.148,3019,3611,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10716,1.50,136.9,371.3,12.7,647,10725,0.08,2.50,0.00,0.000,6,0.282,0.106,3009,2196,2198,0,0,0,0,0,0,14.70,14.81,28.83
$GC,11027,1.50,136.9,335.7,11.4,678,11036,0.00,2.67,0.00,0.000,4,0.000,0.147,3009,3613,2198,0,0,0,0,0,0,28.83,14.77,28.83
$GC,11072,1.50,136.9,330.2,12.2,682,11080,0.00,2.50,0.00,0.000,6,0.000,0.105,3019,2198,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11382,1.50,136.9,293.6,11.6,713,11391,0.00,2.53,0.00,0.000,4,0.000,0.132,3029,791,2197,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11447,1.50,136.9,285.5,12.4,719,11456,0.08,2.53,0.00,0.000,6,0.275,0.122,3008,2197,2197,0,0,0,0,0,0,14.69,14.76,28.83
$GC,11758,1.50,136.9,250.0,11.4,750,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2196,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12073,1.50,136.9,216.4,10.7,781,12083,0.00,2.65,0.00,0.000,4,0.000,0.145,3008,3614,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12120,1.50,136.9,210.8,11.1,785,12129,0.00,2.50,0.00,0.000,6,0.000,0.106,3017,2198,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12430,1.50,136.9,177.8,10.5,816,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12740,1.50,136.9,146.3,9.5,847,12748,0.00,2.67,0.00,0.000,4,0.000,0.149,3017,3613,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12784,1.50,136.9,141.7,10.7,851,12793,0.08,2.50,0.00,0.000,6,0.278,0.106,3007,2198,2198,0,0,0,0,0,0,14.71,14.79,28.83
$GC,13095,1.51,141.7,113.7,8.7,882,13104,0.00,2.53,0.00,0.000,4,0.000,0.131,3016,791,2197,0,0,0,0,0,0,28.83,14.80,28.83
$GC,13133,1.52,156.9,110.8,8.3,885,13150,0.00,2.55,9.43,1.655,6,0.000,0.119,3016,2206,2131,0,0,0,0,0,0,28.83,14.78,14.04
$GC,13455,1.52,156.9,79.7,9.6,937,13463,0.00,2.65,0.00,0.000,4,0.000,0.145,3016,3622,2130,0,0,0,0,0,0,28.83,14.70,28.83
$GC,13493,1.52,156.9,76.0,10.4,943,13499,0.00,2.55,0.00,0.000,6,0.000,0.103,3026,2193,2130,0,0,0,0,0,0,28.83,14.74,28.83
$GC,13809,1.54,172.5,49.7,8.2,1004,13824,0.00,2.62,8.30,0.330,4,0.000,0.132,3037,778,2067,0,0,0,0,0,0,28.83,14.71,14.60
$GC,13880,1.54,172.5,43.1,9.5,1016,13887,0.00,2.60,0.00,0.000,6,0.000,0.124,3037,2207,2065,0,0,0,0,0,0,28.83,14.71,28.83
$GC,14198,1.63,246.9,16.6,5.7,1077,14247,0.00,2.70,39.33,0.228,4,0.000,0.146,3036,3608,1761,0,0,0,0,0,0,28.83,14.64,14.62
$STATE,14357,end climb,SURFACE_DEPTH_REACHED
$STATE,14357,begin surface coast
$FINISH,2.0,1.025648
$STATE,14379,end surface coast,CONTROL_FINISHED_OK
$STATE,14379,begin surface
$SM_CCo,14409,20.40,0.184,0,0,1588,290.19
$SM_GC,2.52,8.62,2.75,20.40,0.112,0.107,0.184,140,2120,1588,-11.60,0.57,290.19,0,0,0,0,0,0,14.72,14.70,14.63
$RAFOS_CLK,629
$RAFOS,6,1349066947,4.833333,4.818611,76,67,64,63,60,56,716,199,162,209,143,128
$RAFOS,5,1349066466,4.700000,4.685000,131,65,61,56,56,55,571,122,158,192,181,137
$RAFOS,4,1349065986,4.566667,4.551667,114,65,56,50,49,48,776,196,221,140,122,179
$RAFOS,3,1349065503,4.433333,4.417500,78,63,59,56,51,51,930,214,137,191,120,164
$RAFOS,2,1349065027,4.300000,4.285278,68,67,66,62,58,57,182,873,172,214,202,238
$RAFOS,1,1349064542,4.166667,4.150556,66,61,60,57,56,55,940,216,200,170,146,127
$RAFOS,0,1349064066,4.033333,4.018333,78,65,64,62,50,47,188,152,119,205,216,172
$RAFOS_FIX,6705.099609,-5739.692871,011012,040455,5,93,1.57
$IRIDIUM_FIX,6631.12,-5711.93,300912,202016
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.10
$INTERNAL_PRESSURE,8.73303
$TCM_TEMP,13.40
$XPDR_PINGS,7
$24V_AH,12.6,42.889
$10V_AH,12.9,0.000
$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,22.800,103.775,346.250,20.400,0.000,0.000,0.000,265.975,1.750,0.000,5.616,2871.262,8831.159,551.654,2033.365,591.692,0.000,1818.702,0.000,1807.962,2520.000,0.537,0.000
$DEVICE_MAMPS,473.535,192.015,2508.435,184.365,0.000,0.000,0.000,145.350,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.990,781.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188720
$DATA_FILE_SIZE,53417,1110
$CAP_FILE_SIZE,123865,0
$CFSIZE,259252224,241799168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.0
$CURRENT,0.088,305.1,1
$GPS,011012,051152,6700.457,-5713.674,35,0.8,36,-33.5