version: 66.11
glider: 193
mission: 2
dive: 142
start: 10 3 112 8 20 24
data:
$ID,193
$MISSION,2
$DIVE,142
$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,-1020.2571
$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,16
$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
$GPS1,031012,081222,6701.059,-5708.297,94,0.8,94,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-62.1
$GPS2,031012,081945,6700.424,-5707.896,6,0.7,6,-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,289.9,148083,-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,-136.9,0.0,0.0,0,62,0.00,0.00,-41.08,0.000,2,0.000,0.000,114,2134,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.50,-136.9,3.1,-1.0,7,138,11.55,2.70,-45.95,0.000,4,0.474,0.158,2348,712,3331,0,0,0,0,0,0,14.34,14.53,14.78
$GC,288,-1.50,-136.9,35.3,-18.3,46,295,0.00,2.65,0.00,0.000,6,0.000,0.142,2340,2119,3332,0,0,0,0,0,0,28.83,14.55,28.83
$GC,605,-1.50,-136.9,82.9,-15.4,107,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,917,-1.50,-136.9,127.2,-13.7,149,926,0.00,2.60,0.00,0.000,4,0.000,0.138,2340,704,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,952,-1.50,-136.9,132.0,-13.3,152,961,0.08,2.62,0.00,0.000,6,0.298,0.139,2349,2110,3332,0,0,0,0,0,0,14.54,14.62,28.83
$GC,1264,-1.50,-136.9,170.4,-11.7,183,1272,0.00,2.70,0.00,0.000,4,0.000,0.155,2340,3535,3331,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1348,-1.50,-136.9,180.7,-12.2,191,1356,0.00,2.53,0.00,0.000,6,0.000,0.105,2340,2117,3332,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1658,-1.50,-136.9,214.7,-10.3,222,1667,0.00,2.55,0.00,0.000,4,0.000,0.134,2340,705,3330,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1716,-1.50,-136.9,221.0,-11.8,227,1725,0.10,2.65,0.00,0.000,6,0.330,0.136,2349,2134,3331,0,0,0,0,0,0,14.62,14.71,28.83
$GC,2026,-1.50,-136.9,254.1,-10.3,258,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2133,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2342,-1.50,-136.9,286.6,-10.6,289,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2133,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2655,-1.50,-136.9,320.7,-11.0,320,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2133,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2966,-1.50,-136.9,353.3,-10.0,351,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2133,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3279,-1.50,-136.9,385.1,-9.9,382,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2133,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3586,-1.50,-136.9,415.6,-9.7,403,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2134,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3886,-1.50,-136.9,444.9,-9.9,413,3891,0.00,2.60,0.00,0.000,4,0.000,0.152,2341,3524,3331,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3926,-1.50,-136.9,448.2,-10.1,414,3931,0.00,2.47,0.00,0.000,6,0.000,0.106,2341,2120,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4247,-1.50,-136.9,481.6,-9.9,425,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4547,-1.50,-136.9,511.7,-10.0,435,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4848,-1.50,-136.9,541.9,-10.1,445,4853,0.00,2.67,0.00,0.000,4,0.000,0.164,2330,3527,3332,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4879,-1.50,-136.9,545.2,-10.2,446,4885,0.08,2.50,0.00,0.000,6,0.277,0.109,2349,2114,3331,0,0,0,0,0,0,14.71,14.83,28.83
$GC,5211,-1.50,-136.9,577.5,-9.7,457,5217,0.00,2.50,0.00,0.000,4,0.000,0.137,2350,711,3332,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5243,-1.50,-136.9,580.8,-9.9,458,5249,0.00,2.58,0.00,0.000,6,0.000,0.142,2344,2119,3332,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5575,-1.50,-136.9,614.9,-10.4,469,5581,0.00,2.62,0.00,0.000,4,0.000,0.155,2332,3529,3332,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5609,-1.50,-136.9,618.2,-10.4,470,5615,0.00,2.47,0.00,0.000,6,0.000,0.103,2333,2115,3332,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5937,-1.50,-136.9,653.7,-10.8,481,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2115,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6236,-1.50,-136.9,684.5,-10.4,491,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2116,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6536,-1.50,-136.9,715.9,-10.6,501,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2115,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6711,begin apogee
$GC,6724,-0.38,0.0,735.2,-10.7,507,6875,0.93,0.00,139.93,2.495,6,0.273,0.000,2588,2207,2773,0,0,0,0,0,0,14.74,28.83,13.09
$STATE,6876,end apogee,CONTROL_FINISHED_OK
$STATE,6876,begin climb
$GC,6881,1.50,136.9,740.5,0.0,512,7045,1.40,2.95,152.30,2.465,4,0.173,0.138,3013,788,2213,0,0,0,0,0,0,13.90,13.24,12.54
$GC,7276,1.50,136.9,703.7,11.9,525,7282,0.00,2.75,0.00,0.000,6,0.000,0.129,3013,2204,2203,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7593,1.50,136.9,664.3,11.9,536,7599,0.00,2.65,0.00,0.000,4,0.000,0.135,3022,794,2203,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7830,1.50,136.9,637.5,12.6,543,7837,0.00,2.62,0.00,0.000,6,0.000,0.125,3023,2203,2201,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8138,1.50,136.9,596.9,12.4,554,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2203,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8437,1.50,136.9,559.8,12.3,564,8443,0.00,2.67,0.00,0.000,4,0.000,0.146,3023,3613,2201,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8471,1.50,136.9,555.6,12.5,565,8477,0.10,2.53,0.00,0.000,6,0.284,0.106,3007,2201,2201,0,0,0,0,0,0,14.54,14.64,28.83
$GC,8799,1.50,136.9,517.6,11.4,576,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2201,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9099,1.50,136.9,483.3,11.5,586,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2201,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9398,1.50,136.9,448.7,11.3,596,9404,0.00,2.67,0.00,0.000,4,0.000,0.146,3007,3610,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9437,1.50,136.9,444.7,11.4,597,9443,0.00,2.50,0.00,0.000,6,0.000,0.107,3016,2202,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9760,1.50,136.9,405.5,11.6,608,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2202,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10060,1.50,136.9,370.4,11.8,634,10069,0.00,2.65,0.00,0.000,4,0.000,0.147,3016,3614,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10098,1.50,136.9,366.0,12.3,637,10106,0.00,2.53,0.00,0.000,6,0.000,0.106,3027,2197,2199,0,0,0,0,0,0,28.83,14.80,28.83
$GC,10406,1.50,136.9,328.3,12.0,668,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2197,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10723,1.50,136.9,291.8,11.6,699,10732,0.00,2.53,0.00,0.000,4,0.000,0.134,3037,790,2199,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10758,1.50,136.9,287.0,11.8,702,10767,0.10,2.53,0.00,0.000,6,0.274,0.124,3010,2199,2197,0,0,0,0,0,0,14.69,14.73,28.83
$GC,11068,1.50,136.9,252.8,10.9,733,11078,0.00,2.62,0.00,0.000,4,0.000,0.145,3010,3608,2198,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11137,1.50,136.9,245.0,12.1,739,11144,0.00,2.53,0.00,0.000,6,0.000,0.105,3019,2191,2198,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11445,1.50,136.9,210.7,10.8,770,11451,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2191,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11760,1.50,136.9,177.0,11.0,801,11770,0.00,2.50,0.00,0.000,4,0.000,0.133,3029,790,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11789,1.50,136.9,173.7,10.7,803,11796,0.10,2.55,0.00,0.000,6,0.311,0.125,3009,2203,2197,0,0,0,0,0,0,14.70,14.78,28.83
$GC,12098,1.50,136.9,141.5,10.2,834,12107,0.00,2.58,0.00,0.000,4,0.000,0.133,3018,788,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12155,1.50,136.9,136.1,10.1,839,12162,0.00,2.55,0.00,0.000,6,0.000,0.122,3018,2205,2197,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12463,1.50,136.9,107.3,9.2,870,12472,0.00,2.58,0.00,0.000,4,0.000,0.143,3018,3610,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12603,1.50,136.9,94.6,9.3,888,12610,0.10,2.50,0.00,0.000,6,0.314,0.103,3008,2199,2199,0,0,0,0,0,0,14.70,14.81,28.83
$GC,12925,1.52,152.5,68.0,8.2,949,12938,0.00,0.00,6.60,0.401,6,0.000,0.000,3008,2198,2150,0,0,0,0,0,0,28.83,28.83,14.59
$GC,13250,1.58,199.0,42.3,6.9,1011,13280,0.00,0.00,25.65,0.309,6,0.000,0.000,3008,2199,1958,0,0,0,0,0,0,28.83,28.83,14.59
$GC,13595,1.64,252.1,22.1,6.6,1076,13634,0.10,2.62,27.73,0.251,4,0.181,0.133,3054,786,1741,0,0,0,0,0,0,14.75,14.64,14.59
$STATE,13785,end climb,SURFACE_DEPTH_REACHED
$STATE,13785,begin surface coast
$FINISH,1.9,1.025544
$STATE,13811,end surface coast,CONTROL_FINISHED_OK
$STATE,13812,begin surface
$SM_CCo,13841,18.33,0.199,0,0,1586,290.19
$SM_GC,2.88,8.48,2.53,18.33,0.093,0.127,0.199,137,2127,1586,-11.60,-0.31,290.19,0,0,0,0,0,0,14.73,14.67,14.62
$RAFOS_CLK,598
$RAFOS,0,1349265663,12.033333,12.017500,66,61,55,50,50,48,199,137,217,157,227,166
$RAFOS,6,1349254145,8.833333,8.818055,110,64,60,58,57,56,740,144,198,132,174,210
$RAFOS,5,1349253671,8.700000,8.686389,62,61,59,58,57,55,181,208,138,230,195,125
$RAFOS,4,1349253185,8.566667,8.551389,74,58,57,55,55,53,197,119,823,148,182,207
$RAFOS,3,1349252701,8.433333,8.416945,65,58,58,57,56,54,192,175,955,148,127,158
$RAFOS_FIX,6647.862793,-5733.075195,031012,040444,2,84,0.00
$IRIDIUM_FIX,6636.54,-5650.71,031012,040449
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.41
$INTERNAL_PRESSURE,8.7135
$TCM_TEMP,12.90
$XPDR_PINGS,6
$24V_AH,12.5,47.073
$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,23.100,98.750,352.200,18.325,0.000,0.000,0.000,284.000,1.500,0.000,7.623,2852.549,8139.668,542.598,2167.079,601.692,0.000,1876.376,0.000,1914.901,2160.000,0.537,0.000
$DEVICE_MAMPS,474.300,179.775,2494.665,198.900,0.000,0.000,0.000,129.285,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,810.087,786.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188752
$DATA_FILE_SIZE,53357,1116
$CAP_FILE_SIZE,124352,0
$CFSIZE,259252224,240803840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.2
$CURRENT,0.063, 47.1,1
$GPS,031012,121304,6700.420,-5711.060,38,0.8,38,-33.5