version: 66.11
glider: 193
mission: 2
dive: 225
start: 10 18 112 17 27 20
data:
$ID,193
$MISSION,2
$DIVE,225
$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,-1215.7977
$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,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
$GPS1,181012,172004,6701.196,-5720.826,40,0.9,41,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-64.9
$GPS2,181012,172637,6701.205,-5720.946,5,1.1,5,-33.6
$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,160.6,24023,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,26,0.00,0.00,-5.47,0.000,2,0.000,0.000,132,2112,1686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.0,0.0,1,153,10.90,2.65,-101.72,0.000,4,0.439,0.153,2352,710,3330,0,0,0,0,0,0,14.30,14.47,14.78
$GC,303,-1.50,-136.9,26.4,-16.2,49,311,0.00,2.70,0.00,0.000,6,0.000,0.139,2345,2121,3331,0,0,0,0,0,0,28.83,14.47,28.83
$GC,621,-1.50,-136.9,79.3,-14.3,110,628,0.00,2.62,0.00,0.000,4,0.000,0.132,2345,701,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,653,-1.50,-136.9,84.2,-14.8,115,660,0.00,2.67,0.00,0.000,6,0.000,0.132,2336,2123,3331,0,0,0,0,0,0,28.83,14.53,28.83
$GC,971,-1.50,-136.9,131.4,-15.1,156,980,0.00,2.70,0.00,0.000,4,0.000,0.149,2325,3527,3332,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1076,-1.50,-136.9,146.9,-15.0,166,1085,0.10,2.50,0.00,0.000,6,0.285,0.101,2350,2121,3331,0,0,0,0,0,0,14.42,14.57,28.83
$GC,1386,-1.50,-136.9,186.5,-11.0,197,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1702,-1.50,-136.9,218.3,-10.0,228,1711,0.00,2.55,0.00,0.000,4,0.000,0.129,2350,703,3330,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1767,-1.50,-136.9,225.8,-10.8,234,1776,0.00,2.62,0.00,0.000,6,0.000,0.130,2343,2116,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2076,-1.50,-136.9,258.1,-11.2,265,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,-1.50,-136.9,294.9,-12.6,296,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2703,-1.50,-136.9,332.9,-12.2,327,2712,0.00,2.72,0.00,0.000,4,0.000,0.149,2332,3530,3330,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2768,-1.50,-136.9,341.3,-12.3,333,2777,0.00,2.53,0.00,0.000,6,0.000,0.103,2332,2114,3330,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3078,-1.50,-136.9,378.8,-11.9,364,3084,0.10,0.00,0.00,0.000,6,0.319,0.000,2350,2114,3330,0,0,0,0,0,0,14.54,28.83,28.83
$GC,3398,-1.50,-136.9,414.1,-10.9,388,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3698,-1.50,-136.9,445.1,-10.2,398,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3998,-1.50,-136.9,475.5,-10.2,408,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4299,-1.50,-136.9,505.9,-10.0,418,4304,0.00,2.75,0.00,0.000,4,0.000,0.158,2342,3521,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4338,-1.50,-136.9,509.4,-10.2,419,4343,0.00,2.50,0.00,0.000,6,0.000,0.107,2341,2118,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4660,-1.50,-136.9,543.8,-10.2,430,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4960,-1.50,-136.9,573.9,-10.0,440,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5260,-1.50,-136.9,604.0,-10.0,450,5266,0.00,2.75,0.00,0.000,4,0.000,0.160,2332,3528,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5292,-1.50,-136.9,607.3,-10.2,451,5298,0.08,2.50,0.00,0.000,6,0.275,0.105,2350,2120,3332,0,0,0,0,0,0,14.53,14.73,28.83
$GC,5624,-1.50,-136.9,640.0,-9.6,462,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5924,-1.50,-136.9,669.0,-9.6,472,5929,0.00,2.53,0.00,0.000,4,0.000,0.134,2351,710,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5948,-1.50,-136.9,669.0,-9.6,472,5954,0.00,2.65,0.00,0.000,6,0.000,0.138,2344,2120,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6255,-1.50,-136.9,701.5,-9.9,483,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6555,-1.50,-136.9,731.4,-9.9,493,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6855,-1.50,-136.9,761.3,-10.0,503,6860,0.00,2.70,0.00,0.000,4,0.000,0.155,2333,3532,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6939,-1.50,-136.9,767.9,-10.3,505,6947,0.00,2.53,0.00,0.000,6,0.000,0.104,2334,2117,3332,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,7061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7061,begin apogee
$GC,7074,-0.38,0.0,783.4,-10.3,510,7229,0.95,0.00,143.40,2.677,6,0.267,0.000,2593,2205,2773,0,0,0,0,0,0,14.54,28.83,12.96
$STATE,7230,end apogee,CONTROL_FINISHED_OK
$STATE,7230,begin climb
$GC,7236,1.50,136.9,788.0,0.0,515,7407,1.40,3.08,156.70,2.591,4,0.170,0.149,3005,3617,2214,0,0,0,0,0,0,13.78,13.19,12.45
$GC,7441,1.50,136.9,773.3,9.8,522,7446,0.00,2.78,0.00,0.000,6,0.000,0.103,3015,2203,2211,0,0,0,0,0,0,28.83,13.54,28.83
$GC,7758,1.50,136.9,733.5,12.0,533,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2204,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8058,1.50,136.9,696.1,12.6,543,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2203,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8358,1.50,136.9,659.1,12.2,553,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2204,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8658,1.50,136.9,622.1,12.3,563,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2203,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8958,1.50,136.9,586.0,11.8,573,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2204,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9258,1.50,136.9,550.5,11.8,583,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2203,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9558,1.50,136.9,515.2,11.7,593,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2204,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9858,1.50,136.9,480.0,11.6,603,9864,0.00,2.72,0.00,0.000,4,0.000,0.146,3014,3615,2200,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9908,1.50,136.9,476.1,11.8,604,9916,0.00,2.55,0.00,0.000,6,0.000,0.109,3026,2195,2200,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10220,1.50,136.9,435.4,12.2,615,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2195,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10520,1.50,136.9,398.0,12.8,625,10530,0.00,2.72,0.00,0.000,4,0.000,0.150,3026,3607,2199,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10549,1.50,136.9,394.3,13.1,627,10557,0.15,2.55,0.00,0.000,6,0.297,0.108,3003,2190,2199,0,0,0,0,0,0,14.57,14.75,28.83
$GC,10858,1.50,136.9,357.8,11.1,658,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2189,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11168,1.50,136.9,323.4,11.2,689,11177,0.00,2.70,0.00,0.000,4,0.000,0.147,3003,3611,2199,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11206,1.50,136.9,319.2,11.8,692,11213,0.00,2.53,0.00,0.000,6,0.000,0.104,3012,2198,2199,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11514,1.50,136.9,284.2,11.2,723,11518,0.00,2.55,0.00,0.000,4,0.000,0.129,3023,785,2199,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11542,1.50,136.9,281.3,11.3,725,11550,0.00,2.58,0.00,0.000,6,0.000,0.119,3022,2203,2198,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11850,1.50,136.9,245.3,11.0,756,11859,0.00,2.65,0.00,0.000,4,0.000,0.145,3023,3610,2198,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11898,1.50,136.9,240.1,11.9,760,11905,0.12,2.53,0.00,0.000,6,0.303,0.105,3007,2199,2198,0,0,0,0,0,0,14.55,14.73,28.83
$GC,12207,1.50,136.9,209.2,9.9,791,12216,0.00,2.70,0.00,0.000,4,0.000,0.148,3006,3608,2199,0,0,0,0,0,0,28.83,14.61,28.83
$GC,12252,1.50,136.9,204.8,10.3,795,12260,0.00,2.50,0.00,0.000,6,0.000,0.104,3016,2197,2198,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12562,1.50,136.9,172.1,11.1,826,12571,0.00,2.50,0.00,0.000,4,0.000,0.128,3026,795,2198,0,0,0,0,0,0,28.83,14.63,28.83
$GC,12627,1.50,136.9,164.5,11.9,832,12635,0.00,2.55,0.00,0.000,6,0.000,0.119,3026,2200,2198,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12937,1.50,136.9,130.0,10.6,863,12946,0.00,2.67,0.00,0.000,4,0.000,0.148,3026,3611,2198,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12981,1.50,136.9,125.0,11.1,867,12991,0.10,2.53,0.00,0.000,6,0.269,0.104,3009,2195,2199,0,0,0,0,0,0,14.54,14.68,28.83
$GC,13291,1.52,156.9,97.6,8.0,901,13304,0.00,0.00,9.02,0.471,6,0.000,0.000,3009,2195,2131,0,0,0,0,0,0,28.83,28.83,14.35
$GC,13615,1.54,169.1,69.0,8.4,963,13627,0.00,0.00,6.62,0.395,6,0.000,0.000,3009,2195,2082,0,0,0,0,0,0,28.83,28.83,14.40
$GC,13938,1.56,187.7,44.3,8.1,1025,13958,0.00,2.60,10.18,0.315,4,0.000,0.128,3018,787,2004,0,0,0,0,0,0,28.83,14.59,14.47
$GC,14159,1.60,215.7,27.6,7.7,1066,14184,0.00,2.60,15.02,0.259,6,0.000,0.121,3018,2201,1890,0,0,0,0,0,0,28.83,14.63,14.49
$STATE,14453,end climb,SURFACE_DEPTH_REACHED
$STATE,14453,begin surface coast
$FINISH,2.2,1.018697
$STATE,14494,end surface coast,CONTROL_FINISHED_OK
$STATE,14495,begin surface
$SM_CCo,14522,37.95,0.184,0,0,1587,290.19
$SM_GC,2.99,8.38,0.20,37.95,0.092,0.149,0.184,139,2111,1587,-11.59,0.34,290.19,0,0,0,0,0,0,14.71,14.66,14.54
$RAFOS_CLK,628
$RAFOS,6,1350593356,20.833334,20.821112,75,59,57,53,51,49,671,202,123,213,171,137
$RAFOS,5,1350592865,20.700001,20.684723,149,58,58,55,54,53,562,227,210,147,171,199
$RAFOS,4,1350592382,20.566668,20.550556,84,63,60,54,50,49,818,189,216,166,117,138
$RAFOS,3,1350591902,20.433332,20.417223,70,59,56,54,53,51,205,140,221,183,115,165
$RAFOS,2,1350591424,20.299999,20.284445,68,55,55,55,54,50,877,220,153,1150,200,140
$RAFOS,1,1350590942,20.166666,20.150555,77,65,63,57,56,55,925,215,198,161,171,145
$RAFOS,0,1350590462,20.033333,20.017221,61,59,58,55,53,51,187,161,212,132,175,121
$RAFOS_FIX,6654.679199,-5745.897461,181012,202038,5,91,1.95
$IRIDIUM_FIX,6631.12,-5716.55,181012,131319
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.69
$INTERNAL_PRESSURE,8.72327
$TCM_TEMP,13.10
$XPDR_PINGS,5
$24V_AH,12.4,73.128
$10V_AH,12.8,0.000
$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,22.275,100.150,340.950,37.950,0.000,0.000,0.000,234.925,1.250,0.000,6.622,2865.556,8906.895,541.720,2052.081,612.771,0.000,1821.042,0.000,1856.552,2520.000,0.537,0.000
$DEVICE_MAMPS,439.110,179.010,2676.735,184.365,0.000,0.000,0.000,149.940,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.335,796.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53351,1130
$CAP_FILE_SIZE,126375,0
$CFSIZE,259252224,235020288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.2
$CURRENT,0.087,176.9,1
$GPS,181012,213204,6659.295,-5716.939,40,0.7,41,-33.5