version: 66.11
glider: 193
mission: 2
dive: 229
start: 10 19 112 9 52 24
data:
$ID,193
$MISSION,2
$DIVE,229
$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,-1221.201
$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,14
$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
$GPS1,191012,094452,6700.298,-5706.350,36,0.7,36,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-67.7
$GPS2,191012,095141,6700.260,-5706.326,5,1.0,5,-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,78.7,14174,-17.3,-8.919,-19.96
$D_GRID,725
$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,-136.9,0.0,0.0,0,49,0.00,0.00,-28.23,0.000,2,0.000,0.000,140,2113,2109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.50,-136.9,3.1,-1.4,5,153,11.18,2.62,-75.32,0.000,4,0.454,0.153,2349,716,3331,0,0,0,0,0,0,14.24,14.44,14.80
$GC,213,-1.50,-136.9,12.4,-16.5,31,219,0.00,2.67,0.00,0.000,6,0.000,0.139,2340,2120,3332,0,0,0,0,0,0,28.83,14.47,28.83
$GC,531,-1.50,-136.9,62.0,-13.4,92,538,0.00,2.72,0.00,0.000,4,0.000,0.152,2330,3533,3332,0,0,0,0,0,0,28.83,14.51,28.83
$GC,599,-1.50,-136.9,71.4,-14.3,104,606,0.10,2.55,0.00,0.000,6,0.303,0.101,2348,2113,3332,0,0,0,0,0,0,14.43,14.61,28.83
$GC,921,-1.50,-136.9,113.8,-13.6,156,930,0.00,2.53,0.00,0.000,4,0.000,0.128,2348,706,3332,0,0,0,0,0,0,28.83,14.53,28.83
$GC,966,-1.50,-136.9,120.2,-13.7,160,975,0.00,2.62,0.00,0.000,6,0.000,0.131,2340,2119,3332,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1275,-1.50,-136.9,160.3,-13.3,191,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2119,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1593,-1.50,-136.9,199.2,-11.5,222,1601,0.00,2.55,0.00,0.000,4,0.000,0.127,2341,705,3332,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1630,-1.50,-136.9,204.3,-12.4,225,1638,0.10,2.62,0.00,0.000,6,0.324,0.127,2350,2121,3331,0,0,0,0,0,0,14.48,14.62,28.83
$GC,1939,-1.50,-136.9,241.2,-11.9,256,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2256,-1.50,-136.9,276.6,-11.3,287,2264,0.00,2.70,0.00,0.000,4,0.000,0.149,2341,3533,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2320,-1.50,-136.9,285.0,-11.8,293,2330,0.00,2.53,0.00,0.000,6,0.000,0.103,2341,2115,3331,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2631,-1.50,-136.9,319.4,-11.0,324,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2945,-1.50,-136.9,351.2,-10.2,355,2954,0.00,2.50,0.00,0.000,4,0.000,0.129,2341,715,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2999,-1.50,-136.9,357.5,-10.9,360,3008,0.00,2.60,0.00,0.000,6,0.000,0.132,2334,2117,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3309,-1.50,-136.9,389.9,-10.5,391,3318,0.00,2.70,0.00,0.000,4,0.000,0.150,2322,3535,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3337,-1.50,-136.9,392.6,-10.6,393,3345,0.12,2.53,0.00,0.000,6,0.301,0.099,2348,2115,3331,0,0,0,0,0,0,14.51,14.72,28.83
$GC,3646,-1.50,-136.9,423.3,-9.7,408,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3946,-1.50,-136.9,452.2,-10.0,418,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4246,-1.50,-136.9,482.4,-10.1,428,4251,0.00,2.50,0.00,0.000,4,0.000,0.127,2348,707,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4300,-1.50,-136.9,485.7,-10.2,429,4308,0.00,2.62,0.00,0.000,6,0.000,0.132,2342,2121,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4608,-1.50,-136.9,520.2,-10.3,440,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4908,-1.50,-136.9,550.2,-10.0,450,4913,0.00,2.53,0.00,0.000,4,0.000,0.127,2342,715,3333,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4947,-1.50,-136.9,553.5,-10.0,451,4952,0.00,2.60,0.00,0.000,6,0.000,0.132,2335,2125,3333,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5270,-1.50,-136.9,586.8,-10.3,462,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2126,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5569,-1.50,-136.9,617.4,-10.0,472,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2126,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5869,-1.50,-136.9,646.2,-9.1,482,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2126,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6169,-1.50,-136.9,675.3,-9.9,492,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2126,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6469,-1.50,-136.9,705.3,-10.2,502,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2126,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6674,begin apogee
$GC,6686,-0.38,0.0,726.7,-10.0,509,6838,0.93,0.00,141.68,2.587,6,0.256,0.000,2590,2201,2773,0,0,0,0,0,0,14.57,28.83,13.05
$STATE,6839,end apogee,CONTROL_FINISHED_OK
$STATE,6839,begin climb
$GC,6844,1.50,136.9,728.9,0.0,514,7014,1.35,2.95,154.32,2.546,4,0.151,0.129,3012,788,2214,0,0,0,0,0,0,13.88,13.25,12.53
$GC,7113,1.50,136.9,706.0,12.2,523,7119,0.00,2.80,0.00,0.000,6,0.000,0.126,3012,2201,2207,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7435,1.50,136.9,663.7,12.6,534,7441,0.00,2.78,0.00,0.000,4,0.000,0.152,3012,3611,2205,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7485,1.50,136.9,659.6,12.7,535,7493,0.00,2.60,0.00,0.000,6,0.000,0.106,3022,2198,2205,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7798,1.50,136.9,615.6,13.0,546,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2197,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8097,1.50,136.9,576.6,13.1,556,8101,0.00,2.55,0.00,0.000,4,0.000,0.129,3032,791,2202,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8135,1.50,136.9,571.7,13.3,557,8141,0.08,2.60,0.00,0.000,6,0.267,0.122,3012,2203,2201,0,0,0,0,0,0,14.47,14.57,28.83
$GC,8462,1.50,136.9,529.9,12.4,568,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2203,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8762,1.50,136.9,492.0,13.2,578,8768,0.00,2.67,0.00,0.000,4,0.000,0.145,3012,3614,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8796,1.50,136.9,487.6,13.4,579,8802,0.00,2.53,0.00,0.000,6,0.000,0.104,3021,2199,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9124,1.50,136.9,442.9,13.4,590,9130,0.00,2.53,0.00,0.000,4,0.000,0.127,3031,788,2201,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9156,1.50,136.9,438.7,13.3,591,9162,0.08,2.55,0.00,0.000,6,0.268,0.119,3011,2198,2199,0,0,0,0,0,0,14.57,14.68,28.83
$GC,9493,1.50,136.9,397.4,12.1,602,9502,0.00,2.67,0.00,0.000,4,0.000,0.142,3011,3617,2200,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9531,1.50,136.9,392.8,12.7,605,9539,0.00,2.53,0.00,0.000,6,0.000,0.101,3020,2198,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9840,1.50,136.9,351.7,13.5,636,9848,0.00,2.50,0.00,0.000,4,0.000,0.125,3031,784,2200,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9874,1.50,136.9,347.1,13.6,639,9883,0.08,2.55,0.00,0.000,6,0.271,0.116,3010,2197,2199,0,0,0,0,0,0,14.56,14.66,28.83
$GC,10185,1.50,136.9,307.0,12.7,670,10193,0.00,2.65,0.00,0.000,4,0.000,0.144,3010,3607,2199,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10230,1.50,136.9,300.8,14.2,674,10238,0.00,2.50,0.00,0.000,6,0.000,0.102,3019,2194,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10539,1.50,136.9,259.4,12.7,705,10549,0.00,2.50,0.00,0.000,4,0.000,0.124,3029,789,2199,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10575,1.50,136.9,254.8,13.3,708,10584,0.08,2.55,0.00,0.000,6,0.270,0.115,3009,2203,2199,0,0,0,0,0,0,14.54,14.68,28.83
$GC,10885,1.50,136.9,219.8,11.4,739,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2203,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11195,1.50,136.9,186.0,10.8,770,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2203,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11511,1.50,136.9,154.8,9.5,801,11520,0.00,2.67,0.00,0.000,4,0.000,0.143,3009,3617,2200,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11576,1.50,136.9,147.5,10.7,807,11585,0.00,2.53,0.00,0.000,6,0.000,0.105,3018,2198,2200,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11887,1.50,136.9,116.7,9.6,838,11895,0.00,2.50,0.00,0.000,4,0.000,0.128,3029,792,2199,0,0,0,0,0,0,28.83,14.65,28.83
$GC,11941,1.50,136.9,111.4,9.7,843,11950,0.08,2.55,0.00,0.000,6,0.265,0.120,3007,2201,2199,0,0,0,0,0,0,14.54,14.65,28.83
$GC,12255,1.50,136.9,83.2,9.4,892,12263,0.00,2.67,0.00,0.000,4,0.000,0.142,3007,3617,2199,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12294,1.50,136.9,79.4,10.0,898,12301,0.00,2.53,0.00,0.000,6,0.000,0.101,3017,2198,2200,0,0,0,0,0,0,28.83,14.74,28.83
$GC,12611,1.50,136.9,49.1,9.2,959,12618,0.00,2.53,0.00,0.000,4,0.000,0.125,3027,782,2199,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12664,1.52,155.3,44.2,8.1,968,12679,0.00,2.58,8.40,0.316,6,0.000,0.119,3027,2202,2138,0,0,0,0,0,0,28.83,14.69,14.50
$GC,12996,1.58,204.3,22.8,6.8,1030,13028,0.00,2.65,26.50,0.234,4,0.000,0.126,3037,782,1936,0,0,0,0,0,0,28.83,14.65,14.55
$GC,13194,1.58,204.3,4.4,9.2,1066,13200,0.00,2.60,0.00,0.000,6,0.000,0.116,3037,2204,1929,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,13205,end climb,SURFACE_DEPTH_REACHED
$STATE,13205,begin surface coast
$FINISH,2.1,1.020266
$STATE,13237,end surface coast,CONTROL_FINISHED_OK
$STATE,13237,begin surface
$SM_CCo,13265,43.33,0.177,0,0,1586,290.19
$SM_GC,2.75,8.55,0.20,43.33,0.106,0.142,0.177,133,2115,1586,-11.60,0.42,290.19,0,0,0,0,0,0,14.74,14.68,14.55
$RAFOS_CLK,551
$RAFOS,6,1350650943,12.833333,12.817500,75,56,56,56,55,53,757,211,225,183,201,145
$RAFOS,5,1350650463,12.700000,12.684167,73,70,61,54,51,51,606,214,195,186,130,151
$RAFOS,4,1350649988,12.566667,12.552222,82,63,63,63,58,55,821,209,219,189,161,130
$RAFOS,3,1350649504,12.433333,12.417778,87,61,56,55,52,48,946,185,175,209,199,125
$RAFOS,2,1350649041,12.300000,12.289166,96,58,54,50,48,47,824,221,183,146,135,118
$RAFOS,1,1350648561,12.166667,12.155833,61,59,56,54,53,53,185,861,205,215,144,157
$RAFOS,0,1350648075,12.033333,12.020833,60,58,56,54,50,49,218,163,153,198,177,121
$RAFOS_FIX,6703.512695,-5728.491211,191012,121212,5,83,1.74
$IRIDIUM_FIX,6636.54,-5635.43,191012,050514
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.90
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,13.90
$XPDR_PINGS,4
$24V_AH,12.5,74.344
$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,22.700,119.850,330.900,43.325,0.000,0.000,0.000,249.275,1.000,0.000,6.641,2764.324,7811.424,552.544,2019.628,608.163,0.000,1834.008,0.000,1804.547,2520.000,0.539,0.000
$DEVICE_MAMPS,453.645,192.015,2587.230,177.480,0.000,0.000,0.000,149.175,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.392,743.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188724
$DATA_FILE_SIZE,50179,1074
$CAP_FILE_SIZE,123548,0
$CFSIZE,259252224,234749952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.4
$CURRENT,0.041,166.5,1
$GPS,191012,133629,6701.190,-5702.772,38,0.8,38,-33.5