version: 66.11
glider: 193
mission: 2
dive: 230
start: 10 19 112 13 44 11
data:
$ID,193
$MISSION,2
$DIVE,230
$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,-1222.553
$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
$GPS1,191012,133629,6701.190,-5702.772,38,0.8,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-66.6
$GPS2,191012,134328,6701.195,-5702.895,5,0.7,5,-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,96.7,11264,-17.3,-8.919,-19.96
$D_GRID,697
$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,-136.9,0.0,0.0,0,32,0.00,0.00,-11.60,0.000,2,0.000,0.000,133,2113,1807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.50,-136.9,3.1,0.0,2,152,10.77,2.65,-95.78,0.000,4,0.435,0.153,2349,709,3329,0,0,0,0,0,0,14.31,14.50,14.81
$GC,248,-1.50,-136.9,15.4,-16.0,38,255,0.00,2.67,0.00,0.000,6,0.000,0.138,2341,2123,3330,0,0,0,0,0,0,28.83,14.49,28.83
$GC,564,-1.50,-136.9,65.5,-12.5,99,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2123,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,885,-1.50,-136.9,107.5,-14.1,156,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2123,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1200,-1.50,-136.9,148.8,-12.8,187,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2123,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1513,-1.50,-136.9,187.0,-12.0,218,1521,0.00,2.70,0.00,0.000,4,0.000,0.158,2330,3527,3330,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1567,-1.50,-136.9,194.3,-12.4,223,1576,0.08,2.50,0.00,0.000,6,0.274,0.107,2350,2123,3330,0,0,0,0,0,0,14.45,14.64,28.83
$GC,1878,-1.50,-136.9,230.1,-11.3,254,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2123,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2192,-1.50,-136.9,265.0,-11.4,285,2201,0.00,2.55,0.00,0.000,4,0.000,0.133,2350,706,3329,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2270,-1.50,-136.9,274.8,-12.6,292,2277,0.00,2.65,0.00,0.000,6,0.000,0.135,2342,2129,3329,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2577,-1.50,-136.9,311.4,-11.5,323,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2129,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2895,-1.50,-136.9,346.6,-11.0,354,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2128,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3206,-1.50,-136.9,380.3,-10.3,385,3215,0.00,2.67,0.00,0.000,4,0.000,0.154,2331,3533,3329,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3231,-1.50,-136.9,383.5,-10.5,387,3240,0.05,2.50,0.00,0.000,6,0.272,0.100,2345,2112,3329,0,0,0,0,0,0,14.50,14.67,28.83
$GC,3556,-1.50,-136.9,415.9,-10.2,409,3562,0.00,2.50,0.00,0.000,4,0.000,0.125,2345,706,3329,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3621,-1.50,-136.9,423.0,-10.2,411,3626,0.00,2.58,0.00,0.000,6,0.000,0.127,2337,2115,3329,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3949,-1.50,-136.9,457.8,-10.4,422,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4248,-1.50,-136.9,488.0,-9.8,432,4253,0.00,2.67,0.00,0.000,4,0.000,0.147,2327,3540,3330,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4339,-1.50,-136.9,497.2,-10.2,435,4345,0.08,2.47,0.00,0.000,6,0.271,0.095,2347,2119,3330,0,0,0,0,0,0,14.53,14.73,28.83
$GC,4672,-1.50,-136.9,529.0,-9.6,446,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4971,-1.50,-136.9,557.5,-9.7,456,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5271,-1.50,-136.9,585.6,-9.5,466,5277,0.00,2.70,0.00,0.000,4,0.000,0.151,2338,3533,3331,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5316,-1.50,-136.9,588.8,-9.5,467,5321,0.00,2.47,0.00,0.000,6,0.000,0.099,2338,2119,3331,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5633,-1.50,-136.9,621.2,-9.8,478,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5932,-1.50,-136.9,650.5,-9.6,488,5938,0.00,2.70,0.00,0.000,4,0.000,0.154,2328,3530,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5957,-1.50,-136.9,650.5,-9.6,488,5964,0.12,2.50,0.00,0.000,6,0.292,0.099,2353,2115,3331,0,0,0,0,0,0,14.57,14.78,28.83
$GC,6265,-1.50,-136.9,681.9,-8.8,499,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6438,begin apogee
$GC,6451,-0.38,0.0,698.0,-8.8,505,6603,0.75,0.00,139.93,2.540,6,0.168,0.000,2593,2204,2773,0,0,0,0,0,0,14.69,28.83,13.09
$STATE,6604,end apogee,CONTROL_FINISHED_OK
$STATE,6604,begin climb
$GC,6609,1.50,136.9,698.3,0.0,510,6777,1.38,3.12,152.75,2.466,4,0.161,0.149,3006,3616,2214,0,0,0,0,0,0,13.90,13.27,12.56
$GC,6861,1.50,136.9,676.9,11.9,518,6870,0.00,2.70,0.00,0.000,6,0.000,0.105,3016,2208,2209,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7172,1.50,136.9,632.8,13.5,529,7178,0.00,2.62,0.00,0.000,4,0.000,0.128,3027,790,2204,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7206,1.50,136.9,628.6,13.3,530,7212,0.00,2.65,0.00,0.000,6,0.000,0.120,3026,2200,2203,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7534,1.50,136.9,584.4,13.3,541,7540,0.00,2.70,0.00,0.000,4,0.000,0.145,3027,3607,2203,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7599,1.50,136.9,575.3,13.8,543,7605,0.10,2.55,0.00,0.000,6,0.272,0.103,3011,2191,2203,0,0,0,0,0,0,14.40,14.54,28.83
$GC,7927,1.50,136.9,533.4,12.2,554,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2191,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8230,1.50,136.9,497.3,11.6,564,8235,0.00,2.53,0.00,0.000,4,0.000,0.125,3020,781,2201,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8279,1.50,136.9,493.0,11.8,565,8288,0.00,2.60,0.00,0.000,6,0.000,0.119,3020,2205,2200,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8591,1.50,136.9,450.7,12.7,576,8597,0.00,2.60,0.00,0.000,4,0.000,0.143,3020,3616,2200,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8641,1.50,136.9,446.4,13.0,577,8651,0.08,2.53,0.00,0.000,6,0.282,0.103,3010,2197,2200,0,0,0,0,0,0,14.53,14.65,28.83
$GC,8952,1.50,136.9,406.9,11.5,588,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2197,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9259,1.50,136.9,372.1,11.4,614,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2197,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9570,1.50,136.9,335.3,11.7,645,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2197,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9883,1.50,136.9,297.6,12.5,676,9891,0.00,2.53,0.00,0.000,4,0.000,0.127,3019,792,2199,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9908,1.50,136.9,293.9,12.8,678,9916,0.00,2.55,0.00,0.000,6,0.000,0.116,3019,2203,2198,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10217,1.50,136.9,254.5,13.4,709,10227,0.00,2.65,0.00,0.000,4,0.000,0.142,3019,3611,2199,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10255,1.50,136.9,249.6,13.8,712,10263,0.12,2.53,0.00,0.000,6,0.299,0.103,3003,2197,2199,0,0,0,0,0,0,14.57,14.74,28.83
$GC,10564,1.50,136.9,212.3,10.3,743,10573,0.00,2.50,0.00,0.000,4,0.000,0.124,3013,783,2199,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10621,1.50,136.9,206.5,10.9,748,10630,0.00,2.55,0.00,0.000,6,0.000,0.116,3013,2201,2199,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10931,1.50,136.9,170.9,11.4,779,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2202,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11241,1.50,136.9,139.6,9.4,810,11249,0.00,2.65,0.00,0.000,4,0.000,0.143,3013,3615,2199,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11278,1.50,136.9,136.2,9.5,813,11285,0.00,2.53,0.00,0.000,6,0.000,0.103,3023,2199,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11586,1.52,151.6,107.9,8.3,844,11598,0.00,2.72,6.80,1.614,4,0.000,0.148,3023,3623,2153,0,0,0,0,0,0,28.83,14.71,13.97
$GC,11685,1.52,151.6,98.9,9.1,854,11692,0.12,2.55,0.00,0.000,6,0.291,0.103,3006,2195,2153,0,0,0,0,0,0,14.57,14.71,28.83
$GC,12008,1.52,156.9,73.3,8.7,915,12016,0.00,2.60,2.67,0.434,4,0.000,0.125,3016,783,2132,0,0,0,0,0,0,28.83,14.67,14.45
$GC,12062,1.52,156.9,68.3,9.2,924,12069,0.00,2.58,0.00,0.000,6,0.000,0.118,3016,2202,2131,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12378,1.52,156.9,42.6,9.1,985,12386,0.00,2.67,0.00,0.000,4,0.000,0.145,3016,3611,2130,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12442,1.53,163.4,37.0,8.6,996,12455,0.00,2.53,3.53,0.317,6,0.000,0.101,3026,2195,2105,0,0,0,0,0,0,28.83,14.71,14.49
$GC,12772,1.57,197.6,12.3,7.4,1058,12797,0.00,0.00,18.33,0.213,6,0.000,0.000,3026,2195,1965,0,0,0,0,0,0,28.83,28.83,14.62
$STATE,12872,end climb,SURFACE_DEPTH_REACHED
$STATE,12872,begin surface coast
$FINISH,2.0,1.011859
$STATE,12908,end surface coast,CONTROL_FINISHED_OK
$STATE,12909,begin surface
$SM_CCo,12936,47.30,0.177,0,0,1588,290.19
$SM_GC,2.79,8.38,0.15,47.30,0.091,0.161,0.177,134,2116,1588,-11.60,0.45,290.19,0,0,0,0,0,0,14.74,14.68,14.56
$RAFOS_CLK,540
$RAFOS,6,1350665346,16.833334,16.818333,131,66,64,58,53,53,741,181,215,228,193,141
$RAFOS,5,1350664864,16.700001,16.684444,150,72,66,59,55,53,604,219,190,201,148,160
$RAFOS,4,1350664383,16.566668,16.550833,67,67,60,55,53,53,207,850,153,189,169,128
$RAFOS,3,1350663903,16.433332,16.417500,59,58,55,55,54,50,170,205,153,214,959,112
$RAFOS,2,1350663428,16.299999,16.285555,72,64,61,60,59,58,901,188,125,203,216,156
$RAFOS,1,1350662958,16.166666,16.155001,86,73,59,54,53,52,883,213,195,150,124,167
$RAFOS,0,1350662472,16.033333,16.020000,67,54,53,50,50,50,213,134,152,187,115,1311
$RAFOS_FIX,6650.674805,-5737.163086,191012,161656,4,110,3.15
$IRIDIUM_FIX,6631.12,-5704.33,191012,090937
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.02
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,14.00
$XPDR_PINGS,5
$24V_AH,12.6,74.633
$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,22.025,104.575,324.000,47.300,0.000,0.000,0.000,261.675,1.250,0.000,6.640,2768.647,7445.531,537.392,2064.317,610.771,0.000,1835.468,0.000,1842.066,2520.000,0.539,0.000
$DEVICE_MAMPS,434.520,179.010,2539.800,177.480,0.000,0.000,0.000,145.350,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,793.378,751.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50060,1083
$CAP_FILE_SIZE,122312,0
$CFSIZE,259252224,234688512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.9
$CURRENT,0.279,318.1,1
$GPS,191012,172234,6703.479,-5702.271,37,0.8,37,-33.5