version: 66.11
glider: 193
mission: 2
dive: 23
start: 9 12 112 12 14 29
data:
$ID,193
$MISSION,2
$DIVE,23
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,349.6098
$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,-771.61066
$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,13
$R_STBD_OVSHOOT,13
$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
$GPS1,120912,120704,6701.302,-5725.215,35,0.8,36,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-66.8
$GPS2,120912,121345,6701.308,-5725.158,5,0.7,5,-33.6
$SPEED_LIMITS,0.075,0.243
$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,151.2,27016,-16.3,-8.919,-20.19
$D_GRID,798
$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,-1.42,-136.9,0.0,0.0,0,92,0.00,0.00,-70.60,0.000,2,0.000,0.000,128,2111,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.42,-136.9,3.1,-2.9,12,138,11.10,2.83,-18.62,0.000,4,0.457,0.192,2354,3530,3331,0,0,0,0,0,0,14.35,14.45,14.71
$GC,374,-1.42,-136.9,45.4,-12.8,63,381,0.00,2.58,0.00,0.000,6,0.000,0.112,2355,2110,3333,0,0,0,0,0,0,28.83,14.57,28.83
$GC,693,-1.42,-136.9,88.2,-13.8,124,699,0.00,2.75,0.00,0.000,4,0.000,0.169,2344,3529,3334,0,0,0,0,0,0,28.83,14.57,28.83
$GC,780,-1.42,-136.9,101.2,-14.5,140,789,0.08,2.53,0.00,0.000,6,0.287,0.109,2363,2112,3333,0,0,0,0,0,0,14.52,14.61,28.83
$GC,1090,-1.42,-136.9,143.6,-13.5,171,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2112,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1406,-1.42,-136.9,183.5,-12.6,202,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2113,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1712,-1.42,-136.9,220.8,-12.1,233,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2112,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2027,-1.42,-136.9,255.0,-10.9,264,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2112,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,-1.42,-136.9,287.3,-9.8,295,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2112,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,-1.42,-136.9,319.1,-10.3,326,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2112,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2961,-1.42,-136.9,352.0,-10.3,357,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2112,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3275,-1.42,-136.9,386.1,-11.0,388,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2112,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3581,-1.42,-136.9,420.7,-10.9,407,3587,0.00,2.72,0.00,0.000,4,0.000,0.174,2354,3531,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3606,-1.42,-136.9,420.7,-10.9,407,3613,0.00,2.53,0.00,0.000,6,0.000,0.117,2354,2120,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3914,-1.42,-136.9,456.7,-10.7,418,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4213,-1.42,-136.9,488.9,-10.6,428,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4514,-1.42,-136.9,520.7,-10.6,438,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4813,-1.42,-136.9,551.6,-10.1,448,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5113,-1.42,-136.9,581.4,-9.7,458,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5413,-1.42,-136.9,610.4,-9.6,468,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5714,-1.42,-136.9,639.4,-9.6,478,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6013,-1.42,-136.9,668.7,-9.8,488,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6313,-1.42,-136.9,697.6,-9.7,498,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,-1.42,-136.9,727.0,-9.8,508,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6913,-1.42,-136.9,755.8,-9.5,518,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7213,-1.42,-136.9,784.7,-9.5,528,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7358,begin apogee
$GC,7370,-0.38,0.0,799.0,-9.6,533,7522,0.85,0.00,140.82,2.534,6,0.263,0.000,2593,2199,2772,0,0,0,0,0,0,14.83,28.83,13.00
$STATE,7523,end apogee,CONTROL_FINISHED_OK
$STATE,7523,begin climb
$GC,7528,1.42,136.9,803.8,0.0,538,7690,1.35,0.00,153.62,2.502,6,0.170,0.000,2992,2200,2214,0,0,0,0,0,0,13.82,28.83,12.83
$GC,7998,1.42,136.9,758.5,11.4,554,8004,0.00,2.78,0.00,0.000,4,0.000,0.162,2992,3605,2204,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8043,1.42,136.9,754.1,11.5,555,8048,0.00,2.62,0.00,0.000,6,0.000,0.118,3002,2196,2204,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8360,1.42,136.9,714.8,11.8,566,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2196,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8660,1.42,136.9,679.4,11.8,576,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2196,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8960,1.42,136.9,643.7,11.7,586,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2196,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9260,1.42,136.9,608.7,11.6,596,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2196,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9560,1.42,136.9,574.0,11.5,606,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2196,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9860,1.42,136.9,539.8,11.4,616,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2196,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10160,1.42,136.9,505.1,11.5,626,10166,0.00,2.67,0.00,0.000,4,0.000,0.161,3001,3608,2199,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10204,1.42,136.9,501.1,11.7,627,10210,0.08,2.53,0.00,0.000,6,0.298,0.116,2992,2194,2200,0,0,0,0,0,0,14.67,14.76,28.83
$GC,10522,1.42,136.9,462.5,11.4,638,10528,0.00,2.58,0.00,0.000,4,0.000,0.148,3001,784,2199,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10563,1.42,136.9,458.5,11.6,639,10569,0.00,2.58,0.00,0.000,6,0.000,0.136,3001,2206,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10885,1.42,136.9,420.1,11.5,650,10886,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2206,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11185,1.42,136.9,384.6,11.7,668,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2206,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11499,1.42,136.9,347.8,12.1,699,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2206,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11811,1.42,136.9,311.2,11.7,730,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2206,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12124,1.42,136.9,276.5,11.1,761,12130,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2206,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12436,1.42,136.9,241.1,11.4,792,12442,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2206,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12747,1.42,136.9,206.8,10.5,823,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2206,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13060,1.42,136.9,174.9,9.6,854,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2206,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13372,1.42,136.9,146.1,9.1,885,13381,0.00,2.58,0.00,0.000,4,0.000,0.145,3012,789,2197,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13417,1.42,136.9,141.6,9.0,889,13427,0.08,2.53,0.00,0.000,6,0.278,0.136,2992,2196,2197,0,0,0,0,0,0,14.74,14.79,28.83
$GC,13728,1.42,136.9,113.6,9.1,920,13736,0.00,2.60,0.00,0.000,4,0.000,0.155,2991,3608,2198,0,0,0,0,0,0,28.83,14.81,28.83
$GC,13852,1.42,136.9,101.8,9.3,932,13861,0.00,2.47,0.00,0.000,6,0.000,0.109,3000,2199,2197,0,0,0,0,0,0,28.83,14.81,28.83
$GC,14171,1.43,144.5,75.3,8.6,992,14179,0.00,2.62,2.03,0.464,4,0.000,0.142,3010,791,2183,0,0,0,0,0,0,28.83,14.77,14.65
$GC,14225,1.44,148.8,70.6,8.7,1001,14234,0.00,2.58,2.53,0.477,6,0.000,0.134,3010,2206,2164,0,0,0,0,0,0,28.83,14.77,14.64
$GC,14551,1.46,167.1,45.9,8.1,1062,14571,0.00,2.65,10.23,0.331,4,0.000,0.144,3019,795,2089,0,0,0,0,0,0,28.83,14.71,14.66
$GC,14617,1.47,175.0,39.9,8.6,1073,14631,0.00,2.55,4.12,0.316,6,0.000,0.132,3020,2202,2057,0,0,0,0,0,0,28.83,14.73,14.62
$GC,14945,1.60,280.0,16.9,4.3,1135,15005,0.00,0.00,56.33,0.231,6,0.000,0.000,3020,2202,1628,0,0,0,0,0,0,28.83,28.83,14.61
$STATE,15139,end climb,SURFACE_DEPTH_REACHED
$STATE,15139,begin surface coast
$FINISH,1.4,1.021705
$STATE,15177,end surface coast,CONTROL_FINISHED_OK
$STATE,15177,begin surface
$SM_CCo,15204,34.67,0.181,0,0,1346,349.80
$SM_GC,2.04,8.45,0.20,34.67,0.102,0.149,0.181,142,2110,1346,-11.60,0.31,349.80,0,0,0,0,0,0,14.69,14.69,14.61
$RAFOS_CLK,662
$RAFOS,2,1347466625,16.299999,16.284721,69,58,57,53,53,51,880,191,182,205,160,148
$RAFOS,1,1347466144,16.166666,16.151112,69,68,60,52,49,46,173,205,214,145,1586,127
$RAFOS,0,1347465661,16.033333,16.016945,56,55,53,52,52,51,216,151,205,167,227,132
$RAFOS,6,1347454147,12.833333,12.818611,66,63,63,62,60,53,171,188,695,213,200,1524
$RAFOS,5,1347453666,12.700000,12.685000,104,57,55,55,54,53,555,141,218,202,121,131
$RAFOS,4,1347453184,12.566667,12.551111,117,61,57,52,51,51,772,174,192,229,146,165
$RAFOS,3,1347452705,12.433333,12.418056,70,67,60,55,54,51,220,915,178,191,209,238
$RAFOS,2,1347452222,12.300000,12.283889,63,57,56,55,53,53,881,215,163,196,181,119
$RAFOS,0,1347451263,12.033333,12.017500,67,60,59,58,56,56,198,218,189,141,163,119
$RAFOS_FIX,6651.771484,-5748.000000,120912,121221,3,95,21.89
$IRIDIUM_FIX,6631.12,-5724.14,120912,070747
$TT8_MAMPS,0.029211,0.029211
$HUMID,46.29
$INTERNAL_PRESSURE,8.7135
$TCM_TEMP,12.90
$XPDR_PINGS,9
$24V_AH,12.8,11.849
$10V_AH,13.1,0.000
$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,21.975,52.625,369.675,34.675,0.000,0.000,0.000,243.350,2.250,0.000,6.027,2956.433,9558.914,542.950,2005.024,592.765,0.000,1766.505,0.000,1809.578,3240.000,0.537,0.000
$DEVICE_MAMPS,456.705,207.315,2534.445,180.540,0.000,0.000,0.000,153.765,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.079,828.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188768
$DATA_FILE_SIZE,53307,1178
$CAP_FILE_SIZE,118055,0
$CFSIZE,259252224,248885248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.7
$CURRENT,0.049, 34.3,1
$GPS,120912,163052,6700.664,-5720.158,68,0.7,69,-33.6