version: 66.11
glider: 193
mission: 2
dive: 26
start: 9 13 112 1 10 45
data:
$ID,193
$MISSION,2
$DIVE,26
$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,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,-783.10663
$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,19
$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
$GPS1,130912,010104,6702.375,-5711.844,23,0.9,24,-33.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-67.2
$GPS2,130912,011015,6702.379,-5711.829,5,0.9,5,-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,164.8,17246,-17.3,-8.919,-19.96
$D_GRID,739
$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,-136.9,0.0,0.0,0,97,0.00,0.00,-76.20,0.000,2,0.000,0.000,121,2116,2793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.50,-136.9,3.3,-3.0,13,137,11.27,2.80,-13.38,0.000,4,0.466,0.190,2338,3537,3331,0,0,0,0,0,0,14.34,14.44,14.71
$GC,203,-1.50,-136.9,25.5,-22.5,30,210,0.00,2.58,0.00,0.000,6,0.000,0.109,2338,2118,3332,0,0,0,0,0,0,28.83,14.52,28.83
$GC,519,-1.50,-136.9,70.7,-13.8,91,526,0.00,2.75,0.00,0.000,4,0.000,0.167,2327,3537,3333,0,0,0,0,0,0,28.83,14.56,28.83
$GC,577,-1.50,-136.9,78.5,-13.5,101,585,0.12,2.55,0.00,0.000,6,0.307,0.105,2352,2114,3333,0,0,0,0,0,0,14.52,14.61,28.83
$GC,895,-1.50,-136.9,122.3,-14.0,146,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2114,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1210,-1.50,-136.9,162.2,-12.1,177,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2114,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1522,-1.50,-136.9,199.7,-12.2,208,1531,0.00,2.55,0.00,0.000,4,0.000,0.148,2352,714,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1570,-1.50,-136.9,205.7,-12.2,212,1577,0.00,2.65,0.00,0.000,6,0.000,0.157,2345,2125,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1877,-1.50,-136.9,243.1,-11.9,243,1886,0.00,2.67,0.00,0.000,4,0.000,0.165,2334,3537,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1931,-1.50,-136.9,249.8,-12.2,248,1940,0.00,2.53,0.00,0.000,6,0.000,0.109,2334,2113,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2241,-1.50,-136.9,286.7,-11.9,279,2250,0.00,2.70,0.00,0.000,4,0.000,0.166,2324,3525,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2299,-1.50,-136.9,293.3,-12.3,284,2306,0.12,2.53,0.00,0.000,6,0.314,0.107,2349,2105,3331,0,0,0,0,0,0,14.67,14.76,28.83
$GC,2607,-1.50,-136.9,326.6,-10.3,315,2616,0.00,2.50,0.00,0.000,4,0.000,0.144,2349,715,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2654,-1.50,-136.9,331.5,-10.7,319,2661,0.00,2.60,0.00,0.000,6,0.000,0.147,2342,2125,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2961,-1.50,-136.9,363.9,-10.6,350,2970,0.00,2.62,0.00,0.000,4,0.000,0.160,2331,3528,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3008,-1.50,-136.9,368.8,-10.9,354,3016,0.10,2.50,0.00,0.000,6,0.321,0.105,2349,2115,3331,0,0,0,0,0,0,14.69,14.78,28.83
$GC,3337,-1.50,-136.9,403.3,-10.7,385,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3637,-1.50,-136.9,435.2,-10.5,395,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3937,-1.50,-136.9,466.4,-10.5,405,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4237,-1.50,-136.9,499.1,-11.0,415,4242,0.00,2.67,0.00,0.000,4,0.000,0.166,2340,3535,3330,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4268,-1.50,-136.9,502.5,-11.0,416,4274,0.00,2.50,0.00,0.000,6,0.000,0.111,2340,2115,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4600,-1.50,-136.9,540.0,-11.2,427,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,-1.50,-136.9,572.7,-10.8,437,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5200,-1.50,-136.9,604.5,-10.7,447,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,-1.50,-136.9,636.2,-10.6,457,5505,0.00,2.67,0.00,0.000,4,0.000,0.173,2330,3528,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5532,-1.50,-136.9,639.8,-10.8,458,5538,0.08,2.47,0.00,0.000,6,0.293,0.113,2349,2121,3331,0,0,0,0,0,0,14.78,14.88,28.83
$GC,5864,-1.50,-136.9,673.5,-9.8,469,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6163,-1.50,-136.9,702.1,-9.4,479,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6463,-1.50,-136.9,731.4,-9.9,489,6469,0.00,2.67,0.00,0.000,4,0.000,0.174,2340,3529,3331,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6508,-1.50,-136.9,734.5,-9.9,490,6514,0.00,2.47,0.00,0.000,6,0.000,0.114,2340,2122,3331,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,6549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6549,begin apogee
$GC,6562,-0.38,0.0,740.6,-10.1,492,6713,0.90,0.00,140.40,2.476,6,0.266,0.000,2592,2202,2772,0,0,0,0,0,0,14.81,28.83,13.04
$STATE,6714,end apogee,CONTROL_FINISHED_OK
$STATE,6714,begin climb
$GC,6720,1.50,136.9,745.4,0.0,497,6888,1.38,2.95,150.60,2.445,4,0.168,0.157,2999,3614,2214,0,0,0,0,0,0,13.84,13.57,12.88
$GC,6912,1.52,150.1,734.2,8.3,503,6933,0.00,2.70,15.32,2.238,6,0.000,0.108,3010,2201,2159,0,0,0,0,0,0,28.83,13.83,13.02
$GC,7255,1.52,150.1,686.9,12.6,515,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2201,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7554,1.52,150.1,648.6,12.6,525,7560,0.00,2.62,0.00,0.000,4,0.000,0.145,3021,784,2152,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7585,1.52,150.1,644.6,12.5,526,7591,0.00,2.60,0.00,0.000,6,0.000,0.133,3020,2195,2150,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7917,1.52,150.1,601.5,13.1,537,7923,0.00,2.67,0.00,0.000,4,0.000,0.151,3020,3607,2150,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7952,1.52,150.1,597.1,13.3,538,7957,0.00,2.53,0.00,0.000,6,0.000,0.108,3031,2199,2150,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8279,1.52,150.1,551.5,13.8,549,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2199,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8580,1.52,150.1,510.2,13.6,559,8585,0.00,2.55,0.00,0.000,4,0.000,0.144,3042,794,2149,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8624,1.52,150.1,505.8,13.6,560,8630,0.10,2.58,0.00,0.000,6,0.282,0.133,3014,2208,2147,0,0,0,0,0,0,14.63,14.66,28.83
$GC,8941,1.52,150.1,462.6,13.0,571,8947,0.00,2.60,0.00,0.000,4,0.000,0.152,3014,3607,2148,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8976,1.52,150.1,458.2,13.2,572,8982,0.00,2.53,0.00,0.000,6,0.000,0.109,3024,2194,2148,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9304,1.52,150.1,413.3,13.4,583,9309,0.00,2.55,0.00,0.000,4,0.000,0.145,3034,790,2147,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9338,1.52,150.1,409.1,13.3,584,9344,0.08,2.55,0.00,0.000,6,0.281,0.135,3014,2198,2147,0,0,0,0,0,0,14.70,14.73,28.83
$GC,9655,1.52,150.1,367.3,13.0,610,9665,0.00,2.62,0.00,0.000,4,0.000,0.154,3014,3615,2147,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9703,1.52,150.1,361.0,14.0,614,9711,0.00,2.53,0.00,0.000,6,0.000,0.108,3023,2197,2147,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10012,1.52,150.1,320.9,12.8,645,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10326,1.52,150.1,282.5,11.8,676,10335,0.00,2.55,0.00,0.000,4,0.000,0.143,3033,792,2147,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10403,1.52,150.1,272.9,12.1,683,10411,0.10,2.58,0.00,0.000,6,0.314,0.134,3014,2209,2146,0,0,0,0,0,0,14.71,14.76,28.83
$GC,10711,1.52,150.1,237.4,11.7,714,10721,0.00,2.60,0.00,0.000,4,0.000,0.152,3014,3618,2147,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10781,1.52,150.1,229.0,13.2,720,10787,0.00,2.53,0.00,0.000,6,0.000,0.107,3023,2197,2147,0,0,0,0,0,0,28.83,14.79,28.83
$GC,11088,1.52,150.1,192.2,11.7,751,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11403,1.52,150.1,159.2,10.1,782,11412,0.00,2.53,0.00,0.000,4,0.000,0.142,3033,792,2147,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11488,1.52,150.1,150.2,10.3,790,11498,0.08,2.53,0.00,0.000,6,0.285,0.133,3013,2200,2146,0,0,0,0,0,0,14.71,14.76,28.83
$GC,11798,1.52,150.1,120.3,10.0,821,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2201,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12114,1.53,158.0,91.2,8.6,861,12122,0.00,2.65,2.80,0.513,4,0.000,0.144,3022,791,2127,0,0,0,0,0,0,28.83,14.76,14.62
$GC,12148,1.53,158.0,88.1,8.9,866,12156,0.00,2.58,0.00,0.000,6,0.000,0.135,3022,2210,2127,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12466,1.53,164.9,59.1,8.6,927,12478,0.00,2.67,3.83,0.418,4,0.000,0.154,3022,3612,2100,0,0,0,0,0,0,28.83,14.73,14.65
$GC,12504,1.53,164.9,55.2,10.8,933,12511,0.00,2.53,0.00,0.000,6,0.000,0.109,3032,2198,2100,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12828,1.60,218.5,27.7,6.6,994,12865,0.00,2.72,29.30,0.265,4,0.000,0.158,3032,3622,1879,0,0,0,0,0,0,28.83,14.68,14.64
$GC,12941,1.60,218.5,18.2,9.7,1014,12949,0.00,2.55,0.00,0.000,6,0.000,0.109,3042,2195,1874,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,13123,end climb,SURFACE_DEPTH_REACHED
$STATE,13123,begin surface coast
$FINISH,1.4,1.013426
$STATE,13159,end surface coast,CONTROL_FINISHED_OK
$STATE,13159,begin surface
$SM_CCo,13187,66.93,0.176,0,0,1344,349.80
$SM_GC,2.03,8.43,0.15,66.93,0.094,0.164,0.176,141,2113,1344,-11.60,0.45,349.80,0,0,0,0,0,0,14.74,14.73,14.62
$RAFOS_CLK,585
$RAFOS,5,1347511262,4.700000,4.683889,115,68,68,64,58,58,606,220,205,181,116,169
$RAFOS,4,1347510782,4.566667,4.550556,65,64,60,58,55,54,158,212,186,819,143,131
$RAFOS,3,1347510308,4.433333,4.418889,73,67,66,60,58,57,926,208,152,219,191,912
$RAFOS,2,1347509827,4.300000,4.285278,63,63,59,59,58,56,215,902,156,201,226,178
$RAFOS,1,1347509341,4.166667,4.150278,62,61,57,54,52,50,204,968,214,140,92,163
$RAFOS,0,1347508861,4.033333,4.016944,59,58,57,56,52,50,203,220,163,144,122,133
$RAFOS_FIX,6702.933594,-5719.048340,130912,040412,2,94,0.43
$IRIDIUM_FIX,6631.12,-5716.55,120912,202017
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.57
$INTERNAL_PRESSURE,8.73303
$TCM_TEMP,13.20
$XPDR_PINGS,5
$24V_AH,12.9,12.751
$10V_AH,13.2,0.000
$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,22.750,119.900,342.250,66.925,0.000,0.000,0.000,335.875,1.250,0.000,8.349,2721.011,7833.590,572.427,2051.265,625.096,0.000,1924.798,0.000,1787.292,2520.000,0.538,0.000
$DEVICE_MAMPS,465.885,197.370,2475.540,175.950,0.000,0.000,0.000,143.820,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.807,743.561,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188848
$DATA_FILE_SIZE,49957,1056
$CAP_FILE_SIZE,125714,0
$CFSIZE,259252224,248668160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.0
$CURRENT,0.089,166.7,1
$GPS,130912,045322,6700.467,-5708.107,35,0.8,35,-33.5