version: 66.11
glider: 193
mission: 2
dive: 36
start: 9 14 112 11 3 17
data:
$ID,193
$MISSION,2
$DIVE,36
$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,310
$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,-796.13538
$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
$GPS1,140912,105558,6702.093,-5657.803,37,1.1,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-67.7
$GPS2,140912,110242,6702.079,-5657.857,4,1.2,4,-33.5
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,296.4,155907,-17.3,-8.919,-19.96
$D_GRID,669
$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,-136.9,0.0,0.0,0,86,0.00,0.00,-64.62,0.000,2,0.000,0.000,129,2117,2734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-1.50,-136.9,3.2,-3.1,11,125,10.95,2.83,-15.48,0.000,4,0.456,0.187,2337,3535,3332,0,0,0,0,0,0,14.41,14.51,14.77
$GC,309,-1.50,-136.9,44.5,-14.1,51,316,0.00,2.55,0.00,0.000,6,0.000,0.108,2337,2113,3333,0,0,0,0,0,0,28.83,14.62,28.83
$GC,626,-1.50,-136.9,87.6,-13.3,112,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2113,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,942,-1.50,-136.9,128.9,-12.5,152,951,0.00,2.70,0.00,0.000,4,0.000,0.165,2327,3522,3334,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1000,-1.50,-136.9,136.0,-13.0,157,1008,0.12,2.50,0.00,0.000,6,0.304,0.106,2352,2114,3334,0,0,0,0,0,0,14.64,14.72,28.83
$GC,1309,-1.50,-136.9,173.1,-11.7,188,1318,0.00,2.67,0.00,0.000,4,0.000,0.160,2343,3525,3334,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1336,-1.50,-136.9,175.9,-11.6,190,1343,0.00,2.47,0.00,0.000,6,0.000,0.102,2343,2119,3334,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1644,-1.50,-136.9,213.2,-12.3,221,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2119,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1959,-1.50,-136.9,250.9,-11.7,252,1968,0.00,2.65,0.00,0.000,4,0.000,0.158,2333,3525,3333,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2006,-1.50,-136.9,257.0,-12.3,256,2013,0.00,2.47,0.00,0.000,6,0.000,0.102,2333,2116,3333,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2313,-1.50,-136.9,293.3,-11.5,287,2322,0.00,2.50,0.00,0.000,4,0.000,0.135,2333,707,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2357,-1.50,-136.9,298.8,-12.4,291,2367,0.10,2.55,0.00,0.000,6,0.285,0.142,2350,2118,3332,0,0,0,0,0,0,14.71,14.75,28.83
$GC,2668,-1.50,-136.9,331.0,-10.0,322,2677,0.00,2.62,0.00,0.000,4,0.000,0.154,2341,3535,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2723,-1.50,-136.9,336.9,-10.5,327,2731,0.00,2.45,0.00,0.000,6,0.000,0.100,2341,2122,3332,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3034,-1.50,-136.9,369.0,-10.2,358,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3368,-1.50,-136.9,403.4,-10.6,389,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3663,-1.50,-136.9,434.7,-10.5,399,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3965,-1.50,-136.9,465.1,-10.2,409,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4263,-1.50,-136.9,495.9,-10.3,419,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4563,-1.50,-136.9,526.3,-10.1,429,4568,0.00,2.62,0.00,0.000,4,0.000,0.161,2330,3531,3332,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4595,-1.50,-136.9,529.5,-10.1,430,4601,0.08,2.45,0.00,0.000,6,0.278,0.106,2350,2124,3332,0,0,0,0,0,0,14.78,14.87,28.83
$GC,4929,-1.50,-136.9,562.0,-9.7,441,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2124,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5226,-1.50,-136.9,591.4,-9.8,451,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2124,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5526,-1.50,-136.9,620.7,-9.8,461,5532,0.00,2.62,0.00,0.000,4,0.000,0.165,2341,3528,3332,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5571,-1.50,-136.9,623.7,-9.7,462,5576,0.00,2.45,0.00,0.000,6,0.000,0.107,2341,2124,3332,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5890,-1.50,-136.9,656.7,-10.1,473,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2124,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6033,begin apogee
$GC,6045,-0.38,0.0,671.9,-10.2,478,6196,0.88,0.00,138.88,2.392,6,0.261,0.000,2589,2205,2772,0,0,0,0,0,0,14.81,28.83,13.12
$STATE,6197,end apogee,CONTROL_FINISHED_OK
$STATE,6197,begin climb
$GC,6202,1.50,136.9,673.7,0.0,483,6370,1.38,2.88,149.40,2.357,4,0.155,0.142,3016,792,2213,0,0,0,0,0,0,13.90,13.62,12.95
$GC,6449,1.50,136.9,654.1,11.5,491,6454,0.00,2.67,0.00,0.000,6,0.000,0.130,3016,2197,2207,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6767,1.50,136.9,612.4,12.6,502,6772,0.00,2.70,0.00,0.000,4,0.000,0.148,3016,3618,2204,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6836,1.50,136.9,603.8,13.3,504,6842,0.08,2.58,0.00,0.000,6,0.278,0.104,3006,2196,2204,0,0,0,0,0,0,14.34,14.42,28.83
$GC,7158,1.50,136.9,562.2,12.5,515,7164,0.00,2.58,0.00,0.000,4,0.000,0.138,3017,787,2202,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7208,1.50,136.9,558.3,12.5,516,7216,0.00,2.58,0.00,0.000,6,0.000,0.125,3016,2207,2201,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7519,1.50,136.9,517.5,12.0,527,7525,0.00,2.60,0.00,0.000,4,0.000,0.145,3016,3611,2201,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7569,1.50,136.9,513.5,12.2,528,7578,0.08,2.50,0.00,0.000,6,0.294,0.103,3008,2200,2201,0,0,0,0,0,0,14.55,14.61,28.83
$GC,7881,1.50,136.9,474.1,12.0,539,7887,0.00,2.55,0.00,0.000,4,0.000,0.136,3017,778,2201,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7915,1.50,136.9,470.3,12.0,540,7920,0.00,2.53,0.00,0.000,6,0.000,0.122,3016,2196,2199,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8242,1.50,136.9,429.2,12.8,551,8248,0.00,2.65,0.00,0.000,4,0.000,0.148,3017,3619,2200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8274,1.50,136.9,424.9,13.1,552,8280,0.00,2.53,0.00,0.000,6,0.000,0.105,3027,2197,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8585,1.50,136.9,383.0,13.3,569,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2197,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8900,1.50,136.9,341.4,13.8,600,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2197,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9211,1.50,136.9,299.5,13.6,631,9220,0.00,2.65,0.00,0.000,4,0.000,0.148,3027,3612,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9248,1.50,136.9,293.9,13.6,634,9257,0.10,2.47,0.00,0.000,6,0.283,0.107,3010,2203,2200,0,0,0,0,0,0,14.71,14.79,28.83
$GC,9558,1.50,136.9,255.9,11.8,665,9567,0.00,2.53,0.00,0.000,4,0.000,0.139,3019,790,2198,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9613,1.50,136.9,249.0,12.5,670,9622,0.00,2.53,0.00,0.000,6,0.000,0.129,3019,2203,2198,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9923,1.50,136.9,211.9,12.0,701,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2203,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10239,1.50,136.9,176.3,10.8,732,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2203,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10551,1.50,136.9,142.5,10.8,763,10559,0.00,2.58,0.00,0.000,4,0.000,0.151,3020,3608,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10619,1.50,136.9,134.9,11.5,769,10628,0.12,2.50,0.00,0.000,6,0.309,0.109,3003,2195,2199,0,0,0,0,0,0,14.75,14.83,28.83
$GC,10929,1.50,136.9,105.6,9.3,800,10937,0.00,2.62,0.00,0.000,4,0.000,0.153,3003,3610,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10955,1.50,136.9,103.1,9.6,802,10962,0.00,2.50,0.00,0.000,6,0.000,0.106,3013,2192,2199,0,0,0,0,0,0,28.83,14.83,28.83
$GC,11267,1.52,153.0,76.1,8.2,860,11281,0.00,2.53,6.72,0.436,4,0.000,0.138,3023,787,2146,0,0,0,0,0,0,28.83,14.78,14.66
$GC,11312,1.53,158.5,72.3,8.7,867,11320,0.00,2.55,2.70,0.433,6,0.000,0.131,3023,2204,2124,0,0,0,0,0,0,28.83,14.78,14.66
$GC,11635,1.54,168.0,42.7,8.5,928,11649,0.00,2.60,4.70,0.334,4,0.000,0.142,3033,786,2086,0,0,0,0,0,0,28.83,14.76,14.69
$GC,11725,1.57,192.3,34.4,7.9,944,11745,0.00,2.55,13.18,0.290,6,0.000,0.131,3033,2202,1985,0,0,0,0,0,0,28.83,14.76,14.67
$GC,12061,1.63,245.8,12.8,6.6,1007,12097,0.00,2.62,27.23,0.219,4,0.000,0.140,3042,794,1765,0,0,0,0,0,0,28.83,14.69,14.67
$GC,12123,1.64,248.3,7.6,8.8,1017,12131,0.00,2.55,0.00,0.000,6,0.000,0.130,3042,2202,1761,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,12176,end climb,SURFACE_DEPTH_REACHED
$STATE,12176,begin surface coast
$FINISH,1.2,1.014599
$STATE,12203,end surface coast,CONTROL_FINISHED_OK
$STATE,12203,begin surface
$SM_CCo,12231,31.60,0.189,0,0,1506,310.06
$SM_GC,2.59,8.45,0.20,31.60,0.097,0.150,0.189,138,2111,1506,-11.62,0.31,310.06,0,0,0,0,0,0,14.74,14.73,14.65
$RAFOS_CLK,504
$RAFOS,6,1347626943,12.833333,12.817500,96,62,62,60,60,52,764,216,181,150,136,191
$RAFOS,5,1347626479,12.700000,12.688611,132,62,57,57,56,54,536,157,214,189,204,116
$RAFOS,4,1347625998,12.566667,12.555000,102,61,58,55,53,53,748,152,217,164,123,1538
$RAFOS,3,1347625518,12.433333,12.421667,62,60,59,55,55,55,219,180,207,142,118,891
$RAFOS,2,1347625035,12.300000,12.287500,62,62,61,57,57,54,146,209,878,221,168,193
$RAFOS,1,1347624555,12.166667,12.154166,75,63,59,59,57,54,908,125,198,146,228,211
$RAFOS,0,1347624075,12.033333,12.020833,63,62,55,55,53,49,200,114,183,142,217,166
$RAFOS_FIX,6709.682129,-5724.979980,140912,121212,4,101,4.34
$IRIDIUM_FIX,6631.12,-5704.33,140912,070741
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.59
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,13.40
$XPDR_PINGS,5
$24V_AH,13.0,15.355
$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,22.325,108.600,342.800,31.600,0.000,0.000,0.000,243.775,1.250,0.000,5.853,2654.497,6982.918,525.779,1945.981,570.973,0.000,1756.861,0.000,1738.520,2520.000,0.538,0.000
$DEVICE_MAMPS,455.940,192.780,2392.155,188.955,0.000,0.000,0.000,147.645,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.652,718.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188752
$DATA_FILE_SIZE,50043,1032
$CAP_FILE_SIZE,118964,0
$CFSIZE,259252224,248053760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.1
$CURRENT,0.075,312.0,1
$GPS,140912,142934,6702.246,-5703.011,35,0.8,35,-33.5