version: 66.11
glider: 193
mission: 2
dive: 141
start: 10 3 112 4 31 12
data:
$ID,193
$MISSION,2
$DIVE,141
$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,-1018.9061
$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,15
$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
$GPS1,031012,042304,6702.395,-5705.668,42,0.8,42,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-64.3
$GPS2,031012,043029,6702.411,-5705.378,4,1.0,5,-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,252.5,150676,-17.3,-8.919,-19.96
$D_GRID,708
$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,-136.9,0.0,0.0,0,57,0.00,0.00,-36.03,0.000,2,0.000,0.000,114,2114,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-1.50,-136.9,3.1,-1.2,6,127,11.30,2.60,-43.75,0.000,4,0.463,0.155,2350,705,3329,0,0,0,0,0,0,14.36,14.50,14.77
$GC,231,-1.50,-136.9,27.3,-20.1,35,238,0.00,2.67,0.00,0.000,6,0.000,0.142,2342,2125,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,550,-1.50,-136.9,72.2,-14.7,96,557,0.00,2.62,0.00,0.000,4,0.000,0.135,2342,702,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,588,-1.50,-136.9,78.2,-15.8,102,596,0.00,2.65,0.00,0.000,6,0.000,0.135,2332,2128,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,911,-1.50,-136.9,122.6,-14.3,148,919,0.00,2.62,0.00,0.000,4,0.000,0.148,2322,3528,3331,0,0,0,0,0,0,28.83,14.63,28.83
$GC,955,-1.50,-136.9,129.0,-14.7,152,964,0.10,2.47,0.00,0.000,6,0.282,0.099,2348,2121,3331,0,0,0,0,0,0,14.56,14.67,28.83
$GC,1265,-1.50,-136.9,169.0,-12.4,183,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1580,-1.50,-136.9,206.9,-12.5,214,1589,0.00,2.53,0.00,0.000,4,0.000,0.132,2348,713,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1627,-1.50,-136.9,213.1,-12.3,218,1636,0.00,2.58,0.00,0.000,6,0.000,0.136,2340,2117,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1937,-1.50,-136.9,249.7,-11.3,249,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2253,-1.50,-136.9,284.6,-11.4,280,2261,0.00,2.65,0.00,0.000,4,0.000,0.152,2330,3535,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2320,-1.50,-136.9,292.7,-11.9,286,2327,0.10,2.53,0.00,0.000,6,0.310,0.104,2349,2114,3329,0,0,0,0,0,0,14.66,14.77,28.83
$GC,2628,-1.50,-136.9,324.4,-10.4,317,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2114,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2943,-1.50,-136.9,355.7,-9.9,348,2952,0.00,2.53,0.00,0.000,4,0.000,0.135,2349,706,3329,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2980,-1.50,-136.9,359.8,-10.6,351,2987,0.00,2.62,0.00,0.000,6,0.000,0.136,2341,2133,3329,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3288,-1.50,-136.9,393.1,-10.7,382,3297,0.00,2.62,0.00,0.000,4,0.000,0.151,2330,3536,3329,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3333,-1.50,-136.9,398.1,-11.0,386,3342,0.08,2.47,0.00,0.000,6,0.281,0.102,2349,2123,3330,0,0,0,0,0,0,14.65,14.77,28.83
$GC,3654,-1.50,-136.9,432.2,-10.5,398,3660,0.00,2.53,0.00,0.000,4,0.000,0.133,2350,712,3329,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3694,-1.50,-136.9,435.7,-10.5,399,3700,0.00,2.58,0.00,0.000,6,0.000,0.135,2343,2126,3329,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4016,-1.50,-136.9,471.0,-10.4,410,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2126,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,-1.50,-136.9,501.8,-10.3,420,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2126,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4616,-1.50,-136.9,533.0,-10.1,430,4622,0.00,2.58,0.00,0.000,4,0.000,0.135,2343,705,3330,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4657,-1.50,-136.9,536.5,-10.3,431,4663,0.00,2.58,0.00,0.000,6,0.000,0.134,2336,2120,3330,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4979,-1.50,-136.9,572.0,-10.8,442,4985,0.00,2.62,0.00,0.000,4,0.000,0.150,2325,3527,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5019,-1.50,-136.9,575.6,-10.8,443,5025,0.08,2.45,0.00,0.000,6,0.282,0.099,2345,2121,3330,0,0,0,0,0,0,14.71,14.85,28.83
$GC,5341,-1.50,-136.9,609.5,-10.2,454,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,-1.50,-136.9,639.7,-9.9,464,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5941,-1.50,-136.9,670.2,-10.2,474,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6241,-1.50,-136.9,700.4,-10.0,484,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6325,begin apogee
$GC,6338,-0.38,0.0,709.3,-10.0,487,6485,0.88,0.00,137.68,2.459,6,0.272,0.000,2589,2201,2772,0,0,0,0,0,0,14.74,28.83,13.12
$STATE,6486,end apogee,CONTROL_FINISHED_OK
$STATE,6486,begin climb
$GC,6492,1.50,136.9,714.5,0.0,492,6653,1.40,0.00,150.80,2.413,6,0.171,0.000,3005,2201,2214,0,0,0,0,0,0,13.92,28.83,12.62
$GC,6956,1.50,136.9,667.3,12.0,508,6962,0.00,2.80,0.00,0.000,4,0.000,0.153,3005,3606,2205,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6990,1.50,136.9,663.3,12.2,509,6996,0.00,2.62,0.00,0.000,6,0.000,0.111,3016,2203,2205,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7317,1.50,136.9,621.0,12.7,520,7323,0.00,2.62,0.00,0.000,4,0.000,0.137,3026,792,2202,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7349,1.50,136.9,616.8,12.8,521,7355,0.00,2.62,0.00,0.000,6,0.000,0.128,3026,2199,2202,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7681,1.50,136.9,573.6,13.1,532,7687,0.00,2.67,0.00,0.000,4,0.000,0.149,3026,3612,2202,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7750,1.50,136.9,565.0,13.6,534,7757,0.10,2.58,0.00,0.000,6,0.282,0.106,3010,2194,2202,0,0,0,0,0,0,14.48,14.59,28.83
$GC,8073,1.50,136.9,523.8,12.2,545,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2194,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8372,1.50,136.9,487.8,12.0,555,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2194,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8672,1.50,136.9,451.3,12.1,565,8678,0.00,2.53,0.00,0.000,4,0.000,0.132,3019,790,2201,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8707,1.50,136.9,447.5,12.0,566,8713,0.00,2.55,0.00,0.000,6,0.000,0.120,3019,2201,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9034,1.50,136.9,407.2,12.1,577,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2201,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9334,1.50,136.9,370.6,12.3,603,9343,0.00,2.62,0.00,0.000,4,0.000,0.145,3019,3611,2200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9399,1.50,136.9,361.7,13.9,609,9409,0.08,2.50,0.00,0.000,6,0.284,0.106,3009,2201,2200,0,0,0,0,0,0,14.67,14.77,28.83
$GC,9710,1.50,136.9,324.8,11.8,640,9719,0.00,2.53,0.00,0.000,4,0.000,0.132,3019,785,2200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9765,1.50,136.9,318.1,12.4,645,9775,0.00,2.53,0.00,0.000,6,0.000,0.118,3019,2200,2199,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10075,1.50,136.9,281.0,11.5,676,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2200,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10392,1.50,136.9,245.8,11.2,707,10400,0.00,2.60,0.00,0.000,4,0.000,0.142,3019,3612,2199,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10518,1.50,136.9,229.9,12.4,719,10527,0.08,2.50,0.00,0.000,6,0.282,0.103,3008,2194,2199,0,0,0,0,0,0,14.69,14.79,28.83
$GC,10828,1.50,136.9,196.2,10.9,750,10837,0.00,2.53,0.00,0.000,4,0.000,0.129,3017,784,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10863,1.50,136.9,192.3,10.9,753,10873,0.00,2.55,0.00,0.000,6,0.000,0.119,3018,2202,2199,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11174,1.50,136.9,156.1,11.3,784,11183,0.00,2.60,0.00,0.000,4,0.000,0.142,3017,3607,2199,0,0,0,0,0,0,28.83,14.77,28.83
$GC,11191,1.50,136.9,154.9,11.1,785,11199,0.10,2.50,0.00,0.000,6,0.316,0.103,3008,2196,2199,0,0,0,0,0,0,14.71,14.82,28.83
$GC,11500,1.50,136.9,121.8,9.9,816,11509,0.00,2.50,0.00,0.000,4,0.000,0.131,3017,792,2199,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11539,1.50,136.9,118.4,10.1,819,11546,0.00,2.55,0.00,0.000,6,0.000,0.119,3017,2207,2199,0,0,0,0,0,0,28.83,14.79,28.83
$GC,11851,1.50,136.9,89.2,9.2,861,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2207,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12169,1.52,149.9,61.0,8.4,922,12176,0.00,0.00,5.32,0.402,6,0.000,0.000,3017,2207,2158,0,0,0,0,0,0,28.83,28.83,14.62
$GC,12487,1.53,165.1,36.0,8.3,983,12500,0.00,2.72,8.15,0.307,4,0.000,0.142,3017,3621,2096,0,0,0,0,0,0,28.83,14.72,14.65
$GC,12586,1.56,188.9,28.2,7.9,1001,12607,0.00,2.55,12.57,0.278,6,0.000,0.103,3028,2191,2001,0,0,0,0,0,0,28.83,14.78,14.64
$GC,12923,1.67,272.4,6.4,5.3,1064,12972,0.00,2.62,43.20,0.194,4,0.000,0.135,3038,789,1658,0,0,0,0,0,0,28.83,14.66,14.64
$STATE,12984,end climb,SURFACE_DEPTH_REACHED
$STATE,12984,begin surface coast
$FINISH,1.9,1.018188
$STATE,13059,end surface coast,CONTROL_FINISHED_OK
$STATE,13059,begin surface
$SM_CCo,13089,6.90,0.209,0,0,1588,290.19
$SM_GC,3.80,8.55,2.53,6.90,0.105,0.128,0.209,137,2130,1588,-11.61,-0.28,290.19,0,0,0,0,0,0,14.71,14.68,14.63
$RAFOS_CLK,558
$RAFOS,0,1349251263,8.033334,8.017500,72,58,58,55,55,53,213,201,191,172,117,158
$RAFOS,6,1349239742,4.833333,4.817222,61,59,57,52,51,51,216,763,225,169,138,122
$RAFOS,5,1349239265,4.700000,4.684722,78,60,57,57,57,56,592,205,119,229,195,174
$RAFOS,4,1349238782,4.566667,4.550556,69,62,59,52,52,49,210,161,173,142,849,222
$RAFOS,2,1349237824,4.300000,4.284444,59,58,57,55,55,53,120,137,169,214,223,201
$RAFOS_FIX,6647.862793,-5733.075195,031012,040444,2,84,0.00
$IRIDIUM_FIX,6631.12,-5705.96,031012,000013
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.45
$INTERNAL_PRESSURE,8.72327
$TCM_TEMP,13.00
$XPDR_PINGS,5
$24V_AH,12.6,46.784
$10V_AH,13.0,0.000
$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,22.825,113.600,357.725,6.900,0.000,0.000,0.000,288.350,1.250,0.000,5.643,2801.157,7583.359,543.000,2046.515,590.893,0.000,1836.822,0.000,1790.836,1440.000,0.537,0.000
$DEVICE_MAMPS,462.825,186.660,2459.475,208.845,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.808,762.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188748
$DATA_FILE_SIZE,50096,1088
$CAP_FILE_SIZE,122692,0
$CFSIZE,259252224,240877568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.7
$CURRENT,0.017,285.4,1
$GPS,031012,081222,6701.059,-5708.297,94,0.8,94,-33.5