version: 66.11
glider: 193
mission: 2
dive: 178
start: 10 10 112 11 2 42
data:
$ID,193
$MISSION,2
$DIVE,178
$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,-2
$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,-1104.3121
$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,16
$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
$GPS1,101012,105504,6646.302,-5951.161,26,0.8,27,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.17
$_SM_ANGLEo,-69.7
$GPS2,101012,110159,6646.294,-5951.250,4,0.9,4,-33.9
$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,310.1,25775,-17.3,-8.919,-19.96
$D_GRID,743
$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,-136.9,0.0,0.0,0,27,0.00,0.00,-5.53,0.000,2,0.000,0.000,134,2118,1686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.2,0.0,1,143,11.20,2.90,-90.62,0.000,4,0.461,0.186,2339,3538,3331,0,0,0,0,0,0,14.33,14.45,14.76
$GC,378,-1.50,-136.9,50.5,-15.7,64,384,0.00,2.58,0.00,0.000,6,0.000,0.109,2339,2118,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,695,-1.50,-136.9,97.4,-15.0,125,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1012,-1.50,-136.9,142.3,-14.1,157,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1324,-1.50,-136.9,185.2,-13.5,188,1333,0.00,2.55,0.00,0.000,4,0.000,0.136,2338,713,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1369,-1.50,-136.9,192.4,-14.6,192,1378,0.08,2.62,0.00,0.000,6,0.303,0.146,2347,2121,3332,0,0,0,0,0,0,14.52,14.61,28.83
$GC,1679,-1.50,-136.9,233.4,-13.2,223,1688,0.00,2.67,0.00,0.000,4,0.000,0.159,2338,3528,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1723,-1.50,-136.9,239.6,-13.8,227,1732,0.00,2.50,0.00,0.000,6,0.000,0.106,2338,2118,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2034,-1.50,-136.9,279.6,-12.7,258,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,-1.50,-136.9,319.5,-12.7,289,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,-1.50,-136.9,359.4,-11.8,320,2670,0.00,2.53,0.00,0.000,4,0.000,0.134,2338,712,3331,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2727,-1.50,-136.9,368.2,-13.3,326,2736,0.08,2.60,0.00,0.000,6,0.303,0.142,2349,2116,3331,0,0,0,0,0,0,14.55,14.66,28.83
$GC,3057,-1.50,-136.9,406.7,-11.0,355,3062,0.00,2.67,0.00,0.000,4,0.000,0.158,2341,3531,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3096,-1.50,-136.9,410.3,-11.0,356,3102,0.00,2.50,0.00,0.000,6,0.000,0.105,2341,2114,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3419,-1.50,-136.9,447.7,-11.2,367,3424,0.00,2.70,0.00,0.000,4,0.000,0.159,2331,3527,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3473,-1.50,-136.9,451.3,-11.2,368,3481,0.10,2.50,0.00,0.000,6,0.311,0.101,2349,2110,3331,0,0,0,0,0,0,14.62,14.77,28.83
$GC,3780,-1.50,-136.9,487.8,-10.8,379,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2111,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4081,-1.50,-136.9,518.4,-9.9,389,4086,0.00,2.70,0.00,0.000,4,0.000,0.160,2340,3530,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4105,-1.50,-136.9,518.4,-9.9,389,4112,0.00,2.50,0.00,0.000,6,0.000,0.103,2340,2117,3331,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4412,-1.50,-136.9,552.3,-10.2,400,4417,0.00,2.50,0.00,0.000,4,0.000,0.130,2340,712,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4461,-1.50,-136.9,555.7,-10.3,401,4466,0.00,2.58,0.00,0.000,6,0.000,0.137,2333,2124,3332,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4777,-1.50,-136.9,592.3,-10.7,412,4783,0.00,2.62,0.00,0.000,4,0.000,0.155,2322,3528,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4847,-1.50,-136.9,599.3,-11.0,414,4854,0.10,2.45,0.00,0.000,6,0.283,0.099,2348,2124,3331,0,0,0,0,0,0,14.60,14.78,28.83
$GC,5170,-1.50,-136.9,632.6,-10.0,425,5175,0.00,2.53,0.00,0.000,4,0.000,0.133,2348,706,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5219,-1.50,-136.9,635.8,-10.1,426,5227,0.00,2.60,0.00,0.000,6,0.000,0.142,2342,2116,3332,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5531,-1.50,-136.9,670.3,-10.4,437,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2116,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5832,-1.50,-136.9,701.4,-10.3,447,5838,0.00,2.55,0.00,0.000,4,0.000,0.135,2342,703,3332,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5882,-1.50,-136.9,704.9,-10.3,448,5891,0.00,2.60,0.00,0.000,6,0.000,0.139,2335,2118,3332,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6194,-1.50,-136.9,739.9,-10.7,459,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6249,begin apogee
$GC,6261,-0.38,0.0,746.1,-10.4,461,6412,0.95,0.00,139.62,2.570,6,0.276,0.000,2593,2206,2773,0,0,0,0,0,0,14.63,28.83,13.03
$STATE,6413,end apogee,CONTROL_FINISHED_OK
$STATE,6413,begin climb
$GC,6419,1.50,136.9,750.7,0.0,466,6581,1.40,0.00,154.32,2.488,6,0.174,0.000,3004,2206,2214,0,0,0,0,0,0,13.83,28.83,12.43
$GC,6889,1.50,136.9,703.5,11.9,482,6895,0.00,2.83,0.00,0.000,4,0.000,0.155,3004,3613,2205,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6951,1.50,136.9,695.0,12.1,484,6957,0.00,2.65,0.00,0.000,6,0.000,0.109,3014,2199,2205,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7283,1.50,136.9,653.9,12.3,495,7289,0.00,2.62,0.00,0.000,4,0.000,0.135,3025,779,2202,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7338,1.50,136.9,649.8,12.4,496,7345,0.00,2.67,0.00,0.000,6,0.000,0.125,3025,2209,2202,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7645,1.50,136.9,607.0,12.9,507,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2209,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7945,1.50,136.9,567.6,13.6,517,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2209,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8245,1.50,136.9,528.0,13.1,527,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2209,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8545,1.50,136.9,490.8,12.2,537,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2209,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8845,1.50,136.9,454.6,12.2,547,8851,0.00,2.67,0.00,0.000,4,0.000,0.150,3025,3614,2201,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8885,1.50,136.9,450.6,12.3,548,8891,0.10,2.53,0.00,0.000,6,0.285,0.112,3008,2200,2201,0,0,0,0,0,0,14.61,14.73,28.83
$GC,9207,1.50,136.9,413.9,10.7,559,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2200,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9507,1.50,136.9,383.2,10.9,579,9516,0.00,2.70,0.00,0.000,4,0.000,0.155,3008,3612,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9565,1.50,136.9,377.1,11.2,584,9572,0.00,2.55,0.00,0.000,6,0.000,0.109,3017,2191,2201,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9872,1.50,136.9,342.5,11.1,615,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2191,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10188,1.50,136.9,309.1,10.2,646,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2191,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10500,1.50,136.9,274.5,11.4,677,10509,0.00,2.53,0.00,0.000,4,0.000,0.134,3028,787,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10548,1.50,136.9,268.5,11.8,681,10555,0.00,2.58,0.00,0.000,6,0.000,0.125,3028,2204,2198,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10856,1.50,136.9,231.1,12.1,712,10866,0.10,2.65,0.00,0.000,4,0.323,0.146,3008,3614,2199,0,0,0,0,0,0,14.66,14.69,28.83
$GC,10915,1.50,136.9,224.3,12.2,717,10923,0.00,2.53,0.00,0.000,6,0.000,0.106,3017,2198,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11223,1.50,136.9,190.7,9.8,748,11232,0.00,2.53,0.00,0.000,4,0.000,0.132,3028,788,2198,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11261,1.50,136.9,187.4,9.6,751,11269,0.10,2.58,0.00,0.000,6,0.310,0.125,3009,2208,2198,0,0,0,0,0,0,14.65,14.74,28.83
$GC,11570,1.54,168.4,161.5,7.5,782,11608,0.00,2.72,29.15,1.977,4,0.000,0.148,3008,3615,2085,0,0,0,0,0,0,28.83,14.47,13.83
$GC,11647,1.54,168.4,155.1,9.6,789,11655,0.00,2.58,0.00,0.000,6,0.000,0.105,3017,2198,2083,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11956,1.54,168.4,124.9,10.0,820,11961,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,2081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12270,1.54,168.4,93.8,9.0,857,12278,0.00,2.75,0.00,0.000,4,0.000,0.154,3017,3617,2080,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12353,1.54,168.4,85.6,9.2,872,12360,0.00,2.55,0.00,0.000,6,0.000,0.106,3027,2198,2080,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12670,1.57,193.1,60.0,7.8,933,12689,0.00,0.00,13.35,0.373,6,0.000,0.000,3027,2198,1983,0,0,0,0,0,0,28.83,28.83,14.48
$GC,13000,1.59,208.9,27.1,8.2,996,13014,0.00,2.62,8.00,0.286,4,0.000,0.133,3037,788,1919,0,0,0,0,0,0,28.83,14.65,14.56
$GC,13189,1.65,259.4,13.4,6.7,1031,13226,0.00,2.60,27.08,0.230,6,0.000,0.129,3037,2200,1712,0,0,0,0,0,0,28.83,14.65,14.54
$STATE,13321,end climb,SURFACE_DEPTH_REACHED
$STATE,13321,begin surface coast
$FINISH,2.4,1.003654
$STATE,13358,end surface coast,CONTROL_FINISHED_OK
$STATE,13358,begin surface
$SM_CCo,13386,14.88,0.207,0,0,1587,290.19
$SM_GC,3.43,8.65,0.20,14.88,0.114,0.148,0.207,141,2112,1587,-11.59,0.34,290.19,0,0,0,0,0,0,14.69,14.67,14.57
$RAFOS_CLK,594
$RAFOS,6,1349873344,12.833333,12.817778,64,59,58,54,54,52,211,126,198,169,231,188
$RAFOS,5,1349872881,12.700000,12.689167,80,60,59,57,56,54,781,214,197,181,137,166
$RAFOS,4,1349872397,12.566667,12.554722,136,68,59,57,56,55,579,202,213,143,116,224
$RAFOS,3,1349871916,12.433333,12.421111,94,56,56,54,51,49,659,210,170,199,222,157
$RAFOS,2,1349871427,12.300000,12.285277,86,63,59,58,56,55,500,213,186,225,170,153
$RAFOS,1,1349870947,12.166667,12.151944,76,61,60,60,55,54,459,218,163,205,140,472
$RAFOS,0,1349870467,12.033333,12.018611,58,57,56,54,51,49,134,204,163,219,190,120
$RAFOS_FIX,6644.389648,-5941.787598,101012,121212,3,103,1.39
$IRIDIUM_FIX,6614.97,-5946.96,101012,060608
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.85
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,7
$24V_AH,12.4,58.603
$10V_AH,12.7,0.000
$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,22.850,109.750,371.525,14.875,0.000,0.000,0.000,256.100,1.750,0.000,5.630,2720.588,7951.325,569.951,1995.715,594.603,0.000,1826.599,0.000,1776.434,2520.000,0.537,0.000
$DEVICE_MAMPS,461.295,186.660,2570.400,207.315,0.000,0.000,0.000,147.645,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.390,750.498,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188704
$DATA_FILE_SIZE,50092,1062
$CAP_FILE_SIZE,121824,0
$CFSIZE,259252224,238223360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.5
$CURRENT,0.175,166.7,1
$GPS,101012,144758,6645.251,-5955.083,39,0.7,39,-33.9