version: 66.11
glider: 193
mission: 2
dive: 192
start: 10 12 112 10 12 24
data:
$ID,193
$MISSION,2
$DIVE,192
$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,-1134.2947
$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,11
$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
$GPS1,121012,100504,6645.422,-5955.650,26,0.7,26,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-66.4
$GPS2,121012,101141,6645.359,-5955.596,4,0.9,4,-33.9
$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,109.3,139356,-17.3,-8.919,-19.96
$D_GRID,716
$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,-136.9,0.0,0.0,0,37,0.00,0.00,-16.52,0.000,2,0.000,0.000,123,2110,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-1.50,-136.9,3.2,-4.1,3,157,11.07,2.67,-95.22,0.000,4,0.453,0.162,2347,711,3330,0,0,0,0,0,0,14.31,14.49,14.78
$GC,237,-1.50,-136.9,17.4,-17.8,36,244,0.00,2.70,0.00,0.000,6,0.000,0.148,2341,2128,3331,0,0,0,0,0,0,28.83,14.50,28.83
$GC,553,-1.50,-136.9,69.1,-13.6,97,560,0.00,2.62,0.00,0.000,4,0.000,0.138,2341,712,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,660,-1.50,-136.9,84.2,-14.7,117,667,0.10,2.65,0.00,0.000,6,0.347,0.141,2349,2122,3332,0,0,0,0,0,0,14.45,14.57,28.83
$GC,978,-1.50,-136.9,127.2,-13.7,159,988,0.00,2.67,0.00,0.000,4,0.000,0.155,2340,3524,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1003,-1.50,-136.9,130.5,-13.5,161,1012,0.00,2.50,0.00,0.000,6,0.000,0.105,2340,2124,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1314,-1.50,-136.9,172.8,-13.0,192,1323,0.00,2.58,0.00,0.000,4,0.000,0.133,2340,705,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1379,-1.50,-136.9,181.6,-13.7,198,1387,0.00,2.62,0.00,0.000,6,0.000,0.136,2332,2122,3331,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1689,-1.50,-136.9,221.5,-12.8,229,1695,0.10,0.00,0.00,0.000,6,0.348,0.000,2349,2122,3331,0,0,0,0,0,0,14.55,28.83,28.83
$GC,1999,-1.50,-136.9,258.7,-12.0,260,2008,0.00,2.58,0.00,0.000,4,0.000,0.134,2350,702,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2036,-1.50,-136.9,263.1,-12.8,263,2044,0.00,2.67,0.00,0.000,6,0.000,0.135,2343,2131,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2345,-1.50,-136.9,299.9,-11.8,294,2354,0.00,2.67,0.00,0.000,4,0.000,0.155,2332,3531,3330,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2410,-1.50,-136.9,307.9,-12.5,300,2419,0.00,2.50,0.00,0.000,6,0.000,0.103,2332,2114,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2720,-1.50,-136.9,345.1,-11.8,331,2727,0.10,0.00,0.00,0.000,6,0.334,0.000,2350,2114,3330,0,0,0,0,0,0,14.59,28.83,28.83
$GC,3030,-1.50,-136.9,380.1,-11.1,362,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3340,-1.50,-136.9,413.7,-10.7,385,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-1.50,-136.9,445.5,-10.5,395,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3940,-1.50,-136.9,476.8,-10.6,405,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2114,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4240,-1.50,-136.9,509.4,-10.7,415,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4540,-1.50,-136.9,540.9,-10.3,425,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4840,-1.50,-136.9,571.2,-10.0,435,4845,0.00,2.53,0.00,0.000,4,0.000,0.137,2350,706,3332,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4864,-1.50,-136.9,571.2,-10.0,435,4872,0.00,2.70,0.00,0.000,6,0.000,0.150,2343,2130,3332,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5171,-1.50,-136.9,605.9,-10.6,446,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2130,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5471,-1.50,-136.9,637.0,-10.3,456,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2130,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5771,-1.50,-136.9,667.4,-10.2,466,5776,0.00,2.70,0.00,0.000,4,0.000,0.168,2332,3530,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5796,-1.50,-136.9,667.4,-10.2,466,5802,0.00,2.55,0.00,0.000,6,0.000,0.112,2333,2108,3332,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6102,-1.50,-136.9,703.2,-10.9,477,6108,0.00,2.75,0.00,0.000,4,0.000,0.164,2323,3528,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6156,-1.50,-136.9,706.6,-10.8,478,6164,0.12,2.53,0.00,0.000,6,0.306,0.109,2348,2113,3332,0,0,0,0,0,0,14.65,14.82,28.83
$STATE,6218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6218,begin apogee
$GC,6231,-0.38,0.0,716.2,-10.8,481,6381,0.90,0.00,138.60,2.511,6,0.277,0.000,2594,2203,2773,0,0,0,0,0,0,14.64,28.83,13.07
$STATE,6382,end apogee,CONTROL_FINISHED_OK
$STATE,6382,begin climb
$GC,6387,1.50,136.9,721.6,0.0,486,6552,1.40,3.12,151.20,2.433,4,0.176,0.155,3005,3607,2214,0,0,0,0,0,0,13.85,13.16,12.48
$GC,6586,1.53,164.9,711.2,7.7,492,6624,0.00,2.80,32.03,2.336,6,0.000,0.106,3015,2194,2099,0,0,0,0,0,0,28.83,13.52,12.61
$GC,6950,1.53,164.9,660.5,12.9,505,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2194,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7250,1.53,164.9,622.7,12.4,515,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2194,2090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7550,1.53,164.9,585.0,12.4,525,7555,0.00,2.58,0.00,0.000,4,0.000,0.132,3026,790,2089,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7584,1.53,164.9,581.0,12.4,526,7589,0.00,2.62,0.00,0.000,6,0.000,0.125,3026,2202,2088,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7911,1.53,164.9,538.3,13.0,537,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2202,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8211,1.53,164.9,498.6,13.3,547,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2202,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8512,1.53,164.9,458.3,13.4,557,8517,0.00,2.60,0.00,0.000,4,0.000,0.135,3036,782,2087,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8551,1.53,164.9,453.9,13.5,558,8557,0.08,2.60,0.00,0.000,6,0.276,0.127,3016,2201,2086,0,0,0,0,0,0,14.58,14.66,28.83
$GC,8873,1.53,164.9,412.3,12.5,569,8879,0.00,2.67,0.00,0.000,4,0.000,0.150,3016,3611,2086,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8928,1.53,164.9,408.2,12.5,570,8935,0.00,2.55,0.00,0.000,6,0.000,0.106,3023,2191,2086,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9240,1.53,164.9,367.8,11.8,597,9249,0.00,2.50,0.00,0.000,4,0.000,0.132,3035,793,2086,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9288,1.53,164.9,361.7,12.0,601,9295,0.00,2.58,0.00,0.000,6,0.000,0.120,3035,2206,2085,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9596,1.53,164.9,324.1,12.2,632,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2206,2085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9911,1.53,164.9,287.1,11.7,663,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2206,2085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10223,1.53,164.9,248.4,12.6,694,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2206,2085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10536,1.53,164.9,209.2,11.6,725,10545,0.00,2.65,0.00,0.000,4,0.000,0.148,3035,3611,2085,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10580,1.53,164.9,203.2,12.0,729,10590,0.10,2.50,0.00,0.000,6,0.282,0.107,3017,2199,2085,0,0,0,0,0,0,14.62,14.74,28.83
$GC,10891,1.53,164.9,169.0,10.9,760,10900,0.00,2.53,0.00,0.000,4,0.000,0.131,3026,788,2085,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10926,1.53,164.9,164.9,11.4,763,10936,0.00,2.55,0.00,0.000,6,0.000,0.121,3027,2206,2085,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11236,1.53,164.9,130.2,10.4,794,11245,0.00,2.55,0.00,0.000,4,0.000,0.132,3036,792,2085,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11274,1.53,164.9,126.8,9.6,797,11281,0.10,2.58,0.00,0.000,6,0.299,0.121,3017,2209,2084,0,0,0,0,0,0,14.64,14.74,28.83
$GC,11583,1.56,185.1,100.5,8.0,828,11598,0.00,2.72,10.05,1.678,4,0.000,0.148,3016,3612,2017,0,0,0,0,0,0,28.83,14.67,14.03
$GC,11655,1.56,185.1,93.9,9.7,840,11661,0.00,2.55,0.00,0.000,6,0.000,0.105,3025,2189,2016,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11970,1.56,185.1,63.6,9.6,901,11977,0.00,2.53,0.00,0.000,4,0.000,0.130,3035,787,2014,0,0,0,0,0,0,28.83,14.68,28.83
$GC,12013,1.56,185.1,59.3,10.2,908,12020,0.00,2.58,0.00,0.000,6,0.000,0.122,3035,2202,2014,0,0,0,0,0,0,28.83,14.68,28.83
$GC,12330,1.66,264.1,32.8,5.5,969,12380,0.00,2.67,43.05,0.279,4,0.000,0.133,3044,787,1693,0,0,0,0,0,0,28.83,14.62,14.52
$GC,12460,1.70,303.7,24.2,7.2,991,12486,0.00,2.62,20.30,0.265,6,0.000,0.126,3044,2205,1532,0,0,0,0,0,0,28.83,14.62,14.51
$STATE,12650,end climb,SURFACE_DEPTH_REACHED
$STATE,12650,begin surface coast
$FINISH,2.1,1.025560
$STATE,12672,end surface coast,CONTROL_FINISHED_OK
$STATE,12672,begin surface
$SM_CCo,12760,0.00,0.000,0,0,1517,307.85
$SM_GC,2.96,8.52,0.20,0.00,0.098,0.149,0.000,143,2118,1517,-11.59,0.48,307.85,0,0,0,0,0,0,14.69,14.65,28.83
$RAFOS_CLK,560
$RAFOS,6,1350046145,12.833333,12.818055,130,61,53,51,49,47,707,197,221,128,152,170
$RAFOS,5,1350045662,12.700000,12.683888,76,70,60,56,55,53,864,204,153,219,192,174
$RAFOS,4,1350045190,12.566667,12.552778,70,70,61,59,51,50,191,607,219,206,160,139
$RAFOS,3,1350044710,12.433333,12.419444,68,61,61,57,49,47,689,216,120,189,141,228
$RAFOS,2,1350044228,12.300000,12.285556,103,70,65,62,60,55,492,199,222,181,132,157
$RAFOS,1,1350043748,12.166667,12.152223,62,62,56,56,56,55,207,225,189,167,177,446
$RAFOS,0,1350043262,12.033333,12.017222,67,65,65,56,56,55,220,204,152,163,191,181
$RAFOS_FIX,6648.626465,-5933.999512,121012,121253,3,91,1.89
$IRIDIUM_FIX,6614.97,-5959.11,121012,060612
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.08
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.70
$XPDR_PINGS,4
$24V_AH,12.5,62.556
$10V_AH,12.8,0.000
$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,22.600,105.250,395.225,0.000,0.000,0.000,0.000,250.775,1.000,0.000,5.374,2608.965,7534.498,558.246,1903.208,567.977,0.000,1775.876,0.000,1686.259,2520.000,0.536,0.000
$DEVICE_MAMPS,452.880,185.130,2510.730,0.000,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.691,723.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188728
$DATA_FILE_SIZE,46760,1031
$CAP_FILE_SIZE,116268,0
$CFSIZE,259252224,237363200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.9
$CURRENT,0.030,  9.0,1
$GPS,121012,134630,6646.038,-5951.096,18,0.7,18,-33.9