version: 66.11
glider: 193
mission: 2
dive: 224
start: 10 18 112 13 15 28
data:
$ID,193
$MISSION,2
$DIVE,224
$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,-1214.446
$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,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
$GPS1,181012,130734,6658.846,-5722.479,39,0.7,39,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-66.9
$GPS2,181012,131445,6658.901,-5722.519,5,0.7,5,-33.5
$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,102.7,26058,-17.3,-8.919,-19.96
$D_GRID,793
$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,-136.9,0.0,0.0,0,26,0.00,0.00,-5.53,0.000,2,0.000,0.000,138,2120,1684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.1,0.0,1,158,10.90,2.65,-101.80,0.000,4,0.442,0.155,2350,710,3331,0,0,0,0,0,0,14.28,14.42,14.78
$GC,237,-1.50,-136.9,17.0,-17.6,36,243,0.00,2.70,0.00,0.000,6,0.000,0.140,2343,2120,3331,0,0,0,0,0,0,28.83,14.46,28.83
$GC,554,-1.50,-136.9,70.1,-13.8,97,562,0.00,2.75,0.00,0.000,4,0.000,0.156,2332,3536,3332,0,0,0,0,0,0,28.83,14.50,28.83
$GC,692,-1.50,-136.9,88.3,-13.2,123,699,0.10,2.55,0.00,0.000,6,0.312,0.103,2350,2119,3332,0,0,0,0,0,0,14.42,14.61,28.83
$GC,1005,-1.50,-136.9,126.6,-13.3,163,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2119,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1320,-1.50,-136.9,167.7,-13.8,194,1329,0.00,2.78,0.00,0.000,4,0.000,0.160,2341,3529,3332,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1358,-1.50,-136.9,173.3,-13.8,197,1366,0.00,2.53,0.00,0.000,6,0.000,0.102,2341,2118,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1666,-1.50,-136.9,215.6,-13.5,228,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1983,-1.50,-136.9,253.7,-11.5,259,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2295,-1.50,-136.9,287.2,-10.6,290,2303,0.00,2.75,0.00,0.000,4,0.000,0.159,2331,3526,3332,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2322,-1.50,-136.9,290.3,-10.5,292,2330,0.10,2.53,0.00,0.000,6,0.311,0.104,2349,2118,3331,0,0,0,0,0,0,14.51,14.71,28.83
$GC,2631,-1.50,-136.9,324.8,-11.2,323,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2947,-1.50,-136.9,359.6,-11.2,354,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3259,-1.50,-136.9,393.9,-10.7,385,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3586,-1.50,-136.9,428.8,-10.4,400,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3886,-1.50,-136.9,460.4,-10.5,410,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-1.50,-136.9,491.9,-10.5,420,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4486,-1.50,-136.9,522.5,-10.0,430,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4786,-1.50,-136.9,551.6,-9.6,440,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5086,-1.50,-136.9,581.7,-10.2,450,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5386,-1.50,-136.9,611.6,-9.7,460,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5687,-1.50,-136.9,641.1,-10.0,470,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5986,-1.50,-136.9,670.2,-9.6,480,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6286,-1.50,-136.9,699.4,-9.7,490,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6586,-1.50,-136.9,727.4,-9.4,500,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6887,-1.50,-136.9,755.9,-9.4,510,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7186,-1.50,-136.9,784.5,-9.7,520,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7271,begin apogee
$GC,7283,-0.38,0.0,793.1,-9.6,523,7436,0.90,0.00,142.20,2.664,6,0.269,0.000,2595,2206,2772,0,0,0,0,0,0,14.54,28.83,12.96
$STATE,7437,end apogee,CONTROL_FINISHED_OK
$STATE,7437,begin climb
$GC,7442,1.50,136.9,797.3,0.0,528,7604,1.40,0.00,157.05,2.622,6,0.172,0.000,3006,2206,2214,0,0,0,0,0,0,13.78,28.83,12.41
$GC,7901,1.50,136.9,751.1,12.2,544,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2206,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8201,1.50,136.9,714.5,12.3,554,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2206,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8501,1.50,136.9,678.1,12.0,564,8506,0.00,2.72,0.00,0.000,4,0.000,0.154,3006,3607,2201,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8535,1.50,136.9,674.2,12.1,565,8540,0.00,2.58,0.00,0.000,6,0.000,0.118,3017,2205,2202,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8862,1.50,136.9,633.3,12.2,576,8868,0.00,2.62,0.00,0.000,4,0.000,0.144,3027,787,2201,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8894,1.50,136.9,629.3,12.2,577,8900,0.08,2.65,0.00,0.000,6,0.279,0.134,3007,2197,2200,0,0,0,0,0,0,14.45,14.55,28.83
$GC,9227,1.50,136.9,590.8,11.3,588,9232,0.00,2.72,0.00,0.000,4,0.000,0.156,3007,3614,2199,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9266,1.50,136.9,587.0,11.4,589,9271,0.00,2.55,0.00,0.000,6,0.000,0.110,3016,2198,2200,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9588,1.50,136.9,548.4,11.6,600,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9889,1.50,136.9,513.0,12.1,610,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10188,1.50,136.9,476.2,12.4,620,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2198,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10488,1.50,136.9,438.4,12.6,630,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10788,1.50,136.9,400.4,12.5,640,10792,0.00,2.72,0.00,0.000,4,0.000,0.149,3017,3621,2199,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10823,1.50,136.9,395.8,12.7,641,10833,0.00,2.55,0.00,0.000,6,0.000,0.109,3027,2203,2199,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11134,1.50,136.9,355.3,12.9,672,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2203,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11444,1.50,136.9,314.1,13.6,703,11452,0.00,2.72,0.00,0.000,4,0.000,0.148,3027,3613,2199,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11491,1.50,136.9,307.8,14.4,707,11498,0.15,2.55,0.00,0.000,6,0.292,0.106,3003,2195,2199,0,0,0,0,0,0,14.57,14.73,28.83
$GC,11799,1.50,136.9,269.3,12.0,738,11808,0.00,2.72,0.00,0.000,4,0.000,0.147,3004,3611,2199,0,0,0,0,0,0,28.83,14.61,28.83
$GC,11837,1.50,136.9,265.1,12.2,741,11845,0.00,2.53,0.00,0.000,6,0.000,0.104,3013,2198,2198,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12146,1.50,136.9,230.3,10.8,772,12154,0.00,2.53,0.00,0.000,4,0.000,0.127,3024,788,2199,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12203,1.50,136.9,224.4,10.9,777,12211,0.00,2.60,0.00,0.000,6,0.000,0.118,3023,2210,2198,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12511,1.50,136.9,189.9,11.3,808,12520,0.00,2.58,0.00,0.000,4,0.000,0.129,3034,793,2198,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12559,1.50,136.9,184.8,11.4,812,12566,0.12,2.58,0.00,0.000,6,0.295,0.117,3007,2204,2197,0,0,0,0,0,0,14.54,14.68,28.83
$GC,12867,1.50,136.9,153.1,9.9,843,12875,0.00,2.65,0.00,0.000,4,0.000,0.142,3007,3607,2198,0,0,0,0,0,0,28.83,14.61,28.83
$GC,12894,1.50,136.9,150.5,10.3,845,12901,0.00,2.53,0.00,0.000,6,0.000,0.102,3016,2194,2198,0,0,0,0,0,0,28.83,14.73,28.83
$GC,13203,1.50,136.9,116.3,10.1,876,13212,0.00,2.53,0.00,0.000,4,0.000,0.126,3027,785,2197,0,0,0,0,0,0,28.83,14.62,28.83
$GC,13261,1.50,136.9,110.8,9.8,881,13268,0.00,2.58,0.00,0.000,6,0.000,0.119,3026,2200,2197,0,0,0,0,0,0,28.83,14.67,28.83
$GC,13574,1.55,175.4,88.0,7.2,929,13600,0.00,2.78,19.88,0.438,4,0.000,0.145,3026,3615,2055,0,0,0,0,0,0,28.83,14.62,14.41
$GC,13696,1.55,175.4,77.5,9.8,950,13703,0.00,2.55,0.00,0.000,6,0.000,0.103,3037,2195,2052,0,0,0,0,0,0,28.83,14.68,28.83
$GC,14012,1.63,242.1,49.2,6.0,1011,14055,0.00,2.62,36.15,0.324,4,0.000,0.128,3047,783,1783,0,0,0,0,0,0,28.83,14.59,14.47
$GC,14127,1.65,258.3,40.6,8.2,1030,14140,0.00,2.62,7.97,0.314,6,0.000,0.122,3047,2205,1718,0,0,0,0,0,0,28.83,14.58,14.42
$GC,14457,1.65,258.3,3.9,11.5,1092,14464,0.00,2.72,0.00,0.000,4,0.000,0.149,3047,3620,1708,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,14470,end climb,SURFACE_DEPTH_REACHED
$STATE,14470,begin surface coast
$FINISH,2.3,1.025993
$STATE,14506,end surface coast,CONTROL_FINISHED_OK
$STATE,14506,begin surface
$SM_CCo,14536,15.40,0.187,0,0,1587,290.19
$SM_GC,2.69,8.25,2.78,15.40,0.069,0.102,0.187,133,2114,1587,-11.62,0.40,290.19,0,0,0,0,0,0,14.69,14.64,14.53
$RAFOS_CLK,638
$RAFOS,6,1350578949,16.833334,16.819166,120,65,64,56,54,50,677,217,192,165,135,403
$RAFOS,5,1350578464,16.700001,16.684444,113,55,55,55,54,52,551,206,218,184,161,233
$RAFOS,4,1350577988,16.566668,16.552221,120,73,66,60,55,54,768,168,215,187,138,113
$RAFOS,3,1350577506,16.433332,16.418333,59,57,55,53,49,47,188,222,163,203,212,114
$RAFOS,2,1350577026,16.299999,16.285000,113,60,57,56,52,52,860,221,187,127,152,140
$RAFOS,1,1350576550,16.166666,16.152779,114,60,60,60,60,52,868,181,203,218,159,193
$RAFOS,0,1350576070,16.033333,16.019444,61,57,55,54,52,51,180,204,160,214,147,120
$RAFOS_FIX,6657.495117,-5749.486328,181012,161600,5,116,1.67
$IRIDIUM_FIX,6631.12,-5731.73,181012,080819
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.28
$INTERNAL_PRESSURE,8.73303
$TCM_TEMP,13.10
$XPDR_PINGS,8
$24V_AH,12.4,72.823
$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,22.000,89.700,363.250,15.400,0.000,0.000,0.000,270.875,2.000,0.000,6.661,2779.331,9109.194,542.328,1963.031,612.771,0.000,1783.539,0.000,1738.353,2520.000,0.539,0.000
$DEVICE_MAMPS,442.170,180.540,2664.495,187.425,0.000,0.000,0.000,143.055,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,803.493,778.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188744
$DATA_FILE_SIZE,50076,1101
$CAP_FILE_SIZE,119420,0
$CFSIZE,259252224,235094016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.2
$CURRENT,0.252,323.8,1
$GPS,181012,172004,6701.196,-5720.826,40,0.9,41,-33.6