version: 66.11
glider: 193
mission: 2
dive: 286
start: 10 29 112 15 22 38
data:
$ID,193
$MISSION,2
$DIVE,286
$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,-1411.0168
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$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
$GPS1,291012,151434,6645.695,-5955.262,38,0.9,39,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-69.1
$GPS2,291012,152154,6645.665,-5955.358,5,0.9,5,-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,266.0,22627,-17.3,-8.919,-19.96
$D_GRID,697
$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,-5.57,0.000,2,0.000,0.000,127,2121,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.4,0.0,1,149,11.45,2.67,-94.93,0.000,4,0.457,0.164,2350,704,3330,0,0,0,0,0,0,14.20,14.35,14.74
$GC,384,-1.50,-136.9,48.2,-18.0,65,392,0.00,2.78,0.00,0.000,6,0.000,0.145,2342,2127,3331,0,0,0,0,0,0,28.83,14.35,28.83
$GC,703,-1.50,-136.9,96.9,-14.6,126,710,0.00,2.67,0.00,0.000,4,0.000,0.139,2342,706,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,771,-1.50,-136.9,107.9,-16.1,134,780,0.00,2.72,0.00,0.000,6,0.000,0.140,2333,2120,3331,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1081,-1.50,-136.9,155.4,-14.3,165,1090,0.00,2.75,0.00,0.000,4,0.000,0.155,2323,3530,3332,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1119,-1.50,-136.9,160.6,-14.5,168,1126,0.12,2.58,0.00,0.000,6,0.307,0.102,2348,2110,3331,0,0,0,0,0,0,14.25,14.52,28.83
$GC,1427,-1.50,-136.9,201.8,-13.5,199,1436,0.00,2.80,0.00,0.000,4,0.000,0.156,2339,3523,3331,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1475,-1.50,-136.9,207.9,-13.8,203,1482,0.00,2.55,0.00,0.000,6,0.000,0.101,2339,2115,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1782,-1.50,-136.9,247.7,-12.1,234,1791,0.00,2.78,0.00,0.000,4,0.000,0.155,2329,3524,3331,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1817,-1.50,-136.9,252.0,-12.2,237,1827,0.08,2.53,0.00,0.000,6,0.282,0.100,2347,2112,3331,0,0,0,0,0,0,14.24,14.46,28.83
$GC,2128,-1.50,-136.9,286.9,-10.9,268,2137,0.00,2.78,0.00,0.000,4,0.000,0.155,2338,3523,3330,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2155,-1.50,-136.9,289.7,-10.8,270,2161,0.00,2.55,0.00,0.000,6,0.000,0.099,2338,2111,3331,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2462,-1.50,-136.9,326.1,-12.3,301,2472,0.00,2.55,0.00,0.000,4,0.000,0.129,2338,710,3330,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2521,-1.50,-136.9,332.9,-12.1,306,2528,0.10,2.67,0.00,0.000,6,0.332,0.135,2348,2126,3330,0,0,0,0,0,0,14.28,14.45,28.83
$GC,2829,-1.50,-136.9,367.7,-11.0,337,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2128,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3144,-1.50,-136.9,400.2,-10.2,368,3149,0.00,2.75,0.00,0.000,4,0.000,0.157,2340,3528,3330,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3218,-1.50,-136.9,407.1,-10.3,370,3224,0.00,2.53,0.00,0.000,6,0.000,0.103,2340,2121,3330,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3536,-1.50,-136.9,442.9,-11.1,381,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3835,-1.50,-136.9,476.6,-11.1,391,3840,0.00,2.78,0.00,0.000,4,0.000,0.158,2330,3525,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3866,-1.50,-136.9,480.2,-11.2,392,3872,0.08,2.53,0.00,0.000,6,0.279,0.101,2348,2116,3331,0,0,0,0,0,0,14.28,14.53,28.83
$GC,4199,-1.50,-136.9,515.2,-10.5,403,4204,0.00,2.58,0.00,0.000,4,0.000,0.131,2348,706,3331,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4269,-1.50,-136.9,522.1,-10.6,405,4274,0.00,2.65,0.00,0.000,6,0.000,0.135,2342,2120,3331,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4591,-1.50,-136.9,555.5,-10.1,416,4596,0.00,2.70,0.00,0.000,4,0.000,0.153,2331,3538,3331,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4635,-1.50,-136.9,559.1,-10.1,417,4641,0.05,2.55,0.00,0.000,6,0.279,0.099,2344,2112,3331,0,0,0,0,0,0,14.33,14.54,28.83
$GC,4956,-1.50,-136.9,593.1,-10.0,428,4962,0.00,2.53,0.00,0.000,4,0.000,0.128,2344,713,3332,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5019,-1.50,-136.9,599.8,-10.5,430,5024,0.00,2.62,0.00,0.000,6,0.000,0.132,2338,2120,3332,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5350,-1.50,-136.9,633.9,-9.7,441,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5650,-1.50,-136.9,662.3,-9.7,451,5655,0.00,2.72,0.00,0.000,4,0.000,0.152,2327,3526,3333,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5714,-1.50,-136.9,668.3,-9.8,453,5721,0.08,2.53,0.00,0.000,6,0.277,0.100,2346,2118,3332,0,0,0,0,0,0,14.28,14.54,28.83
$STATE,6006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6006,begin apogee
$GC,6019,-0.38,0.0,697.3,-9.6,463,6171,0.90,0.00,141.15,2.480,6,0.271,0.000,2587,2153,2773,0,0,0,0,0,0,14.31,28.83,12.88
$STATE,6171,end apogee,CONTROL_FINISHED_OK
$STATE,6172,begin climb
$GC,6177,1.50,136.9,701.9,0.0,468,6348,1.42,3.00,154.77,2.410,4,0.175,0.135,3011,740,2214,0,0,0,0,0,0,13.70,13.19,12.42
$GC,6367,1.53,165.2,691.2,7.7,474,6408,0.00,2.85,33.30,2.324,6,0.000,0.122,3011,2144,2098,0,0,0,0,0,0,28.83,13.43,12.52
$GC,6743,1.53,165.2,641.3,12.3,487,6749,0.00,2.85,0.00,0.000,4,0.000,0.147,3011,3562,2090,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6836,1.53,165.2,628.4,13.1,490,6841,0.00,2.62,0.00,0.000,6,0.000,0.106,3021,2154,2090,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7167,1.53,165.2,582.7,14.3,501,7173,0.00,2.62,0.00,0.000,4,0.000,0.132,3032,735,2088,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7208,1.53,165.2,578.3,14.4,502,7214,0.00,2.65,0.00,0.000,6,0.000,0.118,3032,2155,2087,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7530,1.53,165.2,532.2,13.8,513,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2155,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7829,1.53,165.2,491.0,13.6,523,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2155,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8129,1.53,165.2,449.8,13.6,533,8135,0.00,2.75,0.00,0.000,4,0.000,0.147,3032,3568,2087,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8163,1.53,165.2,445.4,13.6,534,8169,0.10,2.58,0.00,0.000,6,0.279,0.106,3016,2143,2087,0,0,0,0,0,0,14.33,14.54,28.83
$GC,8490,1.53,165.2,403.8,12.5,545,8496,0.00,2.55,0.00,0.000,4,0.000,0.132,3025,741,2086,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8533,1.53,165.2,398.5,12.6,547,8543,0.00,2.60,0.00,0.000,6,0.000,0.116,3025,2157,2085,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8844,1.53,165.2,359.0,12.7,578,8853,0.00,2.72,0.00,0.000,4,0.000,0.148,3025,3568,2086,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8901,1.53,165.2,351.4,14.2,583,8908,0.00,2.58,0.00,0.000,6,0.000,0.106,3035,2148,2086,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9210,1.53,165.2,311.2,12.8,614,9219,0.00,2.55,0.00,0.000,4,0.000,0.131,3046,745,2085,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9268,1.53,165.2,303.9,13.8,619,9275,0.15,2.60,0.00,0.000,6,0.290,0.116,3012,2154,2085,0,0,0,0,0,0,14.36,14.55,28.83
$GC,9577,1.53,165.2,268.7,11.1,650,9585,0.00,2.60,0.00,0.000,4,0.000,0.131,3021,743,2085,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9634,1.53,165.2,262.9,11.2,655,9641,0.00,2.62,0.00,0.000,6,0.000,0.115,3021,2160,2084,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9943,1.53,165.2,230.2,10.2,686,9952,0.00,2.70,0.00,0.000,4,0.000,0.145,3021,3560,2085,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9997,1.53,165.2,224.3,10.9,691,10006,0.00,2.53,0.00,0.000,6,0.000,0.104,3031,2153,2085,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10308,1.53,165.2,191.9,10.4,722,10317,0.00,2.58,0.00,0.000,4,0.000,0.130,3042,743,2084,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10413,1.53,165.2,180.5,10.4,732,10422,0.10,2.58,0.00,0.000,6,0.263,0.116,3015,2145,2084,0,0,0,0,0,0,14.32,14.45,28.83
$GC,10723,1.53,165.2,152.2,9.0,763,10732,0.00,2.75,0.00,0.000,4,0.000,0.145,3015,3565,2085,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10788,1.53,165.2,146.1,9.7,769,10797,0.00,2.55,0.00,0.000,6,0.000,0.103,3023,2144,2085,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11098,1.54,167.8,118.7,8.8,800,11107,0.00,2.75,0.00,0.000,4,0.000,0.148,3023,3556,2084,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11163,1.54,167.8,112.8,9.1,806,11172,0.00,2.53,0.00,0.000,6,0.000,0.104,3033,2154,2084,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11478,1.56,182.5,85.6,8.3,853,11491,0.00,0.00,8.07,0.439,6,0.000,0.000,3033,2154,2028,0,0,0,0,0,0,28.83,28.83,14.23
$GC,11802,1.56,182.5,56.0,8.9,915,11809,0.00,2.78,0.00,0.000,4,0.000,0.150,3033,3566,2026,0,0,0,0,0,0,28.83,14.43,28.83
$GC,11849,1.56,183.2,51.6,8.9,923,11856,0.12,2.58,0.00,0.000,6,0.300,0.106,3017,2151,2027,0,0,0,0,0,0,14.33,14.54,28.83
$GC,12172,1.62,237.8,32.3,6.5,984,12210,0.00,2.65,31.17,0.273,4,0.000,0.132,3026,740,1799,0,0,0,0,0,0,28.83,14.52,14.38
$GC,12370,1.64,248.0,16.5,8.5,1020,12384,0.00,2.62,4.47,0.264,6,0.000,0.118,3026,2149,1758,0,0,0,0,0,0,28.83,14.47,14.40
$STATE,12524,end climb,SURFACE_DEPTH_REACHED
$STATE,12524,begin surface coast
$FINISH,2.5,1.002238
$STATE,12554,end surface coast,CONTROL_FINISHED_OK
$STATE,12554,begin surface
$SM_CCo,12583,21.75,0.195,0,0,1587,290.19
$SM_GC,3.12,8.70,0.10,21.75,0.113,0.181,0.195,136,2112,1587,-11.61,0.37,290.19,0,0,0,0,0,0,14.62,14.57,14.42
$RAFOS_CLK,557
$RAFOS,6,1351529352,16.833334,16.820000,123,70,60,58,54,50,696,200,220,176,142,705
$RAFOS,5,1351528869,16.700001,16.685833,93,56,52,50,50,49,845,202,214,147,124,170
$RAFOS,4,1351528383,16.566668,16.550833,91,67,58,55,54,52,666,161,210,196,129,233
$RAFOS,3,1351527928,16.433332,16.424444,63,61,57,54,53,52,208,187,147,175,124,196
$RAFOS,2,1351527448,16.299999,16.291111,78,64,55,55,55,52,372,200,125,210,161,229
$RAFOS,1,1351526941,16.166666,16.150278,90,63,53,52,52,50,482,202,192,149,1788,174
$RAFOS,0,1351526465,16.033333,16.018055,73,59,57,54,54,49,150,203,174,134,219,160
$RAFOS_FIX,6657.043945,-5947.817871,291012,161640,3,102,4.50
$IRIDIUM_FIX,6620.33,-5956.38,291012,111128
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.85
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,6
$24V_AH,12.4,92.495
$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,23.450,143.350,372.950,21.750,0.000,0.000,0.000,278.850,1.500,0.000,11.505,2731.873,7018.108,553.341,2144.337,613.376,0.000,1920.641,0.000,1894.694,2520.000,0.536,0.000
$DEVICE_MAMPS,456.705,208.080,2480.130,195.075,0.000,0.000,0.000,145.350,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.078,743.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188708
$DATA_FILE_SIZE,49984,1055
$CAP_FILE_SIZE,129172,0
$CFSIZE,259252224,230842368
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.0
$CURRENT,0.299,169.9,1
$GPS,291012,185435,6642.580,-5957.614,36,0.9,36,-33.8