version: 66.11
glider: 193
mission: 2
dive: 4
start: 9 8 112 21 50 42
data:
$ID,193
$MISSION,2
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,50
$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,150
$T_MISSION,180
$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,150
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,349.6098
$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,-747.19556
$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,2720
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,1
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2960
$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,4
$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
$GPS1,080912,214435,6652.782,-5903.150,11,1.1,11,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.6
$GPS2,080912,214959,6652.838,-5903.076,16,1.1,16,-33.8
$SPEED_LIMITS,0.084,0.260
$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,157.9,99343,-17.5,-10.000,-21.03
$D_GRID,1040
$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,-1.52,-146.6,0.0,0.0,0,91,0.00,0.00,-69.50,0.000,2,0.000,0.000,142,2129,2769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.52,-146.6,3.1,-4.5,12,136,10.85,2.75,-16.95,0.000,4,0.444,0.192,2372,3520,3559,0,0,0,0,0,0,14.40,14.52,14.82
$GC,350,-1.57,-146.6,47.3,-13.3,59,357,0.00,2.55,0.00,0.000,6,0.000,0.120,2372,2120,3560,0,0,0,0,0,0,28.83,14.62,28.83
$GC,667,-1.57,-146.6,87.8,-13.7,120,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2120,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,979,-1.57,-146.6,128.5,-12.0,159,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2119,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-1.57,-146.6,163.5,-10.6,190,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2119,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1605,-1.57,-146.6,196.4,-10.9,221,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2119,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1919,-1.57,-146.6,229.1,-10.3,252,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2119,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2230,-1.57,-146.6,264.3,-11.4,283,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2119,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2541,-1.57,-146.6,300.3,-11.0,314,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2119,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2854,-1.57,-146.6,334.7,-10.6,345,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2119,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3166,-1.57,-146.6,369.2,-11.0,376,3175,0.00,2.70,0.00,0.000,4,0.000,0.181,2361,3526,3556,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3200,-1.57,-146.6,373.5,-11.0,379,3209,0.00,2.53,0.00,0.000,6,0.000,0.126,2361,2117,3556,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3511,-1.57,-146.6,408.5,-11.4,410,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2117,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3827,-1.57,-146.6,444.0,-11.3,441,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2117,3556,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3879,begin apogee
$GC,3891,-0.38,0.0,451.2,-11.7,447,4046,0.95,0.00,142.43,2.224,6,0.244,0.000,2634,2069,2961,0,0,0,0,0,0,14.72,28.83,13.12
$STATE,4047,end apogee,CONTROL_FINISHED_OK
$STATE,4047,begin climb
$GC,4053,1.52,146.6,458.5,0.0,463,4219,1.35,2.92,151.88,2.163,4,0.143,0.165,3063,657,2362,0,0,0,0,0,0,13.90,13.70,13.07
$GC,4303,1.30,146.6,447.6,11.6,488,4312,0.25,2.72,0.00,0.000,6,0.291,0.142,3006,2068,2357,0,0,0,0,0,0,14.04,14.12,28.83
$GC,4613,1.20,151.1,416.6,9.8,519,4624,0.12,2.78,3.80,1.425,4,0.328,0.158,2975,3481,2346,0,0,0,0,0,0,14.36,14.40,13.73
$GC,4725,1.11,159.6,406.2,9.6,529,4743,0.08,2.58,10.80,1.953,6,0.288,0.120,2965,2069,2310,0,0,0,0,0,0,14.38,14.47,13.70
$GC,5045,1.09,172.9,376.7,9.4,561,5070,0.00,2.75,14.60,2.025,4,0.000,0.158,2964,3484,2257,0,0,0,0,0,0,28.83,14.36,13.71
$GC,5116,1.02,172.9,369.6,10.3,568,5127,0.10,2.60,0.00,0.000,6,0.275,0.119,2947,2067,2256,0,0,0,0,0,0,14.34,14.42,28.83
$GC,5428,1.06,205.0,341.8,8.5,599,5464,0.00,0.00,33.75,2.066,6,0.000,0.000,2947,2066,2124,0,0,0,0,0,0,28.83,28.83,13.58
$GC,5768,1.07,212.1,309.9,9.7,633,5785,0.00,2.72,7.93,1.829,4,0.000,0.158,2947,3482,2096,0,0,0,0,0,0,28.83,14.39,13.76
$GC,5853,1.07,212.1,301.2,10.8,641,5860,0.00,2.60,0.00,0.000,6,0.000,0.121,2955,2069,2096,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6161,1.09,226.3,270.3,9.3,672,6187,0.00,2.75,15.57,1.959,4,0.000,0.161,2955,3481,2038,0,0,0,0,0,0,28.83,14.40,13.77
$GC,6236,1.09,226.3,262.7,10.9,679,6243,0.00,2.60,0.00,0.000,6,0.000,0.119,2965,2064,2038,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6543,1.11,240.8,232.4,9.3,710,6564,0.00,2.67,15.48,1.922,4,0.000,0.156,2975,651,1978,0,0,0,0,0,0,28.83,14.40,13.81
$GC,6603,1.11,240.8,226.8,10.1,715,6610,0.00,2.70,0.00,0.000,6,0.000,0.143,2975,2075,1978,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6910,1.11,240.8,195.2,10.4,746,6919,0.00,2.65,0.00,0.000,4,0.000,0.161,2975,3480,1977,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7004,1.11,240.8,184.4,11.6,755,7013,0.08,2.55,0.00,0.000,6,0.283,0.120,2965,2064,1977,0,0,0,0,0,0,14.52,14.59,28.83
$GC,7315,1.12,248.9,154.3,9.6,786,7331,0.00,2.62,9.07,1.789,4,0.000,0.157,2974,659,1946,0,0,0,0,0,0,28.83,14.55,13.94
$GC,7377,1.12,248.9,148.0,10.2,792,7386,0.00,2.60,0.00,0.000,6,0.000,0.143,2974,2067,1946,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7688,1.13,258.1,117.8,9.6,823,7700,0.00,2.72,5.88,1.563,4,0.000,0.161,2974,3479,1907,0,0,0,0,0,0,28.83,14.58,14.00
$GC,7754,1.13,258.1,111.1,10.9,829,7761,0.00,2.55,0.00,0.000,6,0.000,0.118,2984,2068,1908,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8066,1.13,261.3,78.9,9.9,880,8074,0.00,0.00,1.85,0.452,6,0.000,0.000,2984,2069,1894,0,0,0,0,0,0,28.83,28.83,14.52
$GC,8386,1.13,261.3,47.3,11.0,941,8393,0.00,2.62,0.00,0.000,4,0.000,0.159,2994,655,1894,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8464,1.13,261.3,39.0,10.8,955,8471,0.12,2.62,0.00,0.000,6,0.291,0.149,2968,2070,1894,0,0,0,0,0,0,14.62,14.68,28.83
$GC,8787,1.51,424.9,18.6,2.5,1016,8885,0.22,2.72,86.60,0.229,4,0.126,0.164,3065,661,1224,0,0,1,0,0,0,14.72,14.54,14.54
$STATE,8989,end climb,SURFACE_DEPTH_REACHED
$STATE,8989,begin surface coast
$FINISH,1.0,1.024397
$STATE,9016,end surface coast,CONTROL_FINISHED_OK
$STATE,9016,begin surface
$SM_CCo,9107,0.00,0.000,0,0,1211,428.78
$SM_GC,1.70,8.65,2.83,0.00,0.106,0.159,0.000,145,2128,1211,-11.77,-0.23,428.78,0,0,1,0,0,0,14.64,14.59,28.83
$RAFOS_CLK,368
$RAFOS,1,1347149341,0.166667,0.150278,123,62,60,59,55,52,663,214,198,173,152,122
$RAFOS,0,1347148868,0.033333,0.018889,58,56,54,54,52,52,161,177,152,188,86,230
$RAFOS_FIX,6655.060059,-5909.420898,080912,202004,4,114,1.84
$IRIDIUM_FIX,6625.71,-5904.05,080912,212143
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.76
$INTERNAL_PRESSURE,8.72327
$TCM_TEMP,13.40
$XPDR_PINGS,8
$24V_AH,13.1,5.493
$10V_AH,13.2,0.000
$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,22.775,69.525,499.625,0.000,0.000,0.000,0.000,0.000,2.000,0.000,17.524,2505.322,4043.880,579.531,1708.708,374.134,0.000,1512.074,0.000,1671.175,1080.000,0.538,0.000
$DEVICE_MAMPS,444.465,214.965,2223.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.771,732.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188900
$DATA_FILE_SIZE,50046,1057
$CAP_FILE_SIZE,117623,0
$CFSIZE,259252224,250286080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$SOUNDSPEED,1459.9
$CURRENT,0.110, 44.7,1
$GPS,090912,002358,6652.487,-5859.513,36,1.0,36,-33.8