version: 66.11
glider: 193
mission: 2
dive: 6
start: 9 9 112 3 10 47
data:
$ID,193
$MISSION,2
$DIVE,6
$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,-749.79199
$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,0.029999999
$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,15
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,300
$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,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
$GPS1,090912,030411,6652.756,-5855.104,14,1.0,14,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.5
$GPS2,090912,030959,6652.749,-5854.918,4,1.3,5,-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,120.5,93599,-17.5,-10.000,-21.03
$D_GRID,1021
$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,-146.6,0.0,0.0,0,92,0.00,0.00,-70.70,0.000,2,0.000,0.000,144,2130,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.52,-146.6,3.2,-3.6,12,137,10.88,2.83,-16.95,0.000,4,0.457,0.203,2331,3531,3371,0,0,0,0,0,0,14.38,14.46,14.76
$GC,371,-1.40,-146.6,50.9,-13.5,63,379,0.17,2.58,0.00,0.000,6,0.296,0.121,2370,2121,3373,0,0,0,0,0,0,14.50,14.59,28.83
$GC,689,-1.35,-146.6,86.3,-11.9,124,696,0.00,2.78,0.00,0.000,4,0.000,0.185,2361,3531,3373,0,0,0,0,0,0,28.83,14.59,28.83
$GC,835,-1.29,-146.6,103.1,-12.2,148,842,0.15,2.58,0.00,0.000,6,0.290,0.120,2394,2112,3373,0,0,0,0,0,0,14.58,14.65,28.83
$GC,1143,-1.29,-146.6,136.7,-10.4,179,1152,0.00,2.58,0.00,0.000,4,0.000,0.157,2394,711,3373,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1271,-1.29,-146.6,150.7,-11.4,191,1278,0.00,2.67,0.00,0.000,6,0.000,0.163,2386,2127,3372,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1579,-1.29,-146.6,184.7,-10.9,222,1588,0.00,2.67,0.00,0.000,4,0.000,0.175,2376,3531,3373,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1626,-1.29,-146.6,189.5,-10.8,226,1634,0.10,2.58,0.00,0.000,6,0.302,0.118,2395,2112,3372,0,0,0,0,0,0,14.65,14.73,28.83
$GC,1935,-1.29,-146.6,220.2,-9.2,257,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2112,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2251,-1.29,-146.6,249.3,-9.4,288,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2111,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2563,-1.29,-146.6,279.0,-9.6,319,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2112,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2874,-1.29,-146.6,309.7,-10.2,350,2883,0.00,2.58,0.00,0.000,4,0.000,0.158,2395,708,3372,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2911,-1.29,-146.6,313.9,-10.4,353,2920,0.00,2.65,0.00,0.000,6,0.000,0.166,2387,2116,3372,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3221,-1.29,-146.6,345.0,-10.1,384,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2116,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3530,-1.29,-146.6,377.0,-10.5,415,3539,0.00,2.60,0.00,0.000,4,0.000,0.161,2387,712,3372,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3565,-1.29,-146.6,380.6,-10.9,418,3574,0.00,2.62,0.00,0.000,6,0.000,0.165,2379,2115,3372,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3876,-1.29,-146.6,414.1,-10.7,449,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2115,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4189,-1.29,-146.6,445.8,-10.1,480,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2115,3372,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4221,begin apogee
$GC,4233,-0.38,0.0,450.0,-10.2,484,4388,0.75,0.00,144.20,2.211,6,0.261,0.000,2589,2201,2772,0,0,0,0,0,0,14.71,28.83,13.06
$STATE,4389,end apogee,CONTROL_FINISHED_OK
$STATE,4389,begin climb
$GC,4394,1.52,146.6,456.4,0.0,500,4569,1.45,3.03,155.45,2.147,4,0.180,0.172,3010,3614,2174,0,0,0,0,0,0,13.81,13.62,13.00
$GC,4578,1.38,146.6,445.9,10.3,518,4586,0.17,2.75,0.00,0.000,6,0.301,0.118,2985,2200,2172,0,0,0,0,0,0,13.75,13.83,28.83
$GC,4887,1.33,146.6,410.4,10.8,549,4897,0.00,2.67,0.00,0.000,4,0.000,0.155,2994,784,2165,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4954,1.25,146.6,403.0,11.3,555,4963,0.12,2.67,0.00,0.000,6,0.275,0.151,2961,2196,2164,0,0,0,0,0,0,14.29,14.34,28.83
$GC,5264,1.28,165.4,373.2,9.1,586,5289,0.00,0.00,18.25,2.039,6,0.000,0.000,2961,2197,2097,0,0,0,0,0,0,28.83,28.83,13.65
$GC,5594,1.29,176.0,341.6,9.5,619,5611,0.00,2.75,11.62,1.959,4,0.000,0.156,2969,788,2055,0,0,1,0,0,0,28.83,14.34,13.70
$GC,5697,1.29,176.0,330.6,10.8,629,5706,0.00,2.67,0.00,0.000,6,0.000,0.150,2969,2201,2053,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6007,1.29,176.0,298.5,10.2,660,6016,0.00,2.70,0.00,0.000,4,0.000,0.171,2969,3609,2052,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6044,1.26,176.0,294.7,11.0,663,6052,0.12,2.58,0.00,0.000,6,0.305,0.116,2954,2198,2053,0,0,0,0,0,0,14.47,14.55,28.83
$GC,6353,1.26,176.5,264.1,10.0,694,6363,0.00,2.60,0.00,0.000,4,0.000,0.151,2962,788,2051,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6459,1.26,176.5,252.9,10.9,704,6467,0.00,2.62,0.00,0.000,6,0.000,0.148,2962,2201,2051,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6769,1.26,176.5,220.0,10.5,735,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2201,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7085,1.26,176.5,188.2,10.2,766,7094,0.00,2.62,0.00,0.000,4,0.000,0.154,2972,784,2051,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7140,1.26,176.5,181.8,10.6,771,7148,0.00,2.62,0.00,0.000,6,0.000,0.153,2972,2199,2051,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7450,1.26,176.5,147.4,11.0,802,7459,0.00,2.67,0.00,0.000,4,0.000,0.173,2972,3610,2051,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7508,1.26,176.5,141.2,11.8,807,7515,0.12,2.55,0.00,0.000,6,0.303,0.118,2956,2195,2052,0,0,0,0,0,0,14.65,14.73,28.83
$GC,7817,1.33,206.8,112.8,8.6,838,7843,0.00,2.62,18.77,1.742,4,0.000,0.153,2965,782,1928,0,0,0,0,0,0,28.83,14.53,14.00
$GC,8012,1.42,236.4,94.9,8.6,862,8039,0.10,2.70,16.77,0.492,6,0.182,0.153,3000,2208,1807,0,0,0,0,0,0,14.62,14.57,14.39
$GC,8354,1.42,236.4,57.3,11.0,926,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2207,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8670,1.52,267.2,26.8,8.6,987,8696,0.00,2.72,16.12,0.268,4,0.000,0.155,3010,787,1681,0,0,0,0,0,0,28.83,14.59,14.55
$GC,8768,1.75,345.1,20.7,6.4,1004,8818,0.17,2.65,41.40,0.243,6,0.144,0.155,3072,2200,1363,0,0,0,0,0,0,14.66,14.62,14.52
$STATE,8972,end climb,SURFACE_DEPTH_REACHED
$STATE,8973,begin surface coast
$FINISH,1.1,1.012360
$STATE,8998,end surface coast,CONTROL_FINISHED_OK
$STATE,8998,begin surface
$SM_CCo,9026,0.35,0.531,0,0,1345,349.80
$SM_GC,3.32,8.88,0.20,0.35,0.125,0.167,0.531,143,2113,1345,-11.60,0.28,349.80,0,0,0,0,0,0,14.64,14.62,14.56
$RAFOS_CLK,372
$RAFOS,6,1347166149,4.833333,4.819167,120,58,57,56,55,53,587,192,120,205,175,220
$RAFOS,5,1347165665,4.700000,4.684722,111,67,57,56,56,54,698,219,122,164,203,146
$RAFOS,4,1347165184,4.566667,4.551111,139,65,61,54,52,49,527,207,150,126,178,187
$RAFOS,3,1347164708,4.433333,4.418889,129,63,62,60,58,56,729,174,212,193,139,164
$RAFOS,2,1347164226,4.300000,4.285000,139,61,54,54,52,50,641,218,144,197,135,112
$RAFOS,1,1347163743,4.166667,4.150833,132,61,53,53,51,49,674,193,215,166,203,138
$RAFOS,0,1347163263,4.033333,4.017500,65,63,58,56,50,50,218,198,141,184,121,234
$RAFOS_FIX,6652.581543,-5907.515625,090912,040456,5,126,1.89
$IRIDIUM_FIX,6625.71,-5904.05,090912,000017
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.81
$INTERNAL_PRESSURE,8.72327
$TCM_TEMP,13.60
$XPDR_PINGS,5
$24V_AH,13.0,6.088
$10V_AH,13.3,0.000
$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,23.200,80.300,422.600,0.350,0.000,0.000,0.000,200.675,1.250,0.000,5.973,2570.729,3945.799,562.301,1842.124,483.526,0.000,1685.486,0.000,1660.768,2520.000,0.538,0.000
$DEVICE_MAMPS,456.705,212.670,2210.850,530.910,0.000,0.000,0.000,150.705,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.479,723.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188832
$DATA_FILE_SIZE,50005,1047
$CAP_FILE_SIZE,104018,0
$CFSIZE,259252224,250175488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1459.4
$CURRENT,0.080, 32.3,1
$GPS,090912,054304,6653.020,-5851.548,32,1.0,32,-33.8