version: 66.11
glider: 193
mission: 2
dive: 8
start: 9 9 112 8 28 16
data:
$ID,193
$MISSION,2
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,240
$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,-752.29926
$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,13
$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
$GPS1,090912,082047,6653.485,-5848.639,16,1.2,16,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-68.6
$GPS2,090912,082733,6653.514,-5848.613,41,0.9,41,-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,138.4,88855,-17.5,-10.000,-21.03
$D_GRID,1007
$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,-70.72,0.000,2,0.000,0.000,141,2116,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.52,-146.6,3.3,-3.9,12,131,10.90,2.90,-14.95,0.000,4,0.455,0.205,2333,3531,3370,0,0,0,0,0,0,14.35,14.45,14.72
$GC,367,-1.39,-146.6,53.1,-13.8,62,375,0.17,2.60,0.00,0.000,6,0.301,0.122,2371,2112,3372,0,0,0,0,0,0,14.48,14.56,28.83
$GC,685,-1.33,-146.6,92.7,-12.0,123,692,0.00,2.80,0.00,0.000,4,0.000,0.184,2361,3531,3373,0,0,0,0,0,0,28.83,14.57,28.83
$GC,838,-1.28,-146.6,110.9,-12.4,143,847,0.12,2.55,0.00,0.000,6,0.269,0.119,2396,2114,3372,0,0,0,0,0,0,14.55,14.62,28.83
$GC,1150,-1.28,-146.6,142.2,-9.5,174,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2114,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1463,-1.28,-146.6,171.0,-8.9,205,1473,0.00,2.75,0.00,0.000,4,0.000,0.182,2386,3534,3372,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1500,-1.28,-146.6,174.6,-8.9,208,1508,0.00,2.55,0.00,0.000,6,0.000,0.118,2386,2113,3372,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1809,-1.28,-146.6,204.8,-10.3,239,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2112,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,-1.28,-146.6,237.6,-10.9,270,2133,0.00,2.58,0.00,0.000,4,0.000,0.158,2386,709,3371,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2179,-1.28,-146.6,244.6,-11.4,275,2189,0.08,2.65,0.00,0.000,6,0.284,0.168,2398,2120,3371,0,0,0,0,0,0,14.66,14.69,28.83
$GC,2490,-1.28,-146.6,275.5,-10.0,306,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2120,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2805,-1.28,-146.6,306.3,-9.8,337,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2120,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3119,-1.28,-146.6,335.9,-9.2,368,3127,0.00,2.67,0.00,0.000,4,0.000,0.180,2389,3530,3371,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3176,-1.28,-146.6,341.6,-9.9,373,3184,0.00,2.55,0.00,0.000,6,0.000,0.121,2389,2112,3371,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3485,-1.28,-146.6,370.5,-9.2,404,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2112,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3800,-1.28,-146.6,398.9,-9.0,435,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2112,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4112,-1.28,-146.6,427.2,-8.8,466,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2112,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4425,-1.28,-146.6,456.7,-9.6,497,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2112,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4738,-1.28,-146.6,487.1,-9.3,528,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2112,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5049,-1.28,-146.6,516.1,-9.1,559,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2112,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5362,-1.28,-146.6,544.2,-8.9,590,5371,0.00,2.58,0.00,0.000,4,0.000,0.161,2389,708,3371,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5407,-1.28,-146.6,549.1,-9.6,594,5416,0.00,2.65,0.00,0.000,6,0.000,0.170,2382,2123,3371,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5717,-1.28,-146.6,577.0,-8.8,625,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2123,3371,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5971,begin apogee
$GC,5983,-0.38,0.0,600.7,-9.2,651,6141,0.75,0.00,147.80,2.355,6,0.259,0.000,2593,2205,2772,0,0,0,0,0,0,14.74,28.83,12.99
$STATE,6142,end apogee,CONTROL_FINISHED_OK
$STATE,6142,begin climb
$GC,6148,1.52,146.6,605.3,0.0,656,6325,1.42,2.97,159.23,2.290,4,0.177,0.173,3008,3614,2173,0,0,0,0,0,0,13.78,13.59,12.93
$GC,6351,1.39,146.6,590.0,12.3,668,6361,0.12,2.72,0.00,0.000,6,0.293,0.121,2988,2204,2171,0,0,0,0,0,0,13.78,13.87,28.83
$GC,6662,1.32,146.6,553.8,11.4,699,6671,0.00,2.67,0.00,0.000,4,0.000,0.156,2997,792,2164,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6717,1.24,146.6,547.2,12.0,704,6726,0.15,2.70,0.00,0.000,6,0.272,0.151,2957,2202,2163,0,0,0,0,0,0,14.27,14.32,28.83
$GC,7027,1.24,148.9,514.9,9.9,735,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2202,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7344,1.26,160.5,484.7,9.5,766,7364,0.00,0.00,13.10,2.094,6,0.000,0.000,2957,2202,2118,0,0,0,0,0,0,28.83,28.83,13.75
$GC,7667,1.27,173.6,453.7,9.4,799,7688,0.00,2.72,14.68,2.091,4,0.000,0.158,2965,783,2064,0,0,1,0,0,0,28.83,14.35,13.71
$GC,7747,1.27,173.6,446.4,10.0,806,7754,0.00,2.72,0.00,0.000,6,0.000,0.151,2965,2211,2062,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8055,1.29,184.9,415.7,9.5,837,8074,0.00,2.83,12.68,2.046,4,0.000,0.172,2965,3612,2018,0,0,0,0,0,0,28.83,14.36,13.72
$GC,8103,1.29,184.9,411.0,10.2,841,8110,0.00,2.62,0.00,0.000,6,0.000,0.118,2975,2195,2018,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8411,1.29,184.9,377.2,11.2,872,8420,0.00,2.62,0.00,0.000,4,0.000,0.154,2985,784,2016,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8489,1.29,184.9,368.6,11.6,879,8497,0.12,2.70,0.00,0.000,6,0.293,0.151,2960,2205,2015,0,0,0,0,0,0,14.48,14.53,28.83
$GC,8798,1.30,192.4,338.0,9.7,910,8815,0.00,2.67,8.52,1.906,4,0.000,0.168,2959,3618,1989,0,0,0,0,0,0,28.83,14.49,13.85
$GC,8875,1.30,192.4,329.8,11.4,917,8883,0.00,2.60,0.00,0.000,6,0.000,0.116,2967,2197,1989,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9184,1.30,192.4,297.0,10.3,948,9192,0.00,2.60,0.00,0.000,4,0.000,0.152,2977,784,1987,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9268,1.30,192.4,287.7,11.0,956,9277,0.00,2.62,0.00,0.000,6,0.000,0.151,2978,2197,1987,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9578,1.30,192.4,253.7,11.3,987,9588,0.00,2.70,0.00,0.000,4,0.000,0.171,2978,3615,1986,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9624,1.26,192.4,248.2,12.2,991,9633,0.10,2.55,0.00,0.000,6,0.287,0.116,2961,2195,1986,0,0,0,0,0,0,14.58,14.66,28.83
$GC,9934,1.26,192.4,215.3,10.1,1022,9943,0.00,2.55,0.00,0.000,4,0.000,0.152,2969,793,1986,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10019,1.26,192.4,206.4,10.5,1030,10028,0.00,2.60,0.00,0.000,6,0.000,0.149,2969,2199,1985,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10329,1.26,192.4,172.8,11.1,1061,10338,0.00,2.67,0.00,0.000,4,0.000,0.171,2969,3613,1986,0,0,0,0,0,0,28.83,14.68,28.83
$GC,10364,1.26,192.4,168.7,11.3,1064,10373,0.08,2.53,0.00,0.000,6,0.286,0.115,2960,2196,1986,0,0,0,0,0,0,14.63,14.70,28.83
$GC,10675,1.31,200.5,137.5,9.6,1095,10692,0.00,2.62,9.40,1.773,4,0.000,0.153,2968,780,1955,0,0,0,0,0,0,28.83,14.62,14.03
$GC,10768,1.31,205.7,128.2,9.8,1104,10778,0.00,2.62,3.40,1.271,6,0.000,0.149,2968,2201,1933,0,0,0,0,0,0,28.83,14.62,13.95
$GC,11078,1.31,205.7,97.2,10.6,1137,11086,0.00,2.72,0.00,0.000,4,0.000,0.172,2968,3613,1933,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11112,1.31,205.7,93.4,11.8,1142,11119,0.00,2.55,0.00,0.000,6,0.000,0.116,2977,2199,1933,0,0,0,0,0,0,28.83,14.68,28.83
$GC,11429,1.33,221.7,61.6,9.3,1203,11449,0.00,2.65,9.07,0.380,4,0.000,0.151,2987,788,1868,0,0,0,0,0,0,28.83,14.64,14.55
$GC,11530,1.37,248.6,52.5,8.8,1221,11556,0.00,2.65,15.18,0.348,6,0.000,0.153,2987,2202,1757,0,0,0,0,0,0,28.83,14.65,14.54
$GC,11870,1.52,310.1,23.3,7.2,1285,11909,0.10,2.80,32.65,0.249,4,0.184,0.174,3025,3615,1505,0,0,0,0,0,0,14.71,14.58,14.56
$GC,12029,1.68,355.6,10.7,7.9,1313,12061,0.00,2.58,23.62,0.213,6,0.000,0.118,3034,2197,1320,0,0,0,0,0,0,28.83,14.65,14.57
$STATE,12116,end climb,SURFACE_DEPTH_REACHED
$STATE,12116,begin surface coast
$FINISH,1.2,1.024439
$STATE,12162,end surface coast,CONTROL_FINISHED_OK
$STATE,12162,begin surface
$SM_CCo,12249,0.00,0.000,0,0,1310,358.63
$SM_GC,2.09,8.55,0.15,0.00,0.103,0.177,0.000,140,2118,1310,-11.61,0.54,358.63,0,0,0,0,0,0,14.65,14.62,28.83
$RAFOS_CLK,516
$RAFOS,6,1347180548,8.833333,8.818889,97,67,63,62,58,50,591,197,219,145,179,120
$RAFOS,5,1347180063,8.700000,8.684167,111,64,57,52,51,50,701,196,208,158,1286,224
$RAFOS,4,1347179586,8.566667,8.551666,137,61,56,55,53,52,528,200,112,142,177,220
$RAFOS,2,1347178625,8.300000,8.284722,65,61,60,57,54,54,209,661,177,221,148,164
$RAFOS_FIX,6656.632324,-5859.274414,090912,080812,4,120,21.17
$IRIDIUM_FIX,6625.71,-5849.02,090912,050539
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.18
$INTERNAL_PRESSURE,8.72327
$TCM_TEMP,13.40
$XPDR_PINGS,5
$24V_AH,12.9,6.693
$10V_AH,13.1,0.000
$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,22.675,106.750,449.325,0.000,0.000,0.000,0.000,214.800,1.250,0.000,42.204,3318.597,5767.309,612.754,2372.820,602.776,0.000,2004.353,0.000,2136.114,1080.000,0.539,0.000
$DEVICE_MAMPS,455.175,215.730,2354.670,0.000,0.000,0.000,0.000,149.940,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.685,937.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188808
$DATA_FILE_SIZE,63327,1337
$CAP_FILE_SIZE,134463,0
$CFSIZE,259252224,250007552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1460.4
$CURRENT,0.115, 42.9,1
$GPS,090912,115404,6653.543,-5843.490,27,0.8,27,-33.7