version: 66.11
glider: 193
mission: 2
dive: 27
start: 9 13 112 5 1 12
data:
$ID,193
$MISSION,2
$DIVE,27
$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,310
$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,-784.36194
$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,18
$R_STBD_OVSHOOT,13
$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
$GPS1,130912,045322,6700.467,-5708.107,35,0.8,35,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-67.8
$GPS2,130912,050033,6700.489,-5708.151,5,1.1,5,-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,84.5,15277,-17.3,-8.919,-19.96
$D_GRID,730
$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,-136.9,0.0,0.0,0,92,0.00,0.00,-70.85,0.000,2,0.000,0.000,113,2112,2690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.50,-136.9,3.1,-2.4,12,137,11.20,2.80,-18.05,0.000,4,0.461,0.189,2341,3539,3331,0,0,0,0,0,0,14.37,14.46,14.72
$GC,371,-1.50,-136.9,47.9,-14.5,63,378,0.00,2.58,0.00,0.000,6,0.000,0.109,2340,2113,3333,0,0,0,0,0,0,28.83,14.58,28.83
$GC,689,-1.50,-136.9,92.8,-13.7,124,695,0.00,2.75,0.00,0.000,4,0.000,0.168,2330,3530,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,789,-1.50,-136.9,106.2,-13.6,138,796,0.10,2.53,0.00,0.000,6,0.317,0.108,2348,2120,3334,0,0,0,0,0,0,14.57,14.66,28.83
$GC,1097,-1.50,-136.9,147.5,-13.8,169,1107,0.00,2.67,0.00,0.000,4,0.000,0.164,2340,3524,3334,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1126,-1.50,-136.9,151.2,-14.5,171,1132,0.00,2.50,0.00,0.000,6,0.000,0.105,2340,2119,3333,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1434,-1.50,-136.9,193.0,-12.8,202,1442,0.00,2.67,0.00,0.000,4,0.000,0.161,2330,3533,3333,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1471,-1.50,-136.9,197.4,-12.8,205,1479,0.10,2.50,0.00,0.000,6,0.321,0.103,2348,2119,3332,0,0,0,0,0,0,14.64,14.73,28.83
$GC,1780,-1.50,-136.9,236.6,-12.3,236,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2119,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2096,-1.50,-136.9,274.4,-11.7,267,2105,0.00,2.55,0.00,0.000,4,0.000,0.142,2349,704,3331,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2181,-1.50,-136.9,285.3,-11.9,275,2189,0.00,2.60,0.00,0.000,6,0.000,0.148,2341,2118,3331,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2491,-1.50,-136.9,320.6,-11.1,306,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2807,-1.50,-136.9,354.4,-10.5,337,2817,0.00,2.62,0.00,0.000,4,0.000,0.159,2330,3530,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2835,-1.50,-136.9,357.8,-10.4,339,2842,0.10,2.50,0.00,0.000,6,0.321,0.106,2348,2115,3330,0,0,0,0,0,0,14.70,14.79,28.83
$GC,3143,-1.50,-136.9,391.4,-10.7,370,3152,0.00,2.53,0.00,0.000,4,0.000,0.142,2349,712,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3181,-1.50,-136.9,395.4,-11.1,373,3189,0.00,2.60,0.00,0.000,6,0.000,0.148,2341,2122,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3499,-1.50,-136.9,430.2,-10.6,387,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3800,-1.50,-136.9,462.2,-10.6,397,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4099,-1.50,-136.9,494.6,-11.0,407,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4399,-1.50,-136.9,527.5,-11.1,417,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4699,-1.50,-136.9,561.7,-11.7,427,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4999,-1.50,-136.9,595.4,-11.0,437,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5299,-1.50,-136.9,626.4,-10.3,447,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5599,-1.50,-136.9,658.2,-10.6,457,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5899,-1.50,-136.9,690.1,-10.5,467,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6199,-1.50,-136.9,720.9,-10.2,477,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6314,begin apogee
$GC,6326,-0.38,0.0,732.6,-9.7,481,6475,0.90,0.00,138.73,2.456,6,0.266,0.000,2593,2208,2772,0,0,0,0,0,0,14.83,28.83,13.07
$STATE,6476,end apogee,CONTROL_FINISHED_OK
$STATE,6476,begin climb
$GC,6481,1.50,136.9,736.4,0.0,486,6647,1.38,2.90,150.68,2.426,4,0.169,0.148,3012,784,2213,0,0,0,0,0,0,13.85,13.58,12.89
$GC,6736,1.50,136.9,717.6,10.8,494,6743,0.00,2.78,0.00,0.000,6,0.000,0.145,3012,2198,2206,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7043,1.50,136.9,676.3,12.5,505,7048,0.00,2.75,0.00,0.000,4,0.000,0.163,3012,3610,2203,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7077,1.50,136.9,672.2,12.7,506,7082,0.00,2.60,0.00,0.000,6,0.000,0.113,3022,2200,2203,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7404,1.50,136.9,629.0,13.4,517,7410,0.00,2.62,0.00,0.000,4,0.000,0.149,3033,790,2201,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7429,1.50,136.9,629.0,13.4,517,7438,0.12,2.65,0.00,0.000,6,0.311,0.138,3008,2205,2200,0,0,0,0,0,0,14.42,14.49,28.83
$GC,7736,1.50,136.9,587.3,12.3,528,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2205,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8037,1.50,136.9,551.3,12.0,538,8042,0.00,2.65,0.00,0.000,4,0.000,0.155,3007,3615,2200,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8076,1.50,136.9,547.3,12.0,539,8082,0.00,2.55,0.00,0.000,6,0.000,0.109,3017,2193,2201,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8399,1.50,136.9,506.5,12.2,550,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2193,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,1.50,136.9,470.8,12.2,560,8704,0.00,2.53,0.00,0.000,4,0.000,0.145,3027,792,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8738,1.50,136.9,466.9,12.1,561,8743,0.00,2.55,0.00,0.000,6,0.000,0.135,3027,2203,2198,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9060,1.50,136.9,426.3,12.4,572,9062,0.10,0.00,0.00,0.000,6,0.326,0.000,3009,2203,2198,0,0,0,0,0,0,14.69,28.83,28.83
$GC,9362,1.50,136.9,391.3,11.3,586,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2203,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9674,1.50,136.9,354.8,11.9,617,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2203,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9987,1.50,136.9,317.1,12.3,648,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2203,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10299,1.50,136.9,279.1,12.0,679,10308,0.00,2.60,0.00,0.000,4,0.000,0.155,3008,3609,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10347,1.50,136.9,272.7,12.6,683,10354,0.00,2.53,0.00,0.000,6,0.000,0.111,3018,2193,2199,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10655,1.50,136.9,234.7,11.8,714,10664,0.00,2.55,0.00,0.000,4,0.000,0.145,3028,785,2197,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10693,1.50,136.9,230.5,12.1,717,10701,0.10,2.58,0.00,0.000,6,0.320,0.136,3009,2204,2197,0,0,0,0,0,0,14.73,14.79,28.83
$GC,11002,1.50,136.9,196.6,10.6,748,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2204,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11312,1.50,136.9,163.5,10.9,779,11321,0.00,2.60,0.00,0.000,4,0.000,0.154,3009,3609,2197,0,0,0,0,0,0,28.83,14.77,28.83
$GC,11416,1.50,136.9,151.6,11.4,789,11426,0.00,2.50,0.00,0.000,6,0.000,0.108,3018,2194,2198,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11727,1.50,136.9,119.9,10.6,820,11735,0.00,2.53,0.00,0.000,4,0.000,0.141,3029,787,2197,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11824,1.50,136.9,109.9,10.2,829,11832,0.10,2.55,0.00,0.000,6,0.320,0.132,3009,2202,2197,0,0,0,0,0,0,14.73,14.79,28.83
$GC,12139,1.50,136.9,79.9,9.2,881,12146,0.00,2.62,0.00,0.000,4,0.000,0.151,3009,3618,2197,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12182,1.50,136.9,75.5,10.1,888,12189,0.00,2.53,0.00,0.000,6,0.000,0.107,3018,2195,2198,0,0,0,0,0,0,28.83,14.80,28.83
$GC,12499,1.52,153.3,49.2,8.2,949,12512,0.00,0.00,6.95,0.359,6,0.000,0.000,3018,2195,2146,0,0,0,0,0,0,28.83,28.83,14.66
$GC,12827,1.68,286.8,28.1,3.1,1011,12905,0.10,0.00,71.40,0.256,6,0.182,0.000,3055,2195,1600,0,0,0,0,0,0,14.78,28.83,14.59
$STATE,13106,end climb,SURFACE_DEPTH_REACHED
$STATE,13106,begin surface coast
$FINISH,1.3,1.012524
$STATE,13142,end surface coast,CONTROL_FINISHED_OK
$STATE,13142,begin surface
$SM_CCo,13170,9.65,0.188,0,0,1505,310.06
$SM_GC,2.39,8.40,0.15,9.65,0.085,0.165,0.188,137,2117,1505,-11.61,0.48,310.06,0,0,0,0,0,0,14.71,14.69,14.64
$RAFOS_CLK,561
$RAFOS,4,1347525183,8.566667,8.550834,58,52,52,51,48,48,196,167,221,126,149,177
$RAFOS,3,1347524701,8.433333,8.416945,80,68,64,58,57,54,973,221,188,167,138,203
$RAFOS,2,1347524221,8.300000,8.283611,80,61,61,54,53,52,942,207,178,187,220,229
$RAFOS,1,1347523749,8.166667,8.152500,69,54,54,54,52,52,940,134,146,117,203,224
$RAFOS,0,1347523269,8.033334,8.019167,58,56,54,53,53,48,208,185,131,141,218,56
$RAFOS,6,1347511742,4.833333,4.817222,67,58,56,53,52,48,148,203,164,174,134,116
$RAFOS_FIX,6708.403809,-5746.270996,130912,080812,3,76,2.61
$IRIDIUM_FIX,6631.12,-5713.57,130912,010136
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.24
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,13.90
$XPDR_PINGS,6
$24V_AH,12.9,13.030
$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,22.700,88.875,367.750,9.650,0.000,0.000,0.000,271.525,1.500,0.000,5.928,2709.050,7841.012,522.466,1980.458,572.362,0.000,1773.639,0.000,1750.586,1800.000,0.539,0.000
$DEVICE_MAMPS,461.295,198.900,2455.650,188.190,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.008,747.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188776
$DATA_FILE_SIZE,49961,1069
$CAP_FILE_SIZE,115964,0
$CFSIZE,259252224,248614912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1462.3
$CURRENT,0.147,130.5,1
$GPS,130912,084251,6700.872,-5702.579,40,1.2,43,-33.5