version: 66.11
glider: 193
mission: 2
dive: 28
start: 9 13 112 8 50 5
data:
$ID,193
$MISSION,2
$DIVE,28
$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,-785.61646
$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,17
$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
$GPS1,130912,084251,6700.872,-5702.579,40,1.2,43,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-67.5
$GPS2,130912,084926,6700.905,-5702.449,5,1.0,5,-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,71.6,11132,-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,-136.9,0.0,0.0,0,86,0.00,0.00,-64.60,0.000,2,0.000,0.000,128,2116,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-1.50,-136.9,3.1,-2.6,11,130,11.07,2.83,-16.45,0.000,4,0.461,0.189,2339,3531,3332,0,0,0,0,0,0,14.38,14.47,14.74
$GC,366,-1.50,-136.9,52.6,-14.9,62,372,0.00,2.55,0.00,0.000,6,0.000,0.112,2339,2121,3333,0,0,0,0,0,0,28.83,14.60,28.83
$GC,681,-1.50,-136.9,94.9,-13.1,123,688,0.00,2.72,0.00,0.000,4,0.000,0.167,2329,3534,3334,0,0,0,0,0,0,28.83,14.61,28.83
$GC,732,-1.50,-136.9,101.2,-13.5,131,739,0.12,2.55,0.00,0.000,6,0.308,0.107,2353,2108,3334,0,0,0,0,0,0,14.57,14.66,28.83
$GC,1040,-1.50,-136.9,140.0,-11.8,162,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2108,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1356,-1.50,-136.9,177.5,-12.2,193,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2108,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1668,-1.50,-136.9,213.7,-11.6,224,1677,0.00,2.70,0.00,0.000,4,0.000,0.165,2344,3532,3334,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1755,-1.50,-136.9,224.2,-11.5,232,1762,0.00,2.53,0.00,0.000,6,0.000,0.109,2345,2112,3334,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2062,-1.50,-136.9,256.7,-10.2,263,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2112,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,-1.50,-136.9,288.3,-10.3,294,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2112,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-1.50,-136.9,321.0,-10.5,325,2700,0.00,2.67,0.00,0.000,4,0.000,0.163,2334,3534,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2729,-1.50,-136.9,325.4,-10.9,328,2735,0.00,2.50,0.00,0.000,6,0.000,0.107,2334,2120,3332,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3036,-1.50,-136.9,358.1,-10.7,359,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3353,-1.50,-136.9,391.0,-10.5,390,3361,0.00,2.53,0.00,0.000,4,0.000,0.143,2334,716,3332,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3390,-1.50,-136.9,395.6,-11.1,393,3398,0.12,2.60,0.00,0.000,6,0.319,0.147,2350,2129,3332,0,0,0,0,0,0,14.73,14.78,28.83
$GC,3700,-1.50,-136.9,427.1,-9.9,406,3705,0.00,2.60,0.00,0.000,4,0.000,0.158,2341,3525,3332,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3739,-1.50,-136.9,430.4,-10.1,407,3745,0.00,2.45,0.00,0.000,6,0.000,0.103,2341,2120,3332,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4062,-1.50,-136.9,465.1,-10.7,418,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4361,-1.50,-136.9,496.8,-10.5,428,4367,0.00,2.62,0.00,0.000,4,0.000,0.162,2331,3528,3332,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4385,-1.50,-136.9,496.8,-10.5,428,4393,0.10,2.47,0.00,0.000,6,0.314,0.103,2350,2117,3332,0,0,0,0,0,0,14.77,14.86,28.83
$GC,4693,-1.50,-136.9,530.7,-9.9,439,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2117,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4992,-1.50,-136.9,561.2,-10.2,449,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2117,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5292,-1.50,-136.9,592.2,-10.4,459,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2117,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5592,-1.50,-136.9,623.2,-10.2,469,5598,0.00,2.50,0.00,0.000,4,0.000,0.143,2350,716,3332,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5627,-1.50,-136.9,626.7,-10.3,470,5632,0.00,2.58,0.00,0.000,6,0.000,0.152,2343,2117,3331,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5954,-1.50,-136.9,661.2,-10.1,481,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6254,-1.50,-136.9,691.5,-10.1,491,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2117,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6309,begin apogee
$GC,6321,-0.38,0.0,697.4,-9.9,493,6469,0.88,0.00,138.52,2.420,6,0.263,0.000,2590,2204,2771,0,0,0,0,0,0,14.82,28.83,13.09
$STATE,6470,end apogee,CONTROL_FINISHED_OK
$STATE,6470,begin climb
$GC,6476,1.50,136.9,701.5,0.0,498,6630,1.40,0.00,149.43,2.375,6,0.167,0.000,3006,2204,2213,0,0,0,0,0,0,13.86,28.83,12.93
$GC,6916,1.50,136.9,656.7,12.3,513,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2204,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7211,1.50,136.9,619.5,12.4,523,7216,0.00,2.65,0.00,0.000,4,0.000,0.145,3017,793,2203,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7245,1.50,136.9,615.5,12.4,524,7250,0.00,2.62,0.00,0.000,6,0.000,0.142,3016,2197,2202,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7572,1.50,136.9,572.8,13.0,535,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7872,1.50,136.9,533.8,13.0,545,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,1.50,136.9,495.3,12.8,555,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2196,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,1.50,136.9,456.3,13.2,565,8478,0.00,2.65,0.00,0.000,4,0.000,0.155,3017,3614,2200,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8504,1.50,136.9,452.0,13.2,566,8510,0.08,2.50,0.00,0.000,6,0.295,0.112,3007,2205,2201,0,0,0,0,0,0,14.64,14.73,28.83
$GC,8836,1.50,136.9,410.8,12.2,577,8842,0.00,2.55,0.00,0.000,4,0.000,0.145,3017,795,2200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8868,1.50,136.9,406.8,12.4,578,8874,0.00,2.55,0.00,0.000,6,0.000,0.135,3017,2202,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9179,1.50,136.9,367.0,12.8,605,9189,0.00,2.60,0.00,0.000,4,0.000,0.152,3016,3612,2200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9217,1.50,136.9,362.2,13.5,608,9224,0.00,2.53,0.00,0.000,6,0.000,0.108,3027,2193,2200,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9524,1.50,136.9,320.4,12.9,639,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9842,1.50,136.9,280.5,12.5,670,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10153,1.50,136.9,240.9,12.6,701,10162,0.00,2.50,0.00,0.000,4,0.000,0.141,3037,794,2199,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10191,1.50,136.9,235.8,12.4,704,10198,0.15,2.55,0.00,0.000,6,0.294,0.133,3004,2204,2198,0,0,0,0,0,0,14.73,14.79,28.83
$GC,10499,1.50,136.9,200.8,11.4,735,10508,0.00,2.58,0.00,0.000,4,0.000,0.151,3003,3609,2199,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10536,1.50,136.9,196.8,11.4,738,10543,0.00,2.50,0.00,0.000,6,0.000,0.107,3012,2198,2199,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10844,1.50,136.9,161.6,11.6,769,10854,0.00,2.53,0.00,0.000,4,0.000,0.140,3023,792,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10929,1.50,136.9,152.3,10.7,777,10939,0.00,2.53,0.00,0.000,6,0.000,0.132,3023,2197,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11240,1.50,137.3,121.7,8.9,808,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11554,1.50,137.3,92.9,9.3,846,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11870,1.50,137.3,63.2,9.8,907,11877,0.00,2.58,0.00,0.000,4,0.000,0.143,3033,786,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11913,1.50,137.3,58.9,9.5,914,11921,0.12,2.58,0.00,0.000,6,0.298,0.137,3006,2206,2197,0,0,0,0,0,0,14.73,14.78,28.83
$GC,12235,1.52,156.5,34.3,8.1,975,12254,0.00,2.67,8.73,0.303,4,0.000,0.155,3006,3611,2133,0,0,0,0,0,0,28.83,14.73,14.70
$GC,12335,1.62,233.4,27.7,5.6,992,12384,0.00,2.50,41.62,0.258,6,0.000,0.105,3015,2196,1818,0,0,0,0,0,0,28.83,14.78,14.64
$STATE,12688,end climb,SURFACE_DEPTH_REACHED
$STATE,12688,begin surface coast
$FINISH,1.4,1.025253
$STATE,12720,end surface coast,CONTROL_FINISHED_OK
$STATE,12720,begin surface
$SM_CCo,12748,38.20,0.175,0,0,1507,310.06
$SM_GC,2.46,8.40,0.15,38.20,0.099,0.162,0.175,136,2112,1507,-11.62,0.48,310.06,0,0,0,0,0,0,14.74,14.73,14.65
$RAFOS_CLK,531
$RAFOS,1,1347538146,12.166667,12.151667,63,55,55,54,54,48,219,193,177,232,969,145
$RAFOS,0,1347537669,12.033333,12.019167,61,60,58,57,56,50,204,149,172,214,188,132
$RAFOS_FIX,6708.403809,-5746.270996,130912,080812,3,76,2.61
$IRIDIUM_FIX,6631.12,-5656.72,130912,040410
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.12
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,13.90
$XPDR_PINGS,5
$24V_AH,12.9,13.301
$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,22.450,87.875,338.300,38.200,0.000,0.000,0.000,237.225,1.250,0.000,5.833,2683.519,7489.375,536.284,1893.209,579.309,0.000,1713.700,0.000,1703.374,1080.000,0.538,0.000
$DEVICE_MAMPS,460.530,200.430,2419.695,175.185,0.000,0.000,0.000,151.470,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.427,743.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188772
$DATA_FILE_SIZE,50126,1065
$CAP_FILE_SIZE,112546,0
$CFSIZE,259252224,248553472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.6
$CURRENT,0.045,329.9,1
$GPS,130912,122458,6702.447,-5659.895,46,0.8,47,-33.5