version: 66.11
glider: 193
mission: 2
dive: 30
start: 9 13 112 15 56 15
data:
$ID,193
$MISSION,2
$DIVE,30
$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,-788.22479
$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
$GPS1,130912,154851,6702.008,-5657.285,47,0.7,47,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-64.3
$GPS2,130912,155532,6702.007,-5657.393,5,0.8,5,-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,100.6,7028,-17.3,-8.919,-19.96
$D_GRID,641
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,84,0.00,0.00,-63.42,0.000,2,0.000,0.000,121,2115,2739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.50,-136.9,3.6,-5.0,11,123,11.00,2.78,-13.75,0.000,4,0.456,0.186,2338,3538,3330,0,0,0,0,0,0,14.42,14.50,14.76
$GC,284,-1.50,-136.9,42.0,-15.3,46,292,0.00,2.55,0.00,0.000,6,0.000,0.106,2337,2115,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,602,-1.50,-136.9,86.4,-14.3,107,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2115,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,914,-1.50,-136.9,127.5,-13.2,147,922,0.00,2.55,0.00,0.000,4,0.000,0.142,2338,707,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,968,-1.50,-136.9,135.0,-13.9,152,977,0.08,2.60,0.00,0.000,6,0.290,0.146,2348,2120,3332,0,0,0,0,0,0,14.61,14.65,28.83
$GC,1279,-1.50,-136.9,175.4,-12.6,183,1288,0.00,2.62,0.00,0.000,4,0.000,0.158,2339,3528,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1304,-1.50,-136.9,178.8,-12.7,185,1313,0.00,2.47,0.00,0.000,6,0.000,0.106,2339,2123,3332,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1614,-1.50,-136.9,216.1,-11.5,216,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2123,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1923,-1.50,-136.9,250.8,-11.2,247,1932,0.00,2.55,0.00,0.000,4,0.000,0.142,2339,709,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2007,-1.50,-136.9,261.2,-12.3,255,2016,0.08,2.58,0.00,0.000,6,0.288,0.146,2349,2116,3331,0,0,0,0,0,0,14.68,14.73,28.83
$GC,2318,-1.50,-136.9,296.7,-11.2,286,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2632,-1.50,-136.9,330.7,-11.2,317,2642,0.00,2.62,0.00,0.000,4,0.000,0.158,2341,3529,3330,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2668,-1.50,-136.9,335.1,-11.0,320,2676,0.00,2.47,0.00,0.000,6,0.000,0.104,2341,2115,3330,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2977,-1.50,-136.9,369.3,-10.6,351,2986,0.00,2.53,0.00,0.000,4,0.000,0.139,2341,705,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3005,-1.50,-136.9,372.2,-11.2,353,3013,0.10,2.60,0.00,0.000,6,0.325,0.140,2350,2131,3330,0,0,0,0,0,0,14.72,14.78,28.83
$GC,3334,-1.50,-136.9,406.6,-9.9,382,3340,0.00,2.60,0.00,0.000,4,0.000,0.157,2342,3537,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3366,-1.50,-136.9,409.8,-9.9,383,3371,0.00,2.47,0.00,0.000,6,0.000,0.102,2342,2117,3330,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3697,-1.50,-136.9,443.4,-10.3,394,3703,0.00,2.50,0.00,0.000,4,0.000,0.137,2342,712,3329,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3737,-1.50,-136.9,446.8,-10.4,395,3742,0.00,2.55,0.00,0.000,6,0.000,0.141,2333,2120,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4059,-1.50,-136.9,482.1,-10.4,406,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2120,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4359,-1.50,-136.9,513.5,-10.5,416,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4659,-1.50,-136.9,544.8,-10.3,426,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4959,-1.50,-136.9,576.3,-10.6,436,4964,0.00,2.53,0.00,0.000,4,0.000,0.140,2332,709,3331,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4998,-1.50,-136.9,579.7,-10.7,437,5004,0.08,2.58,0.00,0.000,6,0.290,0.145,2345,2125,3331,0,0,0,0,0,0,14.80,14.85,28.83
$GC,5320,-1.50,-136.9,613.9,-10.5,448,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2125,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5620,-1.50,-136.9,628.1,0.0,458,5626,0.00,2.55,0.00,0.000,4,0.000,0.146,2346,714,3331,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,5706,end dive,NO_VERTICAL_VELOCITY
$STATE,5706,begin apogee
$GC,5722,-0.38,0.0,628.1,0.0,461,5869,0.77,0.00,135.88,2.314,6,0.176,0.000,2594,2205,2773,0,0,0,0,0,0,14.86,28.83,13.16
$STATE,5870,end apogee,CONTROL_FINISHED_OK
$STATE,5870,begin climb
$GC,5876,1.50,136.9,628.2,0.0,466,6036,1.35,2.92,144.98,2.271,4,0.164,0.155,3000,3611,2214,0,0,0,0,0,0,13.92,13.65,13.00
$GC,6106,1.50,136.9,607.4,11.7,474,6112,0.00,2.65,0.00,0.000,6,0.000,0.106,3011,2197,2210,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6438,1.50,136.9,565.8,12.3,485,6444,0.00,2.65,0.00,0.000,4,0.000,0.142,3022,783,2204,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6479,1.50,136.9,561.8,12.2,486,6484,0.00,2.62,0.00,0.000,6,0.000,0.130,3022,2205,2203,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6800,1.50,136.9,519.6,12.8,497,6805,0.00,2.65,0.00,0.000,4,0.000,0.149,3022,3612,2203,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6839,1.50,136.9,515.5,13.0,498,6845,0.08,2.53,0.00,0.000,6,0.278,0.105,3011,2199,2203,0,0,0,0,0,0,14.48,14.57,28.83
$GC,7161,1.50,136.9,473.7,12.7,509,7167,0.00,2.58,0.00,0.000,4,0.000,0.138,3021,782,2202,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7202,1.50,136.9,469.7,12.7,510,7208,0.00,2.55,0.00,0.000,6,0.000,0.127,3021,2200,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7524,1.50,136.9,427.1,12.7,521,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2199,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7824,1.50,136.9,388.0,13.0,537,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2199,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8139,1.50,136.9,348.5,12.8,568,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2199,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8450,1.50,136.9,309.3,12.1,599,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2199,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8763,1.50,136.9,271.0,12.3,630,8772,0.00,2.60,0.00,0.000,4,0.000,0.148,3021,3613,2201,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8788,1.50,136.9,267.2,12.2,632,8797,0.08,2.50,0.00,0.000,6,0.290,0.109,3011,2197,2201,0,0,0,0,0,0,14.71,14.79,28.83
$GC,9098,1.50,136.9,230.6,11.2,663,9107,0.00,2.53,0.00,0.000,4,0.000,0.142,3019,793,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9183,1.50,136.9,221.0,11.3,671,9192,0.00,2.53,0.00,0.000,6,0.000,0.131,3020,2196,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9493,1.50,136.9,186.4,11.1,702,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2196,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9808,1.50,136.9,152.0,10.8,733,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2196,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10121,1.50,136.9,119.0,10.1,764,10129,0.00,2.60,0.00,0.000,4,0.000,0.151,3020,3611,2200,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10139,1.50,136.9,117.2,10.3,765,10147,0.12,2.50,0.00,0.000,6,0.308,0.107,3003,2196,2200,0,0,0,0,0,0,14.76,14.83,28.83
$GC,10452,1.50,136.9,87.2,9.4,809,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2196,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10768,1.52,154.8,59.1,8.1,870,10782,0.00,2.62,7.88,0.370,4,0.000,0.141,3013,781,2140,0,0,0,0,0,0,28.83,14.78,14.69
$GC,10823,1.54,171.7,54.8,8.2,879,10838,0.00,2.58,9.23,0.342,6,0.000,0.133,3013,2206,2070,0,0,0,0,0,0,28.83,14.78,14.67
$GC,11154,1.64,252.6,28.0,5.4,941,11204,0.10,2.70,43.17,0.259,4,0.181,0.153,3050,3612,1740,0,0,0,0,0,0,14.81,14.68,14.64
$GC,11240,1.64,252.6,22.0,9.2,955,11248,0.10,2.53,0.00,0.000,6,0.303,0.106,3039,2196,1735,0,0,0,0,0,0,14.65,14.73,28.83
$STATE,11448,end climb,SURFACE_DEPTH_REACHED
$STATE,11448,begin surface coast
$FINISH,1.2,1.002634
$STATE,11484,end surface coast,CONTROL_FINISHED_OK
$STATE,11484,begin surface
$SM_CCo,11512,27.80,0.174,0,0,1506,310.06
$SM_GC,2.43,8.50,0.15,27.80,0.105,0.184,0.174,142,2123,1506,-11.59,0.62,310.06,0,0,0,0,0,0,14.75,14.73,14.67
$RAFOS_CLK,471
$RAFOS,6,1347554943,16.833334,16.817499,103,60,55,53,50,50,784,219,183,118,129,196
$RAFOS,5,1347554467,16.700001,16.685278,82,62,57,55,54,53,619,195,115,208,147,221
$RAFOS,4,1347553987,16.566668,16.551945,60,59,58,56,55,52,212,828,162,135,188,125
$RAFOS,3,1347553503,16.433332,16.417500,62,60,56,54,54,53,210,222,158,168,979,179
$RAFOS,2,1347553028,16.299999,16.285555,68,63,56,54,53,53,928,204,85,181,214,158
$RAFOS,1,1347552543,16.166666,16.150833,62,58,58,56,54,50,190,152,120,213,169,981
$RAFOS,0,1347552064,16.033333,16.017778,62,57,51,51,50,50,196,210,122,178,157,144
$RAFOS_FIX,6647.217773,-5733.397949,130912,161641,3,84,15.06
$IRIDIUM_FIX,6631.12,-5701.34,130912,121234
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.16
$INTERNAL_PRESSURE,8.79163
$TCM_TEMP,14.10
$XPDR_PINGS,5
$24V_AH,13.0,13.822
$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,22.425,98.475,341.125,27.800,0.000,0.000,0.000,252.875,1.250,0.000,6.039,2554.423,6469.357,489.621,1914.362,536.888,0.000,1702.257,0.000,1693.157,2520.000,0.539,0.000
$DEVICE_MAMPS,455.940,185.895,2314.125,174.420,0.000,0.000,0.000,147.645,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.377,691.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188688
$DATA_FILE_SIZE,46750,1002
$CAP_FILE_SIZE,112094,0
$CFSIZE,259252224,248430592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.3
$CURRENT,0.136,181.0,1
$GPS,130912,191034,6701.783,-5653.819,39,1.4,39,-33.5