version: 66.11
glider: 193
mission: 2
dive: 31
start: 9 13 112 19 17 50
data:
$ID,193
$MISSION,2
$DIVE,31
$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,-789.57574
$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,15
$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
$GPS1,130912,191034,6701.783,-5653.819,39,1.4,39,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-64.8
$GPS2,130912,191707,6701.765,-5653.892,5,1.4,5,-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,66.2,4831,-17.3,-8.919,-19.96
$D_GRID,608
$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,-136.9,0.0,0.0,0,85,0.00,0.00,-63.97,0.000,2,0.000,0.000,128,2121,2732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.50,-136.9,3.3,-3.7,11,124,10.82,2.80,-14.93,0.000,4,0.451,0.183,2338,3530,3331,0,0,0,0,0,0,14.42,14.52,14.76
$GC,226,-1.50,-136.9,31.5,-23.7,34,233,0.00,2.55,0.00,0.000,6,0.000,0.106,2337,2114,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,543,-1.50,-136.9,77.9,-12.7,95,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2115,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,859,-1.50,-136.9,118.3,-12.5,143,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2114,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-1.50,-136.9,156.4,-12.3,174,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2115,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1487,-1.50,-136.9,195.2,-12.2,205,1497,0.00,2.53,0.00,0.000,4,0.000,0.143,2337,715,3334,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1526,-1.50,-136.9,200.3,-12.3,208,1533,0.12,2.60,0.00,0.000,6,0.311,0.149,2354,2121,3333,0,0,0,0,0,0,14.69,14.73,28.83
$GC,1834,-1.50,-136.9,235.6,-10.9,239,1843,0.00,2.65,0.00,0.000,4,0.000,0.163,2345,3533,3333,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1921,-1.50,-136.9,244.9,-11.1,247,1929,0.00,2.50,0.00,0.000,6,0.000,0.108,2344,2115,3333,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2230,-1.50,-136.9,278.6,-10.7,278,2239,0.00,2.55,0.00,0.000,4,0.000,0.143,2345,704,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2265,-1.50,-136.9,282.6,-11.4,281,2275,0.00,2.60,0.00,0.000,6,0.000,0.145,2336,2126,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2575,-1.50,-136.9,318.2,-11.6,312,2584,0.00,2.60,0.00,0.000,4,0.000,0.156,2325,3530,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2614,-1.50,-136.9,322.4,-11.7,315,2621,0.12,2.50,0.00,0.000,6,0.306,0.102,2351,2106,3331,0,0,0,0,0,0,14.72,14.81,28.83
$GC,2923,-1.50,-136.9,355.4,-10.5,346,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2107,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,-1.50,-136.9,387.9,-10.3,377,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2107,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3542,-1.50,-136.9,419.0,-10.0,396,3548,0.00,2.50,0.00,0.000,4,0.000,0.138,2351,709,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3587,-1.50,-136.9,422.2,-10.1,397,3592,0.00,2.55,0.00,0.000,6,0.000,0.142,2344,2121,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3904,-1.50,-136.9,454.5,-9.5,408,3910,0.00,2.60,0.00,0.000,4,0.000,0.155,2334,3531,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3935,-1.50,-136.9,457.9,-9.7,409,3941,0.00,2.45,0.00,0.000,6,0.000,0.101,2333,2119,3332,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4267,-1.50,-136.9,492.3,-10.3,420,4272,0.00,2.62,0.00,0.000,4,0.000,0.155,2323,3525,3332,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4311,-1.50,-136.9,495.6,-10.3,421,4317,0.10,2.42,0.00,0.000,6,0.281,0.100,2350,2123,3331,0,0,0,0,0,0,14.76,14.85,28.83
$GC,4628,-1.50,-136.9,528.0,-9.8,432,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2123,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4930,-1.50,-136.9,557.0,-9.6,442,4936,0.00,2.53,0.00,0.000,4,0.000,0.138,2350,705,3332,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4964,-1.50,-136.9,560.5,-9.9,443,4970,0.00,2.55,0.00,0.000,6,0.000,0.141,2344,2116,3332,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5292,-1.50,-136.9,589.6,-7.4,454,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2116,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5499,end dive,NO_VERTICAL_VELOCITY
$STATE,5499,begin apogee
$GC,5512,-0.38,0.0,589.7,0.0,461,5657,0.80,0.00,135.70,2.259,6,0.188,0.000,2594,2204,2771,0,0,0,0,0,0,14.85,28.83,13.18
$STATE,5658,end apogee,CONTROL_FINISHED_OK
$STATE,5658,begin climb
$GC,5664,1.50,136.9,589.6,0.0,466,5823,1.35,2.85,145.18,2.219,4,0.154,0.143,3005,3617,2214,0,0,0,0,0,0,13.92,13.67,13.02
$GC,5922,1.50,136.9,565.1,12.3,474,5927,0.00,2.62,0.00,0.000,6,0.000,0.103,3016,2200,2209,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6249,1.50,136.9,522.5,12.9,485,6255,0.00,2.60,0.00,0.000,4,0.000,0.137,3027,791,2205,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6290,1.50,136.9,518.5,13.0,486,6295,0.00,2.58,0.00,0.000,6,0.000,0.126,3027,2198,2203,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6611,1.50,136.9,474.5,13.4,497,6616,0.00,2.62,0.00,0.000,4,0.000,0.145,3027,3610,2203,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6672,1.50,136.9,465.8,13.8,499,6678,0.10,2.53,0.00,0.000,6,0.275,0.103,3010,2193,2203,0,0,0,0,0,0,14.51,14.59,28.83
$GC,7004,1.50,136.9,423.0,12.9,510,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2192,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,1.50,136.9,384.4,12.7,528,7313,0.00,2.53,0.00,0.000,4,0.000,0.137,3020,789,2202,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7332,1.50,136.9,381.2,12.6,530,7339,0.00,2.55,0.00,0.000,6,0.000,0.126,3020,2201,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7640,1.50,136.9,339.7,12.9,561,7648,0.00,2.62,0.00,0.000,4,0.000,0.148,3020,3617,2201,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7677,1.50,136.9,334.8,14.1,564,7685,0.12,2.53,0.00,0.000,6,0.308,0.104,3004,2196,2201,0,0,0,0,0,0,14.66,14.75,28.83
$GC,7985,1.50,136.9,296.8,11.8,595,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2196,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8300,1.50,136.9,261.5,11.4,626,8309,0.00,2.53,0.00,0.000,4,0.000,0.138,3013,794,2201,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8375,1.50,136.9,252.5,11.7,633,8383,0.00,2.50,0.00,0.000,6,0.000,0.127,3013,2200,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8685,1.50,136.9,217.1,11.2,664,8694,0.00,2.60,0.00,0.000,4,0.000,0.148,3013,3618,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8750,1.50,136.9,209.5,12.3,670,8759,0.00,2.50,0.00,0.000,6,0.000,0.103,3024,2193,2200,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9060,1.50,136.9,174.5,11.1,701,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2193,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9375,1.50,136.9,139.6,11.2,732,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2193,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9686,1.50,136.9,107.8,9.6,763,9696,0.00,2.50,0.00,0.000,4,0.000,0.138,3034,791,2200,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9734,1.50,136.9,102.8,10.1,767,9742,0.12,2.55,0.00,0.000,6,0.299,0.131,3007,2208,2199,0,0,0,0,0,0,14.76,14.81,28.83
$GC,10048,1.54,173.2,76.9,7.3,826,10073,0.00,2.60,18.40,0.413,4,0.000,0.147,3007,3612,2064,0,0,0,0,0,0,28.83,14.74,14.64
$GC,10104,1.54,173.2,71.8,9.6,835,10111,0.00,2.50,0.00,0.000,6,0.000,0.106,3016,2199,2063,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10423,1.54,173.2,41.7,10.0,896,10429,0.00,2.55,0.00,0.000,4,0.000,0.139,3027,786,2059,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10515,1.58,203.5,34.7,7.6,913,10540,0.00,2.58,15.75,0.291,6,0.000,0.133,3027,2208,1941,0,0,0,0,0,0,28.83,14.76,14.66
$GC,10855,1.66,266.2,14.5,6.2,977,10898,0.00,2.65,32.85,0.219,4,0.000,0.153,3027,3619,1684,0,0,0,0,0,0,28.83,14.69,14.67
$GC,10924,1.66,266.2,8.6,9.8,988,10931,0.00,2.53,0.00,0.000,6,0.000,0.105,3036,2200,1680,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,10971,end climb,SURFACE_DEPTH_REACHED
$STATE,10971,begin surface coast
$FINISH,1.3,1.025143
$STATE,10998,end surface coast,CONTROL_FINISHED_OK
$STATE,10998,begin surface
$SM_CCo,11025,21.00,0.179,0,0,1505,310.06
$SM_GC,1.77,8.25,0.15,21.00,0.079,0.161,0.179,140,2117,1505,-11.60,0.62,310.06,0,0,0,0,0,0,14.74,14.73,14.67
$RAFOS_CLK,447
$RAFOS,6,1347569366,20.833334,20.823889,54,52,52,50,50,49,138,152,193,398,1220,169
$RAFOS,5,1347568886,20.700001,20.690556,65,56,55,53,52,52,214,157,118,224,181,532
$RAFOS,4,1347568403,20.566668,20.556389,62,62,61,61,58,58,226,750,134,198,179,152
$RAFOS,3,1347567921,20.433332,20.422501,71,56,54,54,54,52,196,206,118,177,223,165
$RAFOS,2,1347567422,20.299999,20.283890,56,56,53,53,52,49,169,216,144,975,128,182
$RAFOS,1,1347566947,20.166666,20.151945,60,58,57,55,54,49,212,149,183,126,170,137
$RAFOS,0,1347566464,20.033333,20.017778,71,58,56,55,55,53,208,192,154,112,169,130
$RAFOS_FIX,6647.217773,-5733.397949,130912,161641,3,84,15.06
$IRIDIUM_FIX,6631.12,-5701.34,130912,151524
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.57
$INTERNAL_PRESSURE,8.79163
$TCM_TEMP,14.00
$XPDR_PINGS,7
$24V_AH,13.0,14.075
$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,21.925,103.025,347.875,21.000,0.000,0.000,0.000,243.425,1.750,0.000,5.951,2523.281,5977.851,499.085,1905.592,541.900,0.000,1710.333,0.000,1698.426,2520.000,0.539,0.000
$DEVICE_MAMPS,451.350,189.720,2259.045,179.010,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.984,686.516,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46856,1002
$CAP_FILE_SIZE,111474,0
$CFSIZE,259252224,248369152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.0
$CURRENT,0.029,253.9,1
$GPS,130912,222334,6702.926,-5652.266,34,1.0,34,-33.5