version: 66.11
glider: 193
mission: 2
dive: 34
start: 9 14 112 4 14 44
data:
$ID,193
$MISSION,2
$DIVE,34
$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,-793.62024
$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,12
$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
$GPS1,140912,040722,6702.522,-5653.184,40,1.0,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-65.9
$GPS2,140912,041401,6702.486,-5653.239,5,1.0,5,-33.5
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,296.4,159369,-17.3,-8.919,-19.96
$D_GRID,600
$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,-65.25,0.000,2,0.000,0.000,129,2123,2753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-1.50,-136.9,3.2,-3.2,11,126,10.88,2.75,-14.52,0.000,4,0.453,0.184,2338,3538,3331,0,0,0,0,0,0,14.41,14.50,14.76
$GC,360,-1.50,-136.9,49.4,-13.3,61,367,0.00,2.55,0.00,0.000,6,0.000,0.107,2338,2116,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,679,-1.50,-136.9,92.2,-12.3,122,685,0.00,2.72,0.00,0.000,4,0.000,0.165,2328,3536,3333,0,0,0,0,0,0,28.83,14.63,28.83
$GC,779,-1.50,-136.9,104.9,-13.0,137,788,0.12,2.53,0.00,0.000,6,0.300,0.105,2353,2115,3333,0,0,0,0,0,0,14.60,14.69,28.83
$GC,1089,-1.50,-136.9,145.0,-13.5,168,1097,0.00,2.53,0.00,0.000,4,0.000,0.141,2353,713,3333,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1196,-1.50,-136.9,159.3,-13.5,178,1203,0.00,2.60,0.00,0.000,6,0.000,0.145,2345,2125,3333,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1504,-1.50,-136.9,198.0,-12.0,209,1514,0.00,2.62,0.00,0.000,4,0.000,0.156,2334,3529,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1570,-1.50,-136.9,206.0,-12.0,215,1578,0.00,2.47,0.00,0.000,6,0.000,0.104,2334,2112,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1880,-1.50,-136.9,243.6,-12.5,246,1888,0.00,2.65,0.00,0.000,4,0.000,0.158,2324,3531,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1934,-1.50,-136.9,250.4,-12.5,251,1943,0.10,2.45,0.00,0.000,6,0.283,0.102,2350,2128,3331,0,0,0,0,0,0,14.67,14.76,28.83
$GC,2245,-1.50,-136.9,285.6,-11.1,282,2253,0.00,2.55,0.00,0.000,4,0.000,0.138,2350,703,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2314,-1.50,-136.9,292.9,-11.7,288,2320,0.00,2.60,0.00,0.000,6,0.000,0.140,2343,2128,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2621,-1.50,-136.9,326.9,-10.7,319,2630,0.00,2.58,0.00,0.000,4,0.000,0.154,2332,3528,3331,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2669,-1.50,-136.9,331.8,-11.1,323,2676,0.10,2.47,0.00,0.000,6,0.314,0.101,2351,2116,3330,0,0,0,0,0,0,14.71,14.81,28.83
$GC,2977,-1.50,-136.9,364.2,-9.9,354,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2116,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3292,-1.50,-136.9,395.5,-10.4,385,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2116,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3609,-1.50,-136.9,426.4,-9.4,399,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2116,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3909,-1.50,-136.9,453.9,-9.1,409,3915,0.00,2.62,0.00,0.000,4,0.000,0.155,2341,3529,3330,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3973,-1.50,-136.9,459.7,-9.4,411,3979,0.00,2.47,0.00,0.000,6,0.000,0.102,2341,2103,3330,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4301,-1.50,-136.9,492.6,-10.0,422,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2103,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4600,-1.50,-136.9,523.3,-10.1,432,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2103,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4901,-1.50,-136.9,554.1,-10.5,442,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2103,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5201,-1.50,-136.9,584.0,-9.8,452,5206,0.00,2.67,0.00,0.000,4,0.000,0.161,2331,3528,3331,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5264,-1.50,-136.9,590.4,-10.2,454,5270,0.00,2.47,0.00,0.000,6,0.000,0.104,2331,2112,3331,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,5377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5377,begin apogee
$GC,5390,-0.38,0.0,602.9,-10.5,458,5536,0.93,0.00,135.95,2.293,6,0.262,0.000,2591,2206,2773,0,0,0,0,0,0,14.82,28.83,13.16
$STATE,5537,end apogee,CONTROL_FINISHED_OK
$STATE,5537,begin climb
$GC,5543,1.50,136.9,607.7,0.0,463,5694,1.38,0.00,146.40,2.255,6,0.164,0.000,3004,2206,2214,0,0,0,0,0,0,13.90,28.83,13.01
$GC,5982,1.50,136.9,561.2,12.3,478,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2206,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6282,1.50,136.9,523.0,12.8,488,6288,0.00,2.67,0.00,0.000,4,0.000,0.150,3004,3612,2204,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6313,1.50,136.9,518.7,13.0,489,6319,0.00,2.55,0.00,0.000,6,0.000,0.108,3015,2199,2204,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6645,1.50,136.9,475.6,12.8,500,6651,0.00,2.58,0.00,0.000,4,0.000,0.141,3025,792,2203,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6669,1.50,136.9,475.6,12.8,500,6676,0.00,2.58,0.00,0.000,6,0.000,0.132,3025,2200,2202,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6976,1.50,136.9,432.5,12.8,511,6982,0.00,2.62,0.00,0.000,4,0.000,0.148,3025,3614,2202,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7046,1.50,136.9,424.1,13.2,513,7052,0.10,2.53,0.00,0.000,6,0.281,0.105,3010,2196,2203,0,0,0,0,0,0,14.60,14.69,28.83
$GC,7360,1.50,136.9,385.9,11.9,531,7368,0.00,2.53,0.00,0.000,4,0.000,0.138,3018,788,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7395,1.50,136.9,381.5,12.2,534,7403,0.00,2.53,0.00,0.000,6,0.000,0.126,3019,2198,2201,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7704,1.50,136.9,343.4,12.3,565,7714,0.00,2.60,0.00,0.000,4,0.000,0.146,3018,3611,2202,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7762,1.50,136.9,336.0,13.6,570,7770,0.10,2.50,0.00,0.000,6,0.324,0.103,3009,2199,2202,0,0,0,0,0,0,14.68,14.76,28.83
$GC,8070,1.50,136.9,297.6,12.2,601,8080,0.00,2.53,0.00,0.000,4,0.000,0.136,3018,784,2200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8096,1.50,136.9,294.5,11.9,603,8105,0.00,2.53,0.00,0.000,6,0.000,0.125,3019,2196,2200,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8407,1.50,136.9,256.8,12.1,634,8415,0.00,2.58,0.00,0.000,4,0.000,0.145,3018,3608,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8471,1.50,136.9,248.5,13.1,640,8480,0.08,2.47,0.00,0.000,6,0.285,0.103,3009,2197,2201,0,0,0,0,0,0,14.69,14.77,28.83
$GC,8781,1.50,136.9,212.9,11.2,671,8790,0.00,2.50,0.00,0.000,4,0.000,0.136,3018,793,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8809,1.50,136.9,210.3,11.2,673,8816,0.00,2.53,0.00,0.000,6,0.000,0.127,3018,2202,2200,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9117,1.50,136.9,176.2,10.3,704,9126,0.00,2.58,0.00,0.000,4,0.000,0.147,3018,3610,2201,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9162,1.50,136.9,171.3,11.5,708,9171,0.08,2.47,0.00,0.000,6,0.291,0.104,3008,2199,2201,0,0,0,0,0,0,14.72,14.80,28.83
$GC,9472,1.50,136.9,137.1,10.5,739,9480,0.00,2.50,0.00,0.000,4,0.000,0.137,3017,791,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9529,1.50,136.9,131.1,11.1,744,9536,0.00,2.53,0.00,0.000,6,0.000,0.128,3017,2201,2199,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9842,1.50,136.9,98.3,9.9,776,9849,0.00,2.60,0.00,0.000,4,0.000,0.148,3017,3614,2200,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9901,1.50,136.9,92.1,10.4,786,9908,0.10,2.50,0.00,0.000,6,0.321,0.103,3009,2193,2200,0,0,0,0,0,0,14.74,14.83,28.83
$GC,10218,1.54,170.3,63.5,7.5,847,10244,0.00,2.58,16.30,0.369,4,0.000,0.136,3018,793,2075,0,0,0,0,0,0,28.83,14.75,14.64
$GC,10269,1.54,170.3,59.3,9.2,855,10276,0.00,2.55,0.00,0.000,6,0.000,0.129,3018,2210,2073,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10586,1.59,214.4,32.1,7.0,916,10617,0.00,2.62,23.27,0.275,4,0.000,0.150,3018,3621,1896,0,0,0,0,0,0,28.83,14.71,14.66
$GC,10653,1.63,244.8,27.5,7.6,927,10678,0.00,2.53,16.20,0.260,6,0.000,0.103,3027,2192,1772,0,0,0,0,0,0,28.83,14.75,14.64
$STATE,10972,end climb,SURFACE_DEPTH_REACHED
$STATE,10977,begin surface coast
$FINISH,1.3,1.025109
$STATE,11013,end surface coast,CONTROL_FINISHED_OK
$STATE,11013,begin surface
$SM_CCo,11041,32.15,0.181,0,0,1507,310.06
$SM_GC,2.51,8.32,0.15,32.15,0.091,0.164,0.181,142,2112,1507,-11.59,0.37,310.06,0,0,0,0,0,0,14.76,14.74,14.67
$RAFOS_CLK,447
$RAFOS,6,1347598143,4.833333,4.817500,86,59,56,55,53,53,792,222,158,188,176,167
$RAFOS,5,1347597667,4.700000,4.685278,96,65,62,58,57,55,621,199,225,212,162,132
$RAFOS,4,1347597185,4.566667,4.551389,71,62,53,53,50,48,837,152,217,165,325,205
$RAFOS,3,1347596706,4.433333,4.418334,68,68,66,58,56,54,179,197,970,209,162,124
$RAFOS,2,1347596224,4.300000,4.284444,71,63,56,51,49,49,958,203,176,185,138,227
$RAFOS,0,1347595264,4.033333,4.017778,68,65,55,55,54,51,179,195,121,151,215,162
$RAFOS_FIX,6649.305664,-5715.977051,140912,040420,4,81,21.21
$IRIDIUM_FIX,6636.54,-5647.69,140912,010104
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.55
$INTERNAL_PRESSURE,8.8014
$TCM_TEMP,14.30
$XPDR_PINGS,3
$24V_AH,13.0,14.817
$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,22.275,112.925,338.125,32.150,0.000,0.000,0.000,251.625,0.750,0.000,6.012,2558.924,5973.755,539.256,1888.036,538.227,0.000,1732.524,0.000,1672.126,1800.000,0.540,0.000
$DEVICE_MAMPS,452.880,183.600,2293.470,181.305,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.200,682.966,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188840
$DATA_FILE_SIZE,46748,996
$CAP_FILE_SIZE,112920,0
$CFSIZE,259252224,248193024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.3
$CURRENT,0.187,147.7,1
$GPS,140912,072059,6701.436,-5655.306,22,0.7,22,-33.5