version: 66.11
glider: 193
mission: 2
dive: 35
start: 9 14 112 7 30 5
data:
$ID,193
$MISSION,2
$DIVE,35
$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,-794.87994
$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,14
$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
$GPS1,140912,072059,6701.436,-5655.306,22,0.7,22,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-68.3
$GPS2,140912,072927,6701.309,-5655.142,13,0.7,13,-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,336.8,157551,-17.3,-8.919,-19.96
$D_GRID,650
$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,-64.00,0.000,2,0.000,0.000,126,2111,2727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.50,-136.9,3.0,-2.8,11,124,10.90,2.83,-15.23,0.000,4,0.454,0.181,2337,3538,3331,0,0,0,0,0,0,14.42,14.52,14.77
$GC,285,-1.50,-136.9,41.3,-15.8,46,292,0.00,2.55,0.00,0.000,6,0.000,0.106,2337,2114,3333,0,0,0,0,0,0,28.83,14.62,28.83
$GC,603,-1.50,-136.9,83.8,-13.5,107,610,0.00,2.72,0.00,0.000,4,0.000,0.161,2326,3533,3334,0,0,0,0,0,0,28.83,14.63,28.83
$GC,646,-1.50,-136.9,89.6,-13.5,114,654,0.12,2.53,0.00,0.000,6,0.301,0.104,2352,2111,3334,0,0,0,0,0,0,14.59,14.68,28.83
$GC,959,-1.50,-136.9,127.2,-11.7,152,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2111,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1274,-1.50,-136.9,164.0,-12.2,183,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2111,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1587,-1.50,-136.9,200.5,-11.6,214,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2111,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1899,-1.50,-136.9,236.6,-10.6,245,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2111,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2211,-1.50,-136.9,270.9,-10.6,276,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2111,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-1.50,-136.9,303.5,-10.2,307,2526,0.00,2.65,0.00,0.000,4,0.000,0.161,2343,3522,3332,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2554,-1.50,-136.9,307.1,-10.5,310,2561,0.00,2.50,0.00,0.000,6,0.000,0.109,2343,2111,3332,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2862,-1.50,-136.9,338.9,-9.8,341,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2111,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3177,-1.50,-136.9,370.8,-10.5,372,3185,0.00,2.67,0.00,0.000,4,0.000,0.162,2332,3531,3332,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3234,-1.50,-136.9,377.2,-10.9,377,3242,0.10,2.50,0.00,0.000,6,0.313,0.106,2351,2113,3331,0,0,0,0,0,0,14.74,14.83,28.83
$GC,3548,-1.50,-136.9,409.6,-10.1,402,3554,0.00,2.50,0.00,0.000,4,0.000,0.141,2351,712,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3597,-1.50,-136.9,413.3,-10.3,403,3606,0.00,2.55,0.00,0.000,6,0.000,0.142,2344,2118,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3910,-1.50,-136.9,447.0,-10.0,414,3916,0.00,2.60,0.00,0.000,4,0.000,0.153,2333,3533,3332,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3994,-1.50,-136.9,453.6,-10.1,416,4001,0.00,2.47,0.00,0.000,6,0.000,0.101,2333,2116,3332,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4301,-1.50,-136.9,487.9,-10.3,427,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4602,-1.50,-136.9,517.9,-9.7,437,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4901,-1.50,-136.9,546.5,-9.3,447,4907,0.00,2.62,0.00,0.000,4,0.000,0.154,2323,3527,3332,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4946,-1.50,-136.9,549.5,-9.2,448,4952,0.10,2.45,0.00,0.000,6,0.281,0.102,2349,2117,3331,0,0,0,0,0,0,14.78,14.88,28.83
$GC,5263,-1.50,-136.9,579.8,-9.4,459,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2117,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5563,-1.50,-136.9,607.9,-9.7,469,5568,0.00,2.62,0.00,0.000,4,0.000,0.158,2340,3528,3332,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5617,-1.50,-136.9,610.9,-9.8,470,5624,0.00,2.47,0.00,0.000,6,0.000,0.103,2340,2109,3331,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5924,-1.50,-136.9,643.5,-10.1,481,5930,0.00,2.47,0.00,0.000,4,0.000,0.139,2340,712,3331,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6164,-1.50,-136.9,643.6,0.0,488,6171,0.00,2.58,0.00,0.000,6,0.000,0.138,2339,2125,3331,0,0,0,0,0,0,28.83,14.86,28.83
$STATE,6195,end dive,NO_VERTICAL_VELOCITY
$STATE,6196,begin apogee
$GC,6208,-0.38,0.0,643.7,0.0,490,6354,0.82,0.00,136.40,2.360,6,0.187,0.000,2598,2201,2772,0,0,0,0,0,0,14.85,28.83,13.14
$STATE,6355,end apogee,CONTROL_FINISHED_OK
$STATE,6355,begin climb
$GC,6361,1.50,136.9,643.7,0.0,495,6521,1.35,2.88,146.12,2.326,4,0.163,0.147,3004,3617,2215,0,0,0,0,0,0,13.90,13.66,12.98
$GC,6655,1.50,136.9,613.1,13.7,505,6660,0.00,2.62,0.00,0.000,6,0.000,0.103,3014,2199,2209,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6982,1.50,136.9,570.6,12.2,516,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2199,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7283,1.50,136.9,534.4,12.0,526,7288,0.00,2.67,0.00,0.000,4,0.000,0.147,3014,3611,2203,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7317,1.50,136.9,530.2,12.2,527,7322,0.00,2.53,0.00,0.000,6,0.000,0.103,3025,2195,2204,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7644,1.50,136.9,487.1,13.3,538,7650,0.00,2.55,0.00,0.000,4,0.000,0.137,3035,791,2203,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7676,1.50,136.9,482.7,13.2,539,7683,0.10,2.55,0.00,0.000,6,0.274,0.125,3008,2200,2201,0,0,0,0,0,0,14.57,14.63,28.83
$GC,8009,1.50,136.9,440.8,12.9,550,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2200,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8308,1.50,136.9,404.7,12.0,560,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2199,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8609,1.50,136.9,368.7,11.9,586,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2200,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8925,1.50,136.9,333.8,11.1,617,8935,0.00,2.58,0.00,0.000,4,0.000,0.146,3008,3611,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8961,1.50,136.9,328.7,12.2,620,8969,0.00,2.47,0.00,0.000,6,0.000,0.106,3018,2199,2201,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9271,1.50,136.9,290.9,12.6,651,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9587,1.50,136.9,253.5,12.4,682,9596,0.00,2.62,0.00,0.000,4,0.000,0.148,3018,3610,2201,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9615,1.50,136.9,249.7,12.1,684,9622,0.10,2.50,0.00,0.000,6,0.320,0.106,3009,2194,2201,0,0,0,0,0,0,14.73,14.82,28.83
$GC,9923,1.50,136.9,214.4,10.8,715,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2194,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10240,1.50,136.9,182.3,10.3,746,10249,0.00,2.50,0.00,0.000,4,0.000,0.136,3018,787,2200,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10297,1.50,136.9,175.6,10.8,751,10304,0.00,2.53,0.00,0.000,6,0.000,0.125,3018,2201,2199,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10605,1.50,136.9,141.3,11.1,782,10614,0.00,2.60,0.00,0.000,4,0.000,0.146,3018,3611,2200,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10643,1.50,136.9,137.2,11.5,785,10652,0.10,2.47,0.00,0.000,6,0.321,0.103,3009,2198,2200,0,0,0,0,0,0,14.76,14.83,28.83
$GC,10952,1.50,136.9,105.6,9.5,816,10961,0.00,2.50,0.00,0.000,4,0.000,0.134,3018,793,2199,0,0,0,0,0,0,28.83,14.80,28.83
$GC,10997,1.50,136.9,101.2,10.1,820,11006,0.00,2.50,0.00,0.000,6,0.000,0.125,3018,2205,2199,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11312,1.51,149.5,71.7,8.4,880,11326,0.00,2.60,4.93,0.424,4,0.000,0.146,3019,3618,2162,0,0,0,0,0,0,28.83,14.78,14.68
$GC,11392,1.51,149.5,64.3,9.9,894,11399,0.00,2.50,0.00,0.000,6,0.000,0.102,3029,2194,2161,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11710,1.60,216.5,36.9,6.0,955,11753,0.00,2.53,34.92,0.287,4,0.000,0.134,3039,790,1885,0,0,0,0,0,0,28.83,14.72,14.65
$GC,11764,1.61,225.6,33.0,8.5,963,11778,0.00,2.55,4.25,0.298,6,0.000,0.129,3039,2202,1850,0,0,0,0,0,0,28.83,14.72,14.64
$GC,12094,1.62,235.9,8.2,8.5,1025,12107,0.00,2.67,4.38,0.242,4,0.000,0.151,3039,3609,1808,0,0,0,0,0,0,28.83,14.70,14.70
$GC,12129,1.64,250.3,5.0,8.3,1030,12142,0.00,2.50,7.62,0.199,6,0.000,0.105,3050,2200,1748,0,0,0,0,0,0,28.83,14.76,14.69
$STATE,12147,end climb,SURFACE_DEPTH_REACHED
$STATE,12148,begin surface coast
$FINISH,1.1,1.025133
$STATE,12178,end surface coast,CONTROL_FINISHED_OK
$STATE,12179,begin surface
$SM_CCo,12206,30.15,0.184,0,0,1505,310.06
$SM_GC,2.34,8.52,0.15,30.15,0.103,0.162,0.184,142,2118,1505,-11.61,0.57,310.06,0,0,0,0,0,0,14.74,14.74,14.66
$RAFOS_CLK,498
$RAFOS,6,1347612551,8.833333,8.819722,78,60,56,55,54,54,735,202,235,190,143,163
$RAFOS,5,1347612071,8.700000,8.686389,76,58,58,58,57,52,592,214,230,158,187,148
$RAFOS,4,1347611589,8.566667,8.552500,74,65,57,55,54,53,810,199,227,157,171,187
$RAFOS,3,1347611103,8.433333,8.417500,73,66,55,55,54,53,973,192,223,175,210,236
$RAFOS,2,1347610626,8.300000,8.285000,69,69,68,58,56,54,196,931,219,162,145,180
$RAFOS,1,1347610147,8.166667,8.151944,64,64,59,58,57,57,145,171,963,754,213,119
$RAFOS,0,1347609663,8.033334,8.017500,66,59,59,56,51,49,222,211,190,146,133,124
$RAFOS_FIX,6707.618164,-5715.257324,140912,080828,4,75,4.43
$IRIDIUM_FIX,6631.12,-5656.72,140912,070731
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.20
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,13.90
$XPDR_PINGS,2
$24V_AH,13.0,15.084
$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,22.225,103.025,338.625,30.150,0.000,0.000,0.000,289.700,0.500,0.000,14.958,2684.552,6945.407,515.043,2052.281,566.366,0.000,1809.035,0.000,1791.226,2520.000,0.540,0.000
$DEVICE_MAMPS,453.645,200.430,2360.025,183.600,0.000,0.000,0.000,149.940,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.876,716.903,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50129,1039
$CAP_FILE_SIZE,119959,0
$CFSIZE,259252224,248119296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.7
$CURRENT,0.044,109.0,1
$GPS,140912,105558,6702.093,-5657.803,37,1.1,37,-33.5