version: 66.11
glider: 193
mission: 2
dive: 127
start: 10 1 112 5 19 2
data:
$ID,193
$MISSION,2
$DIVE,127
$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,290
$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,-984.0578
$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
$GPS1,011012,051152,6700.457,-5713.674,35,0.8,36,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-67.6
$GPS2,011012,051819,6700.422,-5713.862,4,0.8,4,-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,124.8,19277,-17.3,-8.919,-19.96
$D_GRID,757
$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,-136.9,0.0,0.0,0,49,0.00,0.00,-28.33,0.000,2,0.000,0.000,139,2119,2099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.50,-136.9,3.0,-1.8,5,153,11.35,2.62,-77.12,0.000,4,0.472,0.157,2350,701,3329,0,0,0,0,0,0,14.38,14.52,14.78
$GC,307,-1.50,-136.9,30.0,-16.0,50,314,0.00,2.67,0.00,0.000,6,0.000,0.142,2343,2121,3331,0,0,0,0,0,0,28.83,14.56,28.83
$GC,624,-1.50,-136.9,73.7,-14.4,111,631,0.00,2.62,0.00,0.000,4,0.000,0.138,2343,702,3330,0,0,0,0,0,0,28.83,14.62,28.83
$GC,682,-1.50,-136.9,82.1,-14.9,121,689,0.00,2.65,0.00,0.000,6,0.000,0.135,2334,2124,3330,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1000,-1.50,-136.9,127.5,-14.0,164,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1314,-1.50,-136.9,169.6,-13.7,195,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2124,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1628,-1.50,-136.9,211.5,-13.0,226,1635,0.10,0.00,0.00,0.000,6,0.335,0.000,2350,2124,3330,0,0,0,0,0,0,14.64,28.83,28.83
$GC,1935,-1.50,-136.9,247.7,-10.4,257,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2124,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2250,-1.50,-136.9,281.5,-11.4,288,2259,0.00,2.60,0.00,0.000,4,0.000,0.138,2352,706,3328,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2285,-1.50,-136.9,286.1,-11.5,291,2294,0.00,2.62,0.00,0.000,6,0.000,0.140,2344,2122,3329,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2595,-1.50,-136.9,320.7,-11.1,322,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2122,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2910,-1.50,-136.9,354.1,-10.7,353,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2122,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3224,-1.50,-136.9,386.5,-10.4,384,3232,0.00,2.65,0.00,0.000,4,0.000,0.157,2333,3527,3329,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3271,-1.50,-136.9,392.0,-10.9,388,3278,0.00,2.53,0.00,0.000,6,0.000,0.108,2333,2111,3329,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3589,-1.50,-136.9,427.8,-11.2,404,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2110,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3889,-1.50,-136.9,460.9,-11.1,414,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2111,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4188,-1.50,-136.9,493.0,-10.5,424,4194,0.00,2.50,0.00,0.000,4,0.000,0.136,2333,715,3329,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4220,-1.50,-136.9,496.5,-10.5,425,4226,0.10,2.58,0.00,0.000,6,0.293,0.137,2351,2122,3329,0,0,0,0,0,0,14.71,14.79,28.83
$GC,4552,-1.50,-136.9,527.4,-9.3,436,4558,0.00,2.65,0.00,0.000,4,0.000,0.153,2342,3533,3329,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4622,-1.50,-136.9,533.4,-9.5,438,4627,0.00,2.47,0.00,0.000,6,0.000,0.103,2342,2122,3329,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4944,-1.50,-136.9,564.8,-9.7,449,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2122,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5244,-1.50,-136.9,594.0,-9.8,459,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5544,-1.50,-136.9,624.0,-10.2,469,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2122,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5844,-1.50,-136.9,654.4,-10.0,479,5849,0.00,2.53,0.00,0.000,4,0.000,0.134,2342,706,3329,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5878,-1.50,-136.9,657.8,-10.2,480,5884,0.00,2.58,0.00,0.000,6,0.000,0.135,2334,2124,3329,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6205,-1.50,-136.9,691.2,-10.0,491,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2124,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6505,-1.50,-136.9,721.6,-10.2,501,6511,0.00,2.55,0.00,0.000,4,0.000,0.135,2334,706,3330,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6537,-1.50,-136.9,724.9,-10.4,502,6543,0.08,2.60,0.00,0.000,6,0.301,0.140,2346,2120,3330,0,0,0,0,0,0,14.75,14.83,28.83
$STATE,6864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6864,begin apogee
$GC,6876,-0.38,0.0,757.2,-9.6,513,7024,0.88,0.00,137.68,2.489,6,0.270,0.000,2590,2207,2773,0,0,0,0,0,0,14.78,28.83,13.10
$STATE,7025,end apogee,CONTROL_FINISHED_OK
$STATE,7025,begin climb
$GC,7030,1.50,136.9,760.2,0.0,518,7193,1.38,3.00,148.48,2.420,4,0.168,0.146,3001,3615,2213,0,0,0,0,0,0,13.92,13.30,12.59
$GC,7327,1.50,136.9,730.5,13.5,528,7333,0.00,2.72,0.00,0.000,6,0.000,0.106,3012,2197,2207,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7654,1.50,136.9,689.1,12.4,539,7660,0.00,2.65,0.00,0.000,4,0.000,0.133,3023,788,2203,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7699,1.50,136.9,685.1,12.5,540,7705,0.00,2.65,0.00,0.000,6,0.000,0.122,3022,2199,2202,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8016,1.50,136.9,643.3,12.5,551,8021,0.00,2.67,0.00,0.000,4,0.000,0.144,3023,3607,2202,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8050,1.50,136.9,639.0,12.6,552,8056,0.10,2.55,0.00,0.000,6,0.278,0.103,3006,2199,2202,0,0,0,0,0,0,14.40,14.50,28.83
$GC,8378,1.50,136.9,598.6,12.2,563,8384,0.00,2.55,0.00,0.000,4,0.000,0.130,3015,794,2202,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8417,1.50,136.9,594.7,12.3,564,8423,0.00,2.58,0.00,0.000,6,0.000,0.118,3016,2205,2201,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8739,1.50,136.9,552.7,12.6,575,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2204,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9040,1.50,136.9,515.2,12.5,585,9045,0.00,2.62,0.00,0.000,4,0.000,0.142,3015,3607,2200,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9084,1.50,136.9,511.0,12.6,586,9089,0.00,2.50,0.00,0.000,6,0.000,0.104,3026,2202,2200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9401,1.50,136.9,469.4,12.3,597,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9701,1.50,136.9,434.0,11.8,607,9707,0.00,2.53,0.00,0.000,4,0.000,0.132,3036,786,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9727,1.50,136.9,434.0,11.8,607,9735,0.15,2.58,0.00,0.000,6,0.294,0.121,3003,2209,2199,0,0,0,0,0,0,14.69,14.76,28.83
$GC,10033,1.50,136.9,396.8,11.1,618,10041,0.00,2.62,0.00,0.000,4,0.000,0.145,3003,3617,2199,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10078,1.50,136.9,391.5,12.2,622,10086,0.00,2.53,0.00,0.000,6,0.000,0.106,3013,2198,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10387,1.50,136.9,356.3,11.2,653,10396,0.00,2.53,0.00,0.000,4,0.000,0.133,3023,788,2198,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10432,1.50,136.9,351.2,11.5,657,10441,0.00,2.53,0.00,0.000,6,0.000,0.122,3023,2197,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10743,1.50,136.9,314.7,12.0,688,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11060,1.50,136.9,277.4,12.2,719,11069,0.00,2.60,0.00,0.000,4,0.000,0.146,3023,3617,2198,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11095,1.50,136.9,272.2,12.2,722,11105,0.10,2.53,0.00,0.000,6,0.276,0.106,3006,2198,2199,0,0,0,0,0,0,14.69,14.78,28.83
$GC,11406,1.50,136.9,238.3,10.8,753,11415,0.00,2.53,0.00,0.000,4,0.000,0.132,3015,790,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11444,1.50,136.9,234.4,10.6,756,11451,0.00,2.55,0.00,0.000,6,0.000,0.120,3015,2202,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11752,1.50,136.9,198.7,11.9,787,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12062,1.50,136.9,164.9,10.2,818,12070,0.00,2.60,0.00,0.000,4,0.000,0.145,3015,3606,2199,0,0,0,0,0,0,28.83,14.74,28.83
$GC,12157,1.50,136.9,154.3,11.2,827,12166,0.00,2.47,0.00,0.000,6,0.000,0.104,3026,2202,2199,0,0,0,0,0,0,28.83,14.79,28.83
$GC,12467,1.50,136.9,123.3,10.1,858,12476,0.00,2.55,0.00,0.000,4,0.000,0.132,3036,783,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12505,1.50,136.9,120.0,9.7,861,12514,0.12,2.58,0.00,0.000,6,0.297,0.122,3009,2206,2198,0,0,0,0,0,0,14.71,14.79,28.83
$GC,12819,1.51,143.6,91.7,8.6,900,12825,0.00,0.00,1.60,0.565,6,0.000,0.000,3009,2207,2186,0,0,0,0,0,0,28.83,28.83,14.58
$GC,13136,1.51,143.7,61.7,8.9,961,13144,0.00,2.58,0.00,0.000,4,0.000,0.132,3018,788,2185,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13180,1.51,143.7,57.6,9.5,968,13187,0.00,2.58,0.00,0.000,6,0.000,0.120,3018,2210,2185,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13497,1.57,193.7,33.0,6.7,1029,13530,0.00,2.70,26.30,0.283,4,0.000,0.142,3019,3611,1980,0,0,0,0,0,0,28.83,14.70,14.64
$GC,13650,1.63,247.1,23.3,6.6,1056,13687,0.00,2.53,27.83,0.252,6,0.000,0.102,3028,2197,1761,0,0,0,0,0,0,28.83,14.75,14.62
$STATE,13892,end climb,SURFACE_DEPTH_REACHED
$STATE,13892,begin surface coast
$FINISH,2.0,1.025709
$STATE,13923,end surface coast,CONTROL_FINISHED_OK
$STATE,13923,begin surface
$SM_CCo,13951,20.42,0.183,0,0,1587,290.19
$SM_GC,2.57,8.48,0.15,20.42,0.102,0.156,0.183,137,2115,1587,-11.61,0.51,290.19,0,0,0,0,0,0,14.74,14.73,14.65
$RAFOS_CLK,602
$RAFOS,6,1349081341,8.833333,8.816944,126,61,57,57,54,54,778,188,214,202,110,223
$RAFOS,5,1349080863,8.700000,8.684167,105,61,60,58,55,53,610,161,195,215,128,179
$RAFOS,4,1349080388,8.566667,8.552222,90,78,61,55,52,50,785,215,162,196,227,145
$RAFOS,3,1349079902,8.433333,8.417222,122,60,59,56,55,53,946,194,181,213,166,222
$RAFOS,2,1349079424,8.300000,8.284445,104,59,59,58,56,53,911,200,158,217,1401,139
$RAFOS,1,1349078944,8.166667,8.151111,110,65,59,54,52,51,947,191,203,171,154,222
$RAFOS,0,1349078463,8.033334,8.017500,62,55,55,55,53,50,203,171,161,217,183,151
$RAFOS_FIX,6704.623047,-5739.411133,011012,080817,6,110,1.73
$IRIDIUM_FIX,6631.12,-5716.55,011012,010114
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.96
$INTERNAL_PRESSURE,8.72327
$TCM_TEMP,12.90
$XPDR_PINGS,7
$24V_AH,12.6,43.169
$10V_AH,12.9,0.000
$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,22.825,114.325,341.875,20.425,0.000,0.000,0.000,230.800,1.750,0.000,5.637,2882.058,8321.223,525.796,2079.033,604.354,0.000,1825.199,0.000,1882.597,2520.000,0.538,0.000
$DEVICE_MAMPS,472.005,191.250,2488.545,182.835,0.000,0.000,0.000,151.470,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.444,779.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188676
$DATA_FILE_SIZE,53430,1108
$CAP_FILE_SIZE,127076,0
$CFSIZE,259252224,241729536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.9
$CURRENT,0.180,149.0,1
$GPS,011012,091422,6659.280,-5707.316,36,0.9,37,-33.5