version: 66.11
glider: 193
mission: 2
dive: 129
start: 10 1 112 13 9 5
data:
$ID,193
$MISSION,2
$DIVE,129
$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,-998.66742
$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
$GPS1,011012,130158,6701.354,-5705.424,38,0.8,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-67.8
$GPS2,011012,130831,6701.302,-5705.334,4,0.7,4,-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,117.1,12907,-17.3,-8.919,-19.96
$D_GRID,710
$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,-28.17,0.000,2,0.000,0.000,133,2111,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.50,-136.9,3.1,-1.7,5,141,11.02,2.60,-66.43,0.000,4,0.459,0.157,2347,702,3329,0,0,0,0,0,0,14.40,14.53,14.78
$GC,376,-1.50,-136.9,43.9,-13.0,64,383,0.00,2.70,0.00,0.000,6,0.000,0.144,2338,2129,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,693,-1.50,-136.9,84.2,-12.4,125,701,0.00,2.62,0.00,0.000,4,0.000,0.138,2339,709,3331,0,0,0,0,0,0,28.83,14.65,28.83
$GC,814,-1.50,-136.9,101.2,-14.8,147,822,0.10,2.65,0.00,0.000,6,0.330,0.138,2348,2126,3331,0,0,0,0,0,0,14.57,14.66,28.83
$GC,1123,-1.50,-136.9,141.8,-12.8,178,1132,0.00,2.67,0.00,0.000,4,0.000,0.154,2339,3529,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1227,-1.50,-136.9,155.8,-13.5,188,1236,0.00,2.50,0.00,0.000,6,0.000,0.103,2339,2117,3331,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1538,-1.50,-136.9,196.6,-12.5,219,1546,0.00,2.53,0.00,0.000,4,0.000,0.132,2339,716,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1565,-1.50,-136.9,199.7,-12.4,221,1573,0.10,2.60,0.00,0.000,6,0.329,0.137,2348,2121,3330,0,0,0,0,0,0,14.64,14.71,28.83
$GC,1874,-1.50,-136.9,239.0,-12.6,252,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2122,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2188,-1.50,-136.9,276.1,-11.3,283,2197,0.00,2.58,0.00,0.000,4,0.000,0.133,2348,706,3329,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2216,-1.50,-136.9,279.7,-11.8,285,2224,0.00,2.62,0.00,0.000,6,0.000,0.135,2341,2129,3329,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2525,-1.50,-136.9,314.6,-11.0,316,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2129,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2839,-1.50,-136.9,348.6,-10.9,347,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2129,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3152,-1.50,-136.9,382.0,-11.1,378,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2129,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3469,-1.50,-136.9,416.5,-10.7,400,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2129,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,-1.50,-136.9,447.6,-10.3,410,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2129,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4069,-1.50,-136.9,477.4,-9.8,420,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2129,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-1.50,-136.9,507.1,-10.0,430,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2129,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,-1.50,-136.9,537.3,-10.0,440,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2129,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4969,-1.50,-136.9,566.9,-9.8,450,4975,0.00,2.60,0.00,0.000,4,0.000,0.153,2330,3524,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5014,-1.50,-136.9,570.0,-9.7,451,5020,0.08,2.47,0.00,0.000,6,0.282,0.108,2350,2117,3331,0,0,0,0,0,0,14.76,14.87,28.83
$GC,5332,-1.50,-136.9,601.1,-9.3,462,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5631,-1.50,-136.9,628.9,-9.3,472,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5931,-1.50,-136.9,656.4,-9.0,482,5937,0.00,2.70,0.00,0.000,4,0.000,0.166,2340,3533,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5963,-1.50,-136.9,659.3,-9.0,483,5968,0.00,2.50,0.00,0.000,6,0.000,0.109,2341,2117,3331,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6294,-1.50,-136.9,690.8,-9.6,494,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6499,begin apogee
$GC,6511,-0.38,0.0,711.8,-10.0,501,6659,0.90,0.00,136.32,2.421,6,0.262,0.000,2593,2208,2773,0,0,0,0,0,0,14.79,28.83,13.16
$STATE,6660,end apogee,CONTROL_FINISHED_OK
$STATE,6660,begin climb
$GC,6665,1.50,136.9,716.6,0.0,506,6818,1.35,0.00,147.70,2.351,6,0.164,0.000,3001,2208,2214,0,0,0,0,0,0,13.95,28.83,12.73
$GC,7104,1.50,136.9,670.0,12.7,521,7109,0.00,2.80,0.00,0.000,4,0.000,0.149,3001,3611,2206,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7135,1.50,136.9,666.0,12.7,522,7141,0.00,2.65,0.00,0.000,6,0.000,0.107,3011,2194,2206,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7467,1.50,136.9,623.4,12.7,533,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2195,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7767,1.50,136.9,585.2,12.6,543,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2195,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8067,1.50,136.9,548.1,12.4,553,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2195,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8367,1.50,136.9,511.4,11.9,563,8372,0.00,2.70,0.00,0.000,4,0.000,0.148,3011,3618,2202,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8401,1.50,136.9,507.2,12.1,564,8406,0.00,2.55,0.00,0.000,6,0.000,0.107,3021,2192,2202,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8728,1.50,136.9,466.0,12.5,575,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2191,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9028,1.50,136.9,427.5,13.1,585,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2191,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9328,1.50,136.9,388.1,12.8,601,9338,0.00,2.53,0.00,0.000,4,0.000,0.134,3032,781,2201,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9366,1.50,136.9,383.4,13.1,604,9374,0.12,2.58,0.00,0.000,6,0.297,0.123,3006,2206,2200,0,0,0,0,0,0,14.71,14.78,28.83
$GC,9675,1.50,136.9,343.5,12.4,635,9683,0.00,2.62,0.00,0.000,4,0.000,0.142,3005,3613,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9702,1.50,136.9,340.4,12.5,637,9710,0.00,2.53,0.00,0.000,6,0.000,0.104,3015,2192,2200,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10010,1.50,136.9,300.5,12.5,668,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2192,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10325,1.50,136.9,262.1,12.3,699,10330,0.00,2.50,0.00,0.000,4,0.000,0.131,3025,787,2200,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10363,1.50,136.9,257.0,12.6,702,10370,0.00,2.55,0.00,0.000,6,0.000,0.121,3025,2203,2199,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10671,1.50,136.9,219.2,12.6,733,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2202,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10981,1.50,136.9,183.5,10.5,764,10989,0.00,2.60,0.00,0.000,4,0.000,0.143,3025,3610,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11065,1.50,136.9,173.1,12.5,772,11074,0.10,2.50,0.00,0.000,6,0.269,0.105,3007,2197,2199,0,0,0,0,0,0,14.72,14.81,28.83
$GC,11375,1.50,136.9,142.0,9.9,803,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2197,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11686,1.51,142.9,112.6,8.7,834,11692,0.00,0.00,1.50,0.609,6,0.000,0.000,3007,2197,2189,0,0,0,0,0,0,28.83,28.83,14.59
$GC,12000,1.54,166.9,86.4,7.9,881,12019,0.00,2.72,13.45,0.440,4,0.000,0.147,3008,3619,2090,0,0,0,0,0,0,28.83,14.73,14.59
$GC,12040,1.54,166.9,82.8,9.4,887,12046,0.00,2.55,0.00,0.000,6,0.000,0.107,3017,2194,2089,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12357,1.54,166.9,52.9,9.6,948,12364,0.00,2.53,0.00,0.000,4,0.000,0.134,3027,791,2086,0,0,0,0,0,0,28.83,14.75,28.83
$GC,12399,1.54,166.9,48.8,9.2,955,12406,0.00,2.58,0.00,0.000,6,0.000,0.125,3027,2207,2085,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12721,1.60,217.2,22.1,6.7,1016,12753,0.00,2.72,26.38,0.239,4,0.000,0.145,3027,3615,1884,0,0,0,0,0,0,28.83,14.69,14.66
$GC,12883,1.61,223.4,8.6,8.7,1045,12892,0.00,2.55,2.38,0.244,6,0.000,0.103,3037,2189,1859,0,0,0,0,0,0,28.83,14.75,14.69
$STATE,12942,end climb,SURFACE_DEPTH_REACHED
$STATE,12942,begin surface coast
$FINISH,2.0,1.025455
$STATE,12984,end surface coast,CONTROL_FINISHED_OK
$STATE,12984,begin surface
$SM_CCo,13012,33.78,0.177,0,0,1586,290.19
$SM_GC,3.43,8.60,0.15,33.78,0.112,0.155,0.177,133,2108,1586,-11.62,0.28,290.19,0,0,0,0,0,0,14.76,14.75,14.65
$RAFOS_CLK,560
$RAFOS,4,1349109186,16.566668,16.551666,75,68,61,57,55,50,812,182,140,203,214,161
$RAFOS,3,1349108705,16.433332,16.418056,90,60,58,55,55,53,964,208,190,161,1452,218
$RAFOS,2,1349108225,16.299999,16.284721,118,58,56,55,54,52,926,148,225,194,130,115
$RAFOS,1,1349107750,16.166666,16.152779,100,62,56,55,53,53,928,184,212,163,202,121
$RAFOS,0,1349107274,16.033333,16.020555,57,54,54,53,51,49,116,190,217,166,199,84
$RAFOS_FIX,6707.804199,-5738.854980,011012,161628,4,96,2.31
$IRIDIUM_FIX,6631.12,-5711.93,011012,090901
$TT8_MAMPS,0.027713,0.027713
$HUMID,46.49
$INTERNAL_PRESSURE,8.75257
$TCM_TEMP,13.10
$XPDR_PINGS,8
$24V_AH,12.7,43.709
$10V_AH,13.1,0.000
$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,22.375,83.450,327.725,33.775,0.000,0.000,0.000,237.175,2.000,0.000,12.626,2685.199,7809.871,511.982,1884.730,563.859,0.000,1682.988,0.000,1688.577,2160.000,0.537,0.000
$DEVICE_MAMPS,459.000,186.660,2421.225,176.715,0.000,0.000,0.000,151.470,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.105,740.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188772
$DATA_FILE_SIZE,50121,1063
$CAP_FILE_SIZE,112929,0
$CFSIZE,259252224,241614848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.3
$CURRENT,0.174,312.0,1
$GPS,011012,164828,6702.441,-5703.332,36,0.7,36,-33.5