version: 66.11
glider: 193
mission: 2
dive: 3
start: 9 8 112 19 28 32
data:
$ID,193
$MISSION,2
$DIVE,3
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,360
$D_NO_BLEED,50
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,349.6098
$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,-663.08124
$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,2840
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2070
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,1
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2960
$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,4
$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
$GPS1,080912,192249,6651.710,-5904.191,3,1.1,3,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.4
$GPS2,080912,192746,6651.739,-5904.225,5,1.0,5,-33.8
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,midTARGET
$TGT_LATLONG,6656.000,-5813.000
$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,111.8,37998,-17.5,-10.000,-21.03
$D_GRID,1026
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.52,-146.6,0.0,0.0,0,91,0.00,0.00,-69.75,0.000,2,0.000,0.000,137,2068,2850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.52,-146.6,3.2,-5.3,12,129,11.25,2.78,-14.55,0.000,4,0.431,0.180,2494,3482,3561,0,0,0,0,0,0,14.42,14.55,14.85
$GC,340,-1.71,-146.6,34.7,-7.1,57,348,0.10,2.53,0.00,0.000,6,0.170,0.111,2454,2068,3562,0,0,0,0,0,0,14.68,14.65,28.83
$GC,659,-1.85,-146.6,62.0,-7.9,118,666,0.00,2.60,0.00,0.000,4,0.000,0.152,2454,657,3561,0,0,0,0,0,0,28.83,14.65,28.83
$GC,768,-1.97,-146.6,72.5,-9.5,138,775,0.12,2.62,0.00,0.000,6,0.153,0.146,2398,2075,3562,0,0,0,0,0,0,14.75,14.68,28.83
$GC,1091,-2.02,-146.6,108.0,-11.2,193,1100,0.00,2.62,0.00,0.000,4,0.000,0.163,2388,3480,3561,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1253,-2.07,-146.6,125.8,-11.2,208,1259,0.00,2.53,0.00,0.000,6,0.000,0.113,2388,2064,3561,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1560,-2.11,-146.6,158.1,-10.4,239,1569,0.00,2.67,0.00,0.000,4,0.000,0.166,2378,3476,3560,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1587,-2.15,-146.6,160.8,-10.5,241,1595,0.00,2.50,0.00,0.000,6,0.000,0.114,2378,2070,3560,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1895,-2.15,-146.6,194.2,-11.1,272,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2070,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2210,-2.18,-146.6,227.6,-10.7,303,2219,0.00,2.67,0.00,0.000,4,0.000,0.169,2369,3484,3559,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2245,-2.18,-146.6,232.1,-10.7,306,2254,0.00,2.50,0.00,0.000,6,0.000,0.114,2369,2072,3559,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2554,-2.18,-146.6,268.1,-11.7,337,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2072,3559,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2834,begin apogee
$GC,2845,-0.38,0.0,301.0,-12.0,365,2996,1.33,0.00,139.95,2.088,6,0.233,0.000,2755,2072,2961,0,0,0,0,0,0,14.64,28.83,13.26
$STATE,2997,end apogee,CONTROL_FINISHED_OK
$STATE,2998,begin climb
$GC,3003,1.52,146.6,309.8,0.0,381,3167,1.25,2.80,148.20,2.033,4,0.096,0.155,3188,660,2362,0,0,0,0,0,0,14.02,13.82,13.19
$GC,3401,1.11,146.6,274.6,15.9,420,3409,0.45,2.65,0.00,0.000,6,0.310,0.139,3080,2074,2354,0,0,0,0,0,0,14.33,14.42,28.83
$GC,3710,0.89,146.6,236.4,11.7,451,3719,0.15,2.62,0.00,0.000,4,0.312,0.154,3039,3476,2353,0,0,0,0,0,0,14.50,14.55,28.83
$GC,3748,0.69,146.6,232.3,11.5,454,3757,0.25,2.58,0.00,0.000,6,0.292,0.119,2990,2067,2353,0,0,0,0,0,0,14.51,14.60,28.83
$GC,4058,0.64,174.7,203.9,8.7,485,4095,0.00,2.80,26.23,1.940,4,0.000,0.159,2989,3482,2249,0,0,0,0,0,0,28.83,14.38,13.81
$GC,4123,0.56,174.7,197.9,10.1,491,4131,0.17,2.60,0.00,0.000,6,0.288,0.119,2959,2064,2248,0,0,0,0,0,0,14.38,14.46,28.83
$GC,4433,0.61,213.0,171.0,8.2,522,4480,0.00,2.80,37.45,1.935,4,0.000,0.161,2959,3482,2093,0,0,0,0,0,0,28.83,14.24,13.68
$GC,4518,0.61,218.6,163.7,9.7,530,4534,0.00,2.62,6.78,1.659,6,0.000,0.119,2968,2065,2069,0,0,0,0,0,0,28.83,14.35,13.68
$GC,4839,0.62,225.9,133.8,9.7,562,4852,0.00,2.70,6.57,1.660,4,0.000,0.155,2978,657,2040,0,0,0,0,0,0,28.83,14.48,13.88
$GC,4882,0.63,230.6,129.2,9.8,566,4893,0.00,2.62,3.53,1.277,6,0.000,0.144,2978,2069,2020,0,0,0,0,0,0,28.83,14.51,13.85
$GC,5194,0.67,265.7,100.2,8.4,597,5222,0.00,2.72,21.50,1.652,4,0.000,0.161,2978,3484,1876,0,0,0,0,0,0,28.83,14.42,13.92
$GC,5282,0.67,265.7,91.4,10.6,612,5289,0.00,2.60,0.00,0.000,6,0.000,0.121,2986,2066,1875,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5601,0.71,269.5,59.5,9.8,673,5608,0.00,2.80,1.48,0.396,4,0.000,0.166,2987,3482,1860,0,0,0,0,0,0,28.83,14.59,14.50
$GC,5634,0.71,269.5,55.8,11.3,678,5641,0.00,2.58,0.00,0.000,6,0.000,0.121,2997,2063,1861,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5953,0.79,304.5,24.2,8.4,739,5978,0.00,2.80,18.73,0.249,4,0.000,0.165,2997,3487,1716,0,0,0,0,0,0,28.83,14.62,14.59
$GC,6049,1.02,384.9,16.4,6.3,756,6099,0.17,2.58,41.65,0.222,6,0.137,0.121,3072,2063,1389,0,0,0,0,0,0,14.70,14.68,14.56
$STATE,6213,end climb,SURFACE_DEPTH_REACHED
$STATE,6213,begin surface coast
$FINISH,1.0,1.002837
$STATE,6244,end surface coast,CONTROL_FINISHED_OK
$STATE,6244,begin surface
$SM_CCo,6332,0.00,0.000,0,0,1376,388.56
$SM_GC,1.88,8.70,0.00,0.00,0.111,0.000,0.000,143,2062,1376,-12.33,-0.23,388.56,0,0,0,0,0,0,14.67,28.83,28.83
$RAFOS_CLK,236
$RAFOS,6,1347137342,20.833334,20.817223,168,59,59,56,54,53,624,222,185,126,209,167
$RAFOS,5,1347136862,20.700001,20.683889,66,60,57,55,55,50,745,170,206,216,188,139
$RAFOS,4,1347136384,20.566668,20.551111,123,55,54,51,51,50,493,202,220,178,125,136
$RAFOS,3,1347135904,20.433332,20.417778,95,67,56,56,56,52,737,165,206,189,747,155
$RAFOS,2,1347135421,20.299999,20.283611,58,57,56,53,51,48,197,632,211,115,169,154
$RAFOS,1,1347134941,20.166666,20.150278,129,63,60,60,53,52,645,189,215,200,1714,147
$RAFOS,0,1347134462,20.033333,20.017221,65,60,56,55,54,51,199,215,130,182,146,121
$RAFOS_FIX,6655.060059,-5909.420898,080912,202004,4,114,1.84
$IRIDIUM_FIX,6625.71,-5908.75,080912,181803
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.76
$INTERNAL_PRESSURE,8.75257
$TCM_TEMP,13.50
$XPDR_PINGS,3
$24V_AH,13.2,5.142
$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,23.950,68.900,452.050,0.000,0.000,0.000,0.000,171.425,0.750,0.000,5.839,1918.924,2434.787,506.948,1436.606,365.821,0.000,1424.433,0.000,1289.445,2520.000,0.538,0.000
$DEVICE_MAMPS,430.695,179.775,2087.685,0.000,0.000,0.000,0.000,124.695,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.854,538.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188832
$DATA_FILE_SIZE,36776,792
$CAP_FILE_SIZE,83348,0
$CFSIZE,259252224,250388480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.6
$CURRENT,0.229,325.9,1
$GPS,080912,211533,6652.520,-5903.480,21,1.3,21,-33.8