version: 66.11
glider: 193
mission: 2
dive: 5
start: 9 9 112 0 34 28
data:
$ID,193
$MISSION,2
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$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,150
$T_MISSION,180
$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,-748.44574
$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,2720
$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,2120
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,13
$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
$GPS1,090912,002358,6652.487,-5859.513,36,1.0,36,-33.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-66.8
$GPS2,090912,003348,6652.510,-5859.246,4,1.0,4,-33.8
$SPEED_LIMITS,0.084,0.260
$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,125.8,96749,-17.5,-10.000,-21.03
$D_GRID,1027
$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,-146.6,0.0,0.0,0,98,0.00,0.00,-77.00,0.000,2,0.000,0.000,145,2129,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-1.52,-146.6,3.2,-3.3,13,143,11.07,2.80,-18.12,0.000,4,0.453,0.200,2373,3522,3558,0,0,0,0,0,0,14.34,14.41,14.72
$GC,378,-1.52,-146.6,48.8,-11.4,64,385,0.00,2.60,0.00,0.000,6,0.000,0.122,2373,2113,3560,0,0,0,0,0,0,28.83,14.57,28.83
$GC,695,-1.52,-146.6,89.3,-12.7,125,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2113,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1012,-1.52,-146.6,130.4,-13.2,164,1021,0.00,2.60,0.00,0.000,4,0.000,0.161,2373,706,3559,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1100,-1.52,-146.6,141.9,-13.6,172,1107,0.10,2.70,0.00,0.000,6,0.313,0.164,2383,2119,3559,0,0,0,0,0,0,14.60,14.64,28.83
$GC,1409,-1.57,-146.6,179.4,-11.8,203,1417,0.00,2.60,0.00,0.000,4,0.000,0.157,2384,714,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1446,-1.60,-146.6,183.7,-12.2,206,1453,0.00,2.65,0.00,0.000,6,0.000,0.160,2376,2122,3559,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1754,-1.60,-146.6,221.6,-12.1,237,1764,0.00,2.67,0.00,0.000,4,0.000,0.171,2365,3533,3558,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1810,-1.60,-146.6,228.6,-12.6,242,1819,0.00,2.53,0.00,0.000,6,0.000,0.118,2365,2115,3558,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2120,-1.60,-146.6,265.3,-11.3,273,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2115,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2436,-1.60,-146.6,300.6,-11.2,304,2444,0.00,2.70,0.00,0.000,4,0.000,0.175,2357,3524,3558,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2463,-1.60,-146.6,304.0,-11.2,306,2470,0.00,2.53,0.00,0.000,6,0.000,0.119,2356,2115,3557,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2770,-1.60,-146.6,339.3,-11.6,337,2780,0.00,2.58,0.00,0.000,4,0.000,0.158,2356,709,3557,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2808,-1.60,-146.6,343.6,-11.8,340,2816,0.10,2.67,0.00,0.000,6,0.329,0.164,2367,2119,3557,0,0,0,0,0,0,14.69,14.73,28.83
$GC,3117,-1.60,-146.6,377.9,-10.7,371,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2120,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3434,-1.60,-146.6,412.3,-11.1,402,3442,0.00,2.67,0.00,0.000,4,0.000,0.177,2358,3531,3557,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3479,-1.60,-146.6,418.3,-11.6,406,3487,0.00,2.50,0.00,0.000,6,0.000,0.119,2358,2126,3557,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,3753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3753,begin apogee
$GC,3766,-0.38,0.0,450.1,-11.2,434,3921,0.95,0.00,143.25,2.201,6,0.249,0.000,2629,2065,2961,0,0,0,0,0,0,14.72,28.83,13.07
$STATE,3922,end apogee,CONTROL_FINISHED_OK
$STATE,3922,begin climb
$GC,3927,1.52,146.6,457.0,0.0,450,4093,1.38,2.85,151.93,2.145,4,0.149,0.162,3061,663,2363,0,0,0,0,0,0,13.85,13.66,13.02
$GC,4137,1.30,146.6,450.1,10.8,471,4146,0.25,2.78,0.00,0.000,6,0.297,0.144,3004,2076,2358,0,0,0,0,0,0,13.89,13.97,28.83
$GC,4447,1.18,148.9,418.9,9.9,502,4457,0.12,2.70,0.00,0.000,4,0.331,0.161,2974,3479,2355,0,0,0,0,0,0,14.30,14.34,28.83
$GC,4610,1.08,150.2,403.0,9.9,517,4618,0.12,2.60,0.00,0.000,6,0.314,0.120,2958,2065,2354,0,0,0,0,0,0,14.38,14.47,28.83
$GC,4920,1.08,186.9,376.8,8.3,548,4966,0.00,2.90,39.47,2.077,4,0.000,0.164,2957,3482,2198,0,0,0,0,0,0,28.83,14.13,13.51
$GC,5013,1.03,186.9,368.0,10.1,557,5022,0.08,2.62,0.00,0.000,6,0.288,0.119,2948,2070,2197,0,0,0,0,0,0,14.15,14.23,28.83
$GC,5324,1.06,214.1,339.8,8.7,588,5359,0.00,0.00,27.85,2.035,6,0.000,0.000,2946,2070,2087,0,0,0,0,0,0,28.83,28.83,13.54
$GC,5663,1.07,220.1,307.8,9.7,622,5672,0.00,0.00,6.88,1.764,6,0.000,0.000,2948,2070,2061,0,0,0,0,0,0,28.83,28.83,13.74
$GC,5973,1.08,226.9,278.0,9.7,653,5991,0.00,2.72,8.00,1.809,4,0.000,0.164,2948,3479,2037,0,0,0,0,0,0,28.83,14.42,13.81
$GC,6016,1.08,226.9,273.5,10.3,657,6025,0.00,2.58,0.00,0.000,6,0.000,0.121,2956,2072,2037,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6327,1.08,234.2,242.2,9.7,688,6344,0.00,2.75,9.20,1.834,4,0.000,0.168,2956,3483,2006,0,0,0,0,0,0,28.83,14.45,13.84
$GC,6370,1.08,234.2,237.9,10.0,692,6379,0.00,2.58,0.00,0.000,6,0.000,0.120,2965,2069,2006,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6680,1.08,234.2,205.9,10.8,723,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2068,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6996,1.08,234.2,173.2,10.1,754,7004,0.00,2.70,0.00,0.000,4,0.000,0.170,2965,3477,2004,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7061,1.08,234.2,165.3,11.3,760,7070,0.00,2.55,0.00,0.000,6,0.000,0.122,2975,2065,2003,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7370,1.08,234.2,133.0,10.3,791,7380,0.00,2.58,0.00,0.000,4,0.000,0.158,2986,663,2003,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7426,1.08,234.2,127.2,10.9,796,7435,0.10,2.60,0.00,0.000,6,0.262,0.151,2958,2068,2003,0,0,0,0,0,0,14.61,14.66,28.83
$GC,7737,1.16,267.4,99.6,8.5,827,7763,0.00,2.62,19.23,0.503,4,0.000,0.158,2966,660,1869,0,0,0,0,0,0,28.83,14.63,14.49
$GC,7835,1.21,267.4,90.7,10.2,844,7842,0.00,2.65,0.00,0.000,6,0.000,0.149,2967,2076,1867,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8152,1.29,298.3,61.4,8.6,905,8179,0.12,2.72,16.80,0.372,4,0.164,0.168,3017,3481,1742,0,0,0,0,0,0,14.70,14.61,14.54
$GC,8241,1.26,298.3,50.5,13.5,920,8248,0.15,2.58,0.00,0.000,6,0.297,0.121,2994,2059,1740,0,0,0,0,0,0,14.58,14.66,28.83
$GC,8565,1.51,411.7,21.3,4.8,981,8633,0.15,2.85,59.70,0.239,4,0.150,0.173,3055,3487,1278,0,0,0,0,0,0,14.69,14.57,14.54
$GC,8745,1.60,411.7,5.4,10.4,1012,8752,0.00,2.58,0.00,0.000,6,0.000,0.122,3063,2068,1270,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,8762,end climb,SURFACE_DEPTH_REACHED
$STATE,8762,begin surface coast
$FINISH,1.1,1.024429
$STATE,8789,end surface coast,CONTROL_FINISHED_OK
$STATE,8789,begin surface
$SM_CCo,8877,0.00,0.000,0,0,1266,415.54
$SM_GC,1.96,8.75,0.15,0.00,0.116,0.221,0.000,145,2129,1266,-11.78,-0.20,415.54,0,0,0,0,0,0,14.65,14.60,28.83
$RAFOS_CLK,359
$RAFOS,6,1347151745,0.833333,0.818056,92,62,60,57,50,50,609,148,159,199,211,116
$RAFOS,5,1347151263,0.700000,0.684167,86,60,57,53,51,49,716,202,228,180,121,147
$RAFOS,2,1347149834,0.300000,0.287222,61,56,54,53,50,49,191,162,132,215,229,581
$RAFOS_FIX,6655.652344,-5906.568359,090912,000050,3,100,133.58
$IRIDIUM_FIX,6625.71,-5904.05,090912,000039
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.09
$INTERNAL_PRESSURE,8.72327
$TCM_TEMP,13.40
$XPDR_PINGS,6
$24V_AH,13.0,5.806
$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,23.450,90.575,482.300,0.000,0.000,0.000,0.000,374.525,1.500,0.000,5.836,2509.855,3926.413,601.701,1949.307,514.413,0.000,1901.180,0.000,1626.140,720.000,0.538,0.000
$DEVICE_MAMPS,452.880,221.085,2200.905,0.000,0.000,0.000,0.000,153.765,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.395,702.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188740
$DATA_FILE_SIZE,46736,1020
$CAP_FILE_SIZE,106493,0
$CFSIZE,259252224,250241024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.2
$CURRENT,0.093, 53.8,1
$GPS,090912,030411,6652.756,-5855.104,14,1.0,14,-33.8