version: 66.11
glider: 193
mission: 2
dive: 7
start: 9 9 112 5 50 7
data:
$ID,193
$MISSION,2
$DIVE,7
$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,-751.04309
$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,0.029999999
$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,15
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,300
$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,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
$GPS1,090912,054304,6653.020,-5851.548,32,1.0,32,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-67.1
$GPS2,090912,054923,6653.013,-5851.465,0,0.9,0,-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,124.9,91058,-17.5,-10.000,-21.03
$D_GRID,1013
$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,-70.47,0.000,2,0.000,0.000,142,2112,2740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.52,-146.6,3.7,-5.9,12,130,10.88,2.88,-13.32,0.000,4,0.454,0.204,2331,3536,3372,0,0,0,0,0,0,14.36,14.45,14.73
$GC,366,-1.40,-146.6,56.5,-14.1,62,374,0.17,2.60,0.00,0.000,6,0.298,0.122,2370,2115,3373,0,0,0,0,0,0,14.48,14.57,28.83
$GC,684,-1.35,-146.6,95.9,-12.1,123,691,0.00,2.80,0.00,0.000,4,0.000,0.185,2361,3534,3374,0,0,0,0,0,0,28.83,14.57,28.83
$GC,840,-1.29,-146.6,114.4,-12.5,140,847,0.15,2.58,0.00,0.000,6,0.288,0.120,2393,2116,3373,0,0,0,0,0,0,14.57,14.64,28.83
$GC,1148,-1.29,-146.6,147.1,-10.4,171,1157,0.00,2.60,0.00,0.000,4,0.000,0.158,2394,707,3373,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1186,-1.29,-146.6,150.9,-10.8,174,1193,0.00,2.67,0.00,0.000,6,0.000,0.162,2386,2122,3373,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1494,-1.29,-146.6,184.4,-11.2,205,1503,0.00,2.70,0.00,0.000,4,0.000,0.174,2375,3531,3373,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1539,-1.29,-146.6,189.5,-11.6,209,1548,0.08,2.50,0.00,0.000,6,0.271,0.114,2395,2123,3373,0,0,0,0,0,0,14.62,14.70,28.83
$GC,1849,-1.29,-146.6,223.5,-10.4,240,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2122,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2166,-1.29,-146.6,254.7,-10.1,271,2174,0.00,2.58,0.00,0.000,4,0.000,0.155,2396,711,3373,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2203,-1.29,-146.6,258.7,-9.8,274,2211,0.00,2.67,0.00,0.000,6,0.000,0.161,2388,2126,3373,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2511,-1.29,-146.6,289.4,-10.0,305,2520,0.00,2.62,0.00,0.000,4,0.000,0.155,2388,708,3372,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2538,-1.29,-146.6,292.0,-10.4,307,2545,0.00,2.65,0.00,0.000,6,0.000,0.162,2380,2119,3372,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2846,-1.29,-146.6,323.4,-9.5,338,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2119,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3161,-1.29,-146.6,353.1,-9.3,369,3170,0.00,2.67,0.00,0.000,4,0.000,0.175,2370,3522,3372,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3206,-1.29,-146.6,358.0,-9.9,373,3215,0.08,2.50,0.00,0.000,6,0.268,0.116,2391,2114,3372,0,0,0,0,0,0,14.68,14.76,28.83
$GC,3516,-1.29,-146.6,387.1,-9.4,404,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2112,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3833,-1.29,-146.6,416.0,-9.2,435,3841,0.00,2.55,0.00,0.000,4,0.000,0.155,2391,712,3372,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3860,-1.29,-146.6,418.9,-9.3,437,3867,0.00,2.65,0.00,0.000,6,0.000,0.165,2384,2122,3372,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4168,-1.29,-146.6,448.1,-9.3,468,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2122,3372,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4182,begin apogee
$GC,4195,-0.38,0.0,450.0,-9.7,470,4350,0.73,0.00,145.10,2.202,6,0.260,0.000,2587,2205,2771,0,0,0,0,0,0,14.71,28.83,13.06
$STATE,4351,end apogee,CONTROL_FINISHED_OK
$STATE,4351,begin climb
$GC,4356,1.52,146.6,454.8,0.0,486,4531,1.45,3.00,154.85,2.151,4,0.181,0.173,3008,3610,2173,0,0,0,0,0,0,13.81,13.61,12.99
$GC,4550,1.40,146.6,440.4,11.9,505,4558,0.15,2.72,0.00,0.000,6,0.305,0.118,2989,2202,2170,0,0,0,0,0,0,13.79,13.87,28.83
$GC,4860,1.34,146.6,402.7,11.9,536,4868,0.00,2.65,0.00,0.000,4,0.000,0.153,2998,793,2164,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4934,1.26,146.6,393.5,12.2,543,4945,0.15,2.67,0.00,0.000,6,0.269,0.150,2959,2199,2163,0,0,0,0,0,0,14.28,14.33,28.83
$GC,5245,1.26,146.6,359.2,10.7,574,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2199,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5560,1.26,146.6,323.9,11.4,605,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2199,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5873,1.26,146.6,290.4,10.5,636,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2199,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6184,1.27,151.1,257.9,9.8,667,6194,0.00,2.62,0.00,0.000,4,0.000,0.156,2966,787,2161,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6254,1.27,151.1,250.6,10.4,673,6261,0.00,2.65,0.00,0.000,6,0.000,0.152,2967,2203,2160,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6562,1.29,164.9,219.9,9.4,704,6581,0.00,0.00,16.70,1.927,6,0.000,0.000,2967,2203,2097,0,0,0,0,0,0,28.83,28.83,13.91
$GC,6882,1.31,185.4,189.8,9.1,736,6909,0.00,2.78,21.50,1.910,4,0.000,0.157,2977,783,2016,0,0,1,0,0,0,28.83,14.38,13.78
$GC,6948,1.32,191.1,183.7,9.7,742,6964,0.00,2.70,7.38,1.717,6,0.000,0.152,2977,2199,1992,0,0,0,0,0,0,28.83,14.40,13.73
$GC,7265,1.32,191.1,150.5,10.1,774,7274,0.00,2.67,0.00,0.000,4,0.000,0.155,2987,784,1990,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7301,1.32,191.1,147.0,10.3,777,7310,0.00,2.65,0.00,0.000,6,0.000,0.151,2987,2196,1989,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7611,1.34,206.2,115.5,9.3,808,7629,0.00,2.70,8.82,1.671,4,0.000,0.171,2987,3620,1932,0,0,0,0,0,0,28.83,14.50,13.94
$GC,7695,1.30,206.2,106.6,10.8,816,7705,0.10,2.58,0.00,0.000,6,0.279,0.117,2969,2201,1932,0,0,0,0,0,0,14.45,14.54,28.83
$GC,8009,1.37,232.1,78.7,8.8,871,8034,0.00,2.83,14.98,0.432,4,0.000,0.172,2969,3614,1825,0,0,0,0,0,0,28.83,14.52,14.43
$GC,8070,1.37,232.1,72.9,10.2,881,8076,0.00,2.58,0.00,0.000,6,0.000,0.116,2977,2198,1823,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8392,1.45,253.4,40.0,9.0,942,8411,0.00,2.62,11.12,0.315,4,0.000,0.153,2988,788,1738,0,0,0,0,0,0,28.83,14.58,14.52
$GC,8473,1.52,253.4,31.7,10.5,956,8481,0.10,2.65,0.00,0.000,6,0.187,0.152,3023,2199,1735,0,0,0,0,0,0,14.63,14.58,28.83
$GC,8794,1.77,392.8,7.2,3.6,1017,8851,0.12,0.00,52.95,0.192,2,0.168,0.000,3074,2199,1323,0,0,0,0,0,0,14.65,28.83,28.83
$STATE,8852,end climb,SURFACE_DEPTH_REACHED
$STATE,8852,begin surface coast
$FINISH,1.1,1.012439
$STATE,8883,end surface coast,CONTROL_FINISHED_OK
$STATE,8883,begin surface
$SM_CCo,8971,0.00,0.000,0,0,1314,357.65
$SM_GC,1.99,8.82,0.20,0.00,0.118,0.167,0.000,142,2117,1314,-11.61,0.40,357.65,0,0,0,0,0,0,14.61,14.58,28.83
$RAFOS_CLK,369
$RAFOS,1,1347178142,8.166667,8.150556,136,64,54,53,52,52,692,212,119,156,144,175
$RAFOS,0,1347177665,8.033334,8.018056,63,60,59,53,50,48,166,213,199,140,109,122
$RAFOS_FIX,6652.581543,-5907.515625,090912,040456,5,126,1.89
$IRIDIUM_FIX,6625.71,-5851.86,090912,030343
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.59
$INTERNAL_PRESSURE,8.72327
$TCM_TEMP,13.60
$XPDR_PINGS,8
$24V_AH,13.0,6.371
$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,22.975,85.675,433.400,0.000,0.000,0.000,0.000,226.925,2.000,0.000,6.920,2511.507,3968.179,557.548,1824.127,489.396,0.000,1702.002,0.000,1628.267,1080.000,0.537,0.000
$DEVICE_MAMPS,454.410,209.610,2202.435,0.000,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.077,712.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188872
$DATA_FILE_SIZE,46690,1032
$CAP_FILE_SIZE,104308,0
$CFSIZE,259252224,250118144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1459.5
$CURRENT,0.117,  0.8,1
$GPS,090912,082047,6653.485,-5848.639,16,1.2,16,-33.8