version: 66.11
glider: 193
mission: 2
dive: 9
start: 9 9 112 12 2 3
data:
$ID,193
$MISSION,2
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,240
$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,-753.5556
$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,16
$R_STBD_OVSHOOT,10
$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
$GPS1,090912,115404,6653.543,-5843.490,27,0.8,27,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-67.7
$GPS2,090912,120124,6653.582,-5843.263,5,0.7,5,-33.7
$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,126.6,85045,-17.5,-10.000,-21.03
$D_GRID,985
$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,-1.52,-146.6,0.0,0.0,0,91,0.00,0.00,-70.25,0.000,2,0.000,0.000,140,2118,2699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.52,-146.6,3.5,-3.8,12,130,11.00,2.90,-14.65,0.000,4,0.458,0.206,2333,3532,3370,0,0,0,0,0,0,14.33,14.42,14.70
$GC,366,-1.42,-146.6,53.1,-15.2,62,373,0.17,2.60,0.00,0.000,6,0.298,0.122,2371,2111,3372,0,0,0,0,0,0,14.47,14.55,28.83
$GC,684,-1.36,-146.6,94.3,-13.1,123,691,0.00,2.80,0.00,0.000,4,0.000,0.184,2362,3533,3373,0,0,0,0,0,0,28.83,14.56,28.83
$GC,828,-1.30,-146.6,112.0,-12.7,140,837,0.10,2.55,0.00,0.000,6,0.269,0.119,2389,2121,3373,0,0,0,0,0,0,14.54,14.61,28.83
$GC,1138,-1.30,-146.6,148.7,-11.5,171,1147,0.00,2.60,0.00,0.000,4,0.000,0.156,2390,712,3372,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1182,-1.30,-146.6,153.9,-11.7,175,1191,0.00,2.65,0.00,0.000,6,0.000,0.164,2382,2119,3372,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1493,-1.30,-146.6,188.0,-10.5,206,1501,0.00,2.70,0.00,0.000,4,0.000,0.175,2372,3535,3372,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1547,-1.30,-146.6,193.9,-10.7,211,1556,0.08,2.53,0.00,0.000,6,0.265,0.116,2392,2123,3372,0,0,0,0,0,0,14.60,14.69,28.83
$GC,1858,-1.30,-146.6,225.4,-10.2,242,1863,0.00,2.58,0.00,0.000,4,0.000,0.154,2392,714,3371,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1904,-1.30,-146.6,230.3,-10.7,246,1912,0.00,2.62,0.00,0.000,6,0.000,0.163,2384,2117,3372,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2213,-1.30,-146.6,262.3,-10.2,277,2223,0.00,2.67,0.00,0.000,4,0.000,0.174,2374,3530,3371,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2252,-1.30,-146.6,266.0,-10.4,280,2259,0.10,2.53,0.00,0.000,6,0.302,0.115,2393,2117,3371,0,0,0,0,0,0,14.66,14.73,28.83
$GC,2560,-1.30,-146.6,294.9,-9.1,311,2569,0.00,2.70,0.00,0.000,4,0.000,0.176,2384,3527,3371,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2595,-1.30,-146.6,298.0,-9.3,314,2604,0.00,2.50,0.00,0.000,6,0.000,0.116,2384,2123,3371,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2905,-1.30,-146.6,327.3,-9.2,345,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2123,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3220,-1.30,-146.6,356.3,-9.3,376,3228,0.00,2.58,0.00,0.000,4,0.000,0.154,2384,709,3371,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3257,-1.30,-146.6,360.2,-9.5,379,3264,0.00,2.65,0.00,0.000,6,0.000,0.161,2377,2121,3371,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3565,-1.30,-146.6,390.6,-9.6,410,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2121,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3881,-1.30,-146.6,420.7,-9.8,441,3890,0.00,2.67,0.00,0.000,4,0.000,0.177,2366,3530,3370,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3916,-1.30,-146.6,424.8,-10.1,444,3925,0.08,2.50,0.00,0.000,6,0.269,0.119,2387,2122,3371,0,0,0,0,0,0,14.69,14.76,28.83
$GC,4227,-1.30,-146.6,453.6,-9.0,475,4235,0.00,2.60,0.00,0.000,4,0.000,0.156,2387,706,3371,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4272,-1.30,-146.6,457.9,-9.6,479,4280,0.00,2.65,0.00,0.000,6,0.000,0.164,2381,2125,3371,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4582,-1.30,-146.6,486.6,-9.0,510,4591,0.00,2.62,0.00,0.000,4,0.000,0.155,2381,706,3371,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4610,-1.30,-146.6,489.0,-9.4,512,4618,0.10,2.67,0.00,0.000,6,0.316,0.160,2392,2124,3371,0,0,0,0,0,0,14.71,14.75,28.83
$GC,4919,-1.30,-146.6,515.6,-8.1,543,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2124,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5234,-1.30,-146.6,540.2,-7.5,574,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2125,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5547,-1.30,-146.6,564.7,-8.1,605,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2125,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5859,-1.30,-146.6,590.0,-8.2,636,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2125,3371,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5980,begin apogee
$GC,5992,-0.38,0.0,600.8,-7.9,649,6150,0.70,0.00,147.75,2.339,6,0.258,0.000,2591,2206,2772,0,0,0,0,0,0,14.73,28.83,13.00
$STATE,6151,end apogee,CONTROL_FINISHED_OK
$STATE,6151,begin climb
$GC,6156,1.52,146.6,604.7,0.0,654,6333,1.42,3.00,158.18,2.299,4,0.176,0.170,3007,3611,2174,0,0,0,0,0,0,13.78,13.58,12.92
$GC,6382,1.39,146.6,585.0,13.6,668,6390,0.17,2.72,0.00,0.000,6,0.308,0.119,2982,2197,2170,0,0,0,0,0,0,13.85,13.95,28.83
$GC,6691,1.33,146.6,548.3,11.6,699,6699,0.00,2.67,0.00,0.000,4,0.000,0.155,2991,790,2164,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6735,1.26,146.6,543.1,11.7,703,6745,0.12,2.70,0.00,0.000,6,0.273,0.149,2958,2199,2163,0,0,0,0,0,0,14.26,14.32,28.83
$GC,7046,1.26,146.6,510.2,10.3,734,7055,0.00,2.75,0.00,0.000,4,0.000,0.169,2958,3612,2163,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7084,1.23,146.6,506.3,11.0,737,7092,0.00,2.60,0.00,0.000,6,0.000,0.117,2967,2196,2163,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7393,1.20,146.6,473.2,10.7,768,7402,0.12,2.60,0.00,0.000,4,0.304,0.151,2945,791,2162,0,0,0,0,0,0,14.50,14.54,28.83
$GC,7451,1.21,156.2,467.7,9.6,773,7467,0.00,2.67,8.30,1.968,6,0.000,0.150,2945,2203,2136,0,0,0,0,0,0,28.83,14.55,13.80
$GC,7768,1.21,156.2,436.4,10.0,805,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2203,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8084,1.22,159.6,406.3,9.8,836,8092,0.00,0.00,4.97,1.707,6,0.000,0.000,2945,2203,2120,0,0,0,0,0,0,28.83,28.83,13.86
$GC,8392,1.23,168.6,376.3,9.6,867,8410,0.00,2.67,11.05,1.997,4,0.000,0.155,2955,790,2084,0,0,0,0,0,0,28.83,14.50,13.85
$GC,8456,1.25,188.9,370.5,9.1,873,8485,0.00,2.65,22.35,2.067,6,0.000,0.151,2954,2202,2002,0,0,0,0,0,0,28.83,14.50,13.64
$GC,8796,1.25,188.9,335.8,10.6,907,8805,0.00,2.67,0.00,0.000,4,0.000,0.155,2964,797,1998,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8832,1.25,188.9,332.3,10.5,910,8841,0.00,2.67,0.00,0.000,6,0.000,0.153,2964,2204,1998,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9141,1.25,188.9,298.1,10.8,941,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2204,1998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9458,1.25,188.9,265.5,10.2,972,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2203,1997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9769,1.25,188.9,234.4,10.0,1003,9777,0.00,2.62,0.00,0.000,4,0.000,0.155,2973,788,1997,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9813,1.25,188.9,229.5,10.0,1007,9822,0.08,2.62,0.00,0.000,6,0.269,0.152,2954,2203,1996,0,0,0,0,0,0,14.61,14.65,28.83
$GC,10124,1.29,190.8,199.6,9.9,1038,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2204,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10440,1.35,209.0,170.0,9.2,1069,10466,0.00,2.72,19.98,1.876,4,0.000,0.155,2962,791,1920,0,0,1,0,0,0,28.83,14.50,13.93
$GC,10512,1.39,209.0,162.3,10.2,1076,10521,0.00,2.65,0.00,0.000,6,0.000,0.150,2962,2204,1919,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10822,1.42,209.0,129.9,10.5,1107,10829,0.10,0.00,0.00,0.000,6,0.188,0.000,2998,2205,1918,0,0,0,0,0,0,14.65,28.83,28.83
$GC,11135,1.42,209.0,93.9,11.4,1142,11142,0.00,2.65,0.00,0.000,4,0.000,0.153,3008,783,1917,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11279,1.42,209.0,77.4,11.5,1168,11286,0.00,2.65,0.00,0.000,6,0.000,0.154,3009,2201,1915,0,0,0,0,0,0,28.83,14.65,28.83
$GC,11595,1.42,209.0,43.4,10.1,1229,11603,0.00,2.70,0.00,0.000,4,0.000,0.172,3009,3613,1915,0,0,0,0,0,0,28.83,14.65,28.83
$GC,11679,1.37,211.5,34.6,9.9,1244,11687,0.17,2.58,0.00,0.000,6,0.298,0.120,2979,2201,1915,0,0,0,0,0,0,14.62,14.70,28.83
$GC,12002,1.72,364.4,20.7,3.0,1305,12094,0.22,2.78,83.10,0.231,4,0.129,0.174,3064,3614,1283,0,0,0,0,0,0,14.72,14.54,14.53
$GC,12125,1.77,370.3,11.4,9.7,1324,12133,0.00,2.58,2.30,0.246,6,0.000,0.119,3073,2199,1260,0,0,0,0,0,0,28.83,14.60,14.54
$STATE,12199,end climb,SURFACE_DEPTH_REACHED
$STATE,12199,begin surface coast
$FINISH,1.3,1.024439
$STATE,12229,end surface coast,CONTROL_FINISHED_OK
$STATE,12230,begin surface
$SM_CCo,12317,0.00,0.000,0,0,1252,372.86
$SM_GC,1.95,8.68,0.17,0.00,0.104,0.173,0.000,140,2111,1252,-11.61,0.28,372.86,0,0,0,0,0,0,14.63,14.61,28.83
$RAFOS_CLK,518
$RAFOS,6,1347194942,12.833333,12.817223,95,62,58,58,55,53,621,192,212,149,175,221
$RAFOS,5,1347194468,12.700000,12.685555,143,63,61,60,59,58,658,228,189,209,126,153
$RAFOS,4,1347193984,12.566667,12.551111,134,62,60,55,53,51,554,193,168,206,215,94
$RAFOS,3,1347193510,12.433333,12.419444,106,60,59,56,54,51,731,210,164,189,201,120
$RAFOS,2,1347193025,12.300000,12.284722,127,61,57,55,54,52,673,215,176,233,135,318
$RAFOS,1,1347192547,12.166667,12.151944,117,60,58,55,52,52,684,224,197,171,120,158
$RAFOS_FIX,6653.862305,-5900.509277,090912,121217,6,120,7.01
$IRIDIUM_FIX,6625.71,-5856.54,090912,080825
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.99
$INTERNAL_PRESSURE,8.7135
$TCM_TEMP,13.40
$XPDR_PINGS,3
$24V_AH,12.9,7.020
$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,23.425,117.175,457.975,0.000,0.000,0.000,0.000,277.125,0.750,0.000,5.897,3323.210,5807.900,620.677,2391.815,620.443,0.000,2082.789,0.000,2132.903,2160.000,0.537,0.000
$DEVICE_MAMPS,458.235,210.375,2338.605,0.000,0.000,0.000,0.000,152.235,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,967.421,944.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188792
$DATA_FILE_SIZE,63349,1343
$CAP_FILE_SIZE,137751,0
$CFSIZE,259252224,249933824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1460.7
$CURRENT,0.133, 22.1,1
$GPS,090912,152904,6654.236,-5838.408,32,1.0,33,-33.7