version: 66.11
glider: 193
mission: 2
dive: 10
start: 9 9 112 15 37 6
data:
$ID,193
$MISSION,2
$DIVE,10
$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,-3
$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,-754.80927
$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,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
$GPS1,090912,152904,6654.236,-5838.408,32,1.0,33,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-67.1
$GPS2,090912,153537,6654.256,-5838.225,5,1.0,5,-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,137.5,81229,-17.5,-10.000,-21.03
$D_GRID,977
$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,-146.6,0.0,0.0,0,92,0.00,0.00,-70.53,0.000,2,0.000,0.000,139,2110,2621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.52,-146.6,3.0,-2.4,12,137,11.00,2.85,-18.15,0.000,4,0.460,0.203,2331,3537,3372,0,0,0,0,0,0,14.37,14.46,14.73
$GC,371,-1.40,-146.6,56.2,-13.1,63,378,0.17,2.60,0.00,0.000,6,0.302,0.119,2370,2114,3373,0,0,0,0,0,0,14.49,14.57,28.83
$GC,689,-1.34,-146.6,93.4,-12.5,124,696,0.00,2.80,0.00,0.000,4,0.000,0.184,2361,3533,3374,0,0,0,0,0,0,28.83,14.57,28.83
$GC,757,-1.29,-146.6,102.7,-13.4,135,767,0.12,2.55,0.00,0.000,6,0.269,0.119,2394,2120,3374,0,0,0,0,0,0,14.55,14.61,28.83
$GC,1068,-1.29,-146.6,136.9,-10.5,166,1076,0.00,2.60,0.00,0.000,4,0.000,0.157,2394,708,3374,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1145,-1.29,-146.6,145.3,-11.2,173,1152,0.00,2.67,0.00,0.000,6,0.000,0.163,2386,2122,3374,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1453,-1.29,-146.6,178.4,-11.0,204,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2122,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1769,-1.29,-146.6,209.9,-10.1,235,1778,0.00,2.67,0.00,0.000,4,0.000,0.176,2376,3528,3373,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1806,-1.29,-146.6,214.1,-10.3,238,1814,0.10,2.58,0.00,0.000,6,0.301,0.119,2395,2112,3373,0,0,0,0,0,0,14.65,14.72,28.83
$GC,2115,-1.29,-146.6,242.8,-9.0,269,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2112,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2425,-1.29,-146.6,271.9,-9.6,300,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2112,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2739,-1.29,-146.6,301.4,-9.6,331,2748,0.00,2.72,0.00,0.000,4,0.000,0.182,2386,3524,3372,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2777,-1.29,-146.6,305.1,-9.2,334,2784,0.00,2.55,0.00,0.000,6,0.000,0.121,2386,2121,3372,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3085,-1.29,-146.6,335.3,-9.7,365,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2121,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3395,-1.29,-146.6,364.6,-9.6,396,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2121,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3710,-1.29,-146.6,393.8,-9.3,427,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2121,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4017,-1.29,-146.6,423.1,-9.6,458,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2121,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4333,-1.29,-146.6,453.1,-9.7,489,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2121,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4646,-1.29,-146.6,483.6,-9.7,520,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2121,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4958,-1.29,-146.6,513.3,-9.3,551,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2121,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5270,-1.29,-146.6,542.8,-9.6,582,5278,0.00,2.72,0.00,0.000,4,0.000,0.190,2376,3522,3372,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5297,-1.29,-146.6,545.7,-9.8,584,5305,0.10,2.53,0.00,0.000,6,0.297,0.123,2396,2119,3372,0,0,0,0,0,0,14.73,14.81,28.83
$GC,5606,-1.33,-146.6,575.0,-9.2,615,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2119,3371,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5871,begin apogee
$GC,5883,-0.38,0.0,600.5,-9.5,642,6041,0.70,0.00,148.35,2.355,6,0.255,0.000,2595,2206,2773,0,0,0,0,0,0,14.74,28.83,12.99
$STATE,6042,end apogee,CONTROL_FINISHED_OK
$STATE,6042,begin climb
$GC,6048,1.52,146.6,606.3,0.0,647,6223,1.40,2.97,159.60,2.313,4,0.172,0.171,3007,3612,2173,0,0,0,0,0,0,13.78,13.58,12.93
$GC,6279,1.38,146.6,588.7,12.5,660,6289,0.12,2.72,0.00,0.000,6,0.288,0.119,2986,2197,2170,0,0,0,0,0,0,13.85,13.93,28.83
$GC,6590,1.31,146.6,556.0,10.5,691,6599,0.00,2.67,0.00,0.000,4,0.000,0.155,2995,789,2164,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6635,1.24,146.6,551.1,10.8,695,6644,0.15,2.67,0.00,0.000,6,0.272,0.149,2956,2197,2163,0,0,0,0,0,0,14.26,14.32,28.83
$GC,6945,1.24,147.1,520.6,10.0,726,6954,0.00,2.72,0.00,0.000,4,0.000,0.169,2956,3608,2163,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6990,1.21,147.1,516.1,10.2,730,6999,0.00,2.58,0.00,0.000,6,0.000,0.116,2964,2198,2163,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7300,1.18,151.6,485.0,9.8,761,7312,0.12,2.62,3.30,1.382,4,0.304,0.151,2942,788,2156,0,0,0,0,0,0,14.50,14.52,13.78
$GC,7360,1.20,173.1,479.7,9.0,766,7395,0.00,2.70,24.38,2.183,6,0.000,0.150,2942,2209,2066,0,0,0,0,0,0,28.83,14.52,13.59
$GC,7698,1.23,192.7,448.1,9.1,800,7724,0.00,0.00,21.48,2.158,6,0.000,0.000,2942,2209,1986,0,0,0,0,0,0,28.83,28.83,13.57
$GC,8028,1.28,208.3,417.4,9.3,833,8055,0.00,2.75,17.45,2.105,4,0.000,0.154,2952,790,1923,0,0,0,0,0,0,28.83,14.24,13.59
$GC,8121,1.31,208.3,408.3,10.0,842,8130,0.00,2.67,0.00,0.000,6,0.000,0.149,2951,2196,1920,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8430,1.31,208.3,376.5,10.3,873,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2196,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8747,1.34,208.3,342.2,11.5,904,8755,0.00,2.65,0.00,0.000,4,0.000,0.156,2960,786,1918,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8791,1.34,208.3,336.4,11.5,908,8800,0.00,2.65,0.00,0.000,6,0.000,0.154,2960,2202,1917,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9101,1.34,208.3,299.6,11.7,939,9110,0.00,2.67,0.00,0.000,4,0.000,0.156,2970,780,1917,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9138,1.34,208.3,295.6,11.6,942,9145,0.00,2.70,0.00,0.000,6,0.000,0.152,2970,2209,1916,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9446,1.34,208.3,260.3,10.6,973,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2209,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9762,1.34,208.3,226.5,11.1,1004,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2209,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10073,1.34,208.3,192.6,10.1,1035,10082,0.00,2.62,0.00,0.000,4,0.000,0.155,2980,790,1916,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10150,1.34,208.3,183.9,11.2,1042,10157,0.00,2.62,0.00,0.000,6,0.000,0.151,2980,2202,1915,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10458,1.34,208.3,149.0,11.2,1073,10468,0.00,2.67,0.00,0.000,4,0.000,0.172,2980,3608,1915,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10516,1.34,208.3,142.0,12.9,1078,10523,0.00,2.55,0.00,0.000,6,0.000,0.118,2990,2194,1915,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10823,1.34,208.3,105.6,11.5,1109,10833,0.00,2.58,0.00,0.000,4,0.000,0.154,3000,788,1914,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10909,1.34,208.3,95.8,11.2,1120,10917,0.12,2.65,0.00,0.000,6,0.294,0.151,2974,2205,1914,0,0,0,0,0,0,14.68,14.73,28.83
$GC,11231,1.36,221.2,64.0,9.4,1181,11245,0.00,2.67,6.55,0.396,4,0.000,0.168,2973,3611,1869,0,0,0,0,0,0,28.83,14.69,14.59
$GC,11281,1.36,221.2,58.3,10.8,1189,11288,0.00,2.55,0.00,0.000,6,0.000,0.116,2981,2194,1869,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11605,1.44,236.5,29.0,9.3,1250,11618,0.00,2.67,8.45,0.272,4,0.000,0.154,2991,781,1806,0,0,0,0,0,0,28.83,14.69,14.65
$GC,11824,1.75,375.5,14.7,3.6,1291,11909,0.22,2.65,73.93,0.220,6,0.129,0.152,3072,2205,1237,0,0,0,0,0,0,14.75,14.70,14.56
$STATE,11969,end climb,SURFACE_DEPTH_REACHED
$STATE,11969,begin surface coast
$FINISH,1.3,1.013154
$STATE,11995,end surface coast,CONTROL_FINISHED_OK
$STATE,11995,begin surface
$SM_CCo,12082,0.00,0.000,0,0,1225,379.23
$SM_GC,1.94,8.43,0.20,0.00,0.079,0.163,0.000,137,2118,1225,-11.62,0.45,379.23,0,0,0,0,0,0,14.66,14.64,28.83
$RAFOS_CLK,515
$RAFOS,6,1347209351,16.833334,16.819723,90,64,63,63,58,56,565,205,171,193,184,150
$RAFOS,5,1347208867,16.700001,16.685278,140,57,57,56,56,55,646,161,130,217,203,194
$RAFOS,4,1347208385,16.566668,16.551390,124,58,57,56,56,55,564,139,154,209,200,191
$RAFOS,3,1347207905,16.433332,16.418056,107,62,58,56,56,55,766,202,180,163,190,143
$RAFOS,2,1347207425,16.299999,16.284721,102,67,58,58,56,56,690,199,208,148,124,160
$RAFOS,1,1347206945,16.166666,16.151388,116,64,63,53,52,51,707,158,214,126,111,173
$RAFOS,0,1347206464,16.033333,16.017778,60,59,56,56,55,52,199,232,218,142,130,208
$RAFOS_FIX,6654.880371,-5855.832520,090912,161617,6,113,3.85
$IRIDIUM_FIX,6625.71,-5844.34,090912,111144
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.79
$INTERNAL_PRESSURE,8.70374
$TCM_TEMP,13.30
$XPDR_PINGS,7
$24V_AH,12.9,7.349
$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,22.775,96.275,463.475,0.000,0.000,0.000,0.000,229.650,1.750,0.000,5.934,3254.599,5732.482,621.785,2295.122,627.618,0.000,1997.848,0.000,2084.412,2520.000,0.538,0.000
$DEVICE_MAMPS,459.765,206.550,2354.670,0.000,0.000,0.000,0.000,156.825,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.651,929.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189768
$DATA_FILE_SIZE,60040,1321
$CAP_FILE_SIZE,130944,0
$CFSIZE,259252224,249872384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.4
$CURRENT,0.230, 12.0,1
$GPS,090912,190005,6655.208,-5833.474,24,1.8,25,-33.7