version: 66.11
glider: 193
mission: 2
dive: 29
start: 9 13 112 12 32 14
data:
$ID,193
$MISSION,2
$DIVE,29
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$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,370
$T_MISSION,420
$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,140
$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,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-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,310
$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,-786.87195
$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
$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,21
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,260
$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,3
$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
$GPS1,130912,122458,6702.447,-5659.895,46,0.8,47,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-67.2
$GPS2,130912,123135,6702.475,-5659.905,5,0.8,5,-33.5
$SPEED_LIMITS,0.075,0.246
$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,126.7,8652,-17.3,-8.919,-19.96
$D_GRID,653
$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,-1.50,-136.9,0.0,0.0,0,87,0.00,0.00,-65.70,0.000,2,0.000,0.000,117,2112,2779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-1.50,-136.9,3.2,-2.3,11,124,11.05,0.00,-14.48,0.000,6,0.457,0.000,2347,2112,3331,0,0,0,0,0,0,14.40,28.83,14.74
$GC,434,-1.50,-136.9,61.9,-13.9,76,441,0.00,2.75,0.00,0.000,4,0.000,0.167,2338,3535,3333,0,0,0,0,0,0,28.83,14.57,28.83
$GC,492,-1.50,-136.9,70.3,-14.8,86,499,0.00,2.55,0.00,0.000,6,0.000,0.109,2338,2115,3333,0,0,0,0,0,0,28.83,14.63,28.83
$GC,810,-1.50,-136.9,114.4,-13.4,137,819,0.00,2.55,0.00,0.000,4,0.000,0.142,2338,708,3334,0,0,0,0,0,0,28.83,14.63,28.83
$GC,845,-1.50,-136.9,119.1,-13.5,140,854,0.08,2.60,0.00,0.000,6,0.290,0.148,2348,2118,3334,0,0,0,0,0,0,14.59,14.64,28.83
$GC,1155,-1.50,-136.9,157.7,-12.2,171,1164,0.00,2.65,0.00,0.000,4,0.000,0.158,2339,3535,3333,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1203,-1.50,-136.9,163.4,-12.8,175,1209,0.00,2.53,0.00,0.000,6,0.000,0.106,2339,2111,3334,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1511,-1.50,-136.9,202.5,-12.1,206,1520,0.00,2.55,0.00,0.000,4,0.000,0.140,2339,703,3332,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1616,-1.50,-136.9,216.3,-13.0,216,1625,0.08,2.58,0.00,0.000,6,0.294,0.145,2349,2117,3332,0,0,0,0,0,0,14.66,14.70,28.83
$GC,1926,-1.50,-136.9,252.0,-11.5,247,1935,0.00,2.65,0.00,0.000,4,0.000,0.156,2340,3535,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1971,-1.50,-136.9,257.3,-12.0,251,1979,0.00,2.47,0.00,0.000,6,0.000,0.103,2340,2123,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2281,-1.50,-136.9,293.4,-12.2,282,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2123,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2597,-1.50,-136.9,328.9,-11.4,313,2606,0.00,2.65,0.00,0.000,4,0.000,0.159,2330,3532,3332,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2615,-1.50,-136.9,330.9,-11.3,314,2622,0.12,2.50,0.00,0.000,6,0.307,0.104,2355,2112,3332,0,0,0,0,0,0,14.71,14.80,28.83
$GC,2923,-1.50,-136.9,363.7,-10.0,345,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2111,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3237,-1.50,-136.9,394.8,-10.0,376,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2112,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3564,-1.50,-136.9,427.4,-9.9,391,3570,0.00,2.50,0.00,0.000,4,0.000,0.140,2355,709,3332,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3603,-1.50,-136.9,430.8,-10.2,392,3609,0.00,2.55,0.00,0.000,6,0.000,0.144,2349,2114,3332,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3925,-1.50,-136.9,464.2,-10.1,403,3931,0.00,2.60,0.00,0.000,4,0.000,0.157,2338,3528,3332,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3960,-1.50,-136.9,467.4,-10.0,404,3966,0.00,2.47,0.00,0.000,6,0.000,0.104,2339,2120,3332,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4287,-1.50,-136.9,502.4,-10.6,415,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4587,-1.50,-136.9,533.9,-10.4,425,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4887,-1.50,-136.9,566.0,-10.9,435,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2119,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5187,-1.50,-136.9,599.4,-11.1,445,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5487,-1.50,-136.9,631.4,-10.6,455,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5752,end dive,NO_VERTICAL_VELOCITY
$STATE,5752,begin apogee
$GC,5764,-0.38,0.0,634.0,0.0,464,5912,0.80,0.00,137.75,2.342,6,0.169,0.000,2596,2201,2772,0,0,0,0,0,0,14.88,28.83,13.14
$STATE,5913,end apogee,CONTROL_FINISHED_OK
$STATE,5913,begin climb
$GC,5918,1.50,136.9,634.0,0.0,469,6085,1.35,2.97,147.20,2.285,4,0.161,0.151,3003,3623,2214,0,0,0,0,0,0,13.88,13.62,12.99
$GC,6159,1.50,136.9,613.0,11.8,477,6165,0.00,2.67,0.00,0.000,6,0.000,0.106,3013,2197,2210,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6481,1.50,136.9,571.4,12.3,488,6487,0.00,2.60,0.00,0.000,4,0.000,0.142,3024,795,2205,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6536,1.50,136.9,567.5,12.3,489,6543,0.00,2.62,0.00,0.000,6,0.000,0.131,3024,2206,2203,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6842,1.50,136.9,525.1,12.9,500,6848,0.00,2.62,0.00,0.000,4,0.000,0.147,3024,3610,2203,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6887,1.50,136.9,520.6,13.3,501,6893,0.10,2.53,0.00,0.000,6,0.286,0.104,3008,2199,2203,0,0,0,0,0,0,14.47,14.56,28.83
$GC,7204,1.50,136.9,480.1,11.7,512,7210,0.00,2.58,0.00,0.000,4,0.000,0.138,3017,787,2202,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7253,1.50,136.9,476.2,11.9,513,7262,0.00,2.55,0.00,0.000,6,0.000,0.126,3017,2201,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7565,1.50,136.9,435.2,12.2,524,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2201,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,1.50,136.9,397.1,12.6,534,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2201,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8180,1.50,136.9,357.8,13.0,565,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2201,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8493,1.50,136.9,317.7,12.9,596,8501,0.00,2.60,0.00,0.000,4,0.000,0.148,3017,3612,2201,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8528,1.50,136.9,312.3,13.0,599,8537,0.08,2.50,0.00,0.000,6,0.295,0.107,3008,2198,2201,0,0,0,0,0,0,14.69,14.77,28.83
$GC,8837,1.50,136.9,273.3,12.4,630,8847,0.00,2.55,0.00,0.000,4,0.000,0.140,3017,781,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8873,1.50,136.9,268.9,12.6,633,8882,0.00,2.55,0.00,0.000,6,0.000,0.131,3017,2200,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9183,1.50,136.9,229.6,12.6,664,9191,0.00,2.58,0.00,0.000,4,0.000,0.149,3017,3607,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9218,1.50,136.9,225.2,12.6,667,9227,0.08,2.47,0.00,0.000,6,0.295,0.106,3007,2199,2200,0,0,0,0,0,0,14.71,14.78,28.83
$GC,9527,1.50,136.9,189.7,10.9,698,9537,0.00,2.53,0.00,0.000,4,0.000,0.138,3017,786,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9636,1.50,136.9,178.2,10.6,708,9643,0.00,2.55,0.00,0.000,6,0.000,0.129,3017,2204,2199,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9944,1.50,136.9,146.3,10.3,739,9953,0.00,2.60,0.00,0.000,4,0.000,0.148,3017,3611,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9989,1.50,136.9,141.6,10.5,743,9998,0.00,2.47,0.00,0.000,6,0.000,0.105,3027,2199,2199,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10298,1.50,136.9,107.8,11.3,774,10306,0.10,0.00,0.00,0.000,6,0.327,0.000,3008,2199,2200,0,0,0,0,0,0,14.75,28.83,28.83
$GC,10613,1.50,140.0,77.4,8.8,828,10620,0.00,2.55,0.00,0.000,4,0.000,0.138,3017,777,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10706,1.53,160.0,69.4,8.0,845,10725,0.00,2.58,11.00,0.389,6,0.000,0.131,3017,2206,2118,0,0,0,0,0,0,28.83,14.79,14.66
$GC,11042,1.55,179.2,40.8,8.1,908,11062,0.00,2.62,10.15,0.301,4,0.000,0.151,3018,3612,2039,0,0,0,0,0,0,28.83,14.73,14.68
$GC,11164,1.57,194.4,30.4,8.3,929,11178,0.00,2.53,8.05,0.275,6,0.000,0.106,3027,2192,1977,0,0,0,0,0,0,28.83,14.77,14.68
$GC,11495,1.62,232.7,11.3,7.2,991,11521,0.00,2.75,20.00,0.213,4,0.000,0.151,3027,3614,1821,0,0,0,0,0,0,28.83,14.71,14.69
$STATE,11576,end climb,SURFACE_DEPTH_REACHED
$STATE,11577,begin surface coast
$FINISH,1.1,1.011021
$STATE,11606,end surface coast,CONTROL_FINISHED_OK
$STATE,11606,begin surface
$SM_CCo,11636,38.92,0.174,0,0,1506,310.06
$SM_GC,2.04,8.50,2.72,38.92,0.106,0.106,0.174,139,2117,1506,-11.62,0.57,310.06,0,0,0,0,0,0,14.74,14.74,14.66
$RAFOS_CLK,476
$RAFOS,6,1347540544,12.833333,12.817778,72,59,58,57,57,53,775,198,178,215,125,162
$RAFOS,5,1347540064,12.700000,12.684444,123,62,56,53,52,52,631,202,213,165,127,146
$RAFOS,4,1347539581,12.566667,12.550278,75,61,61,60,60,55,849,201,179,216,162,189
$RAFOS,2,1347538624,12.300000,12.284445,58,57,56,55,53,52,174,190,945,202,221,212
$RAFOS_FIX,6709.368164,-5719.324219,130912,121244,3,90,26.06
$IRIDIUM_FIX,6636.54,-5702.96,130912,080831
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.73
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,14.00
$XPDR_PINGS,5
$24V_AH,13.0,13.563
$10V_AH,13.2,0.000
$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,22.325,103.625,334.150,38.925,0.000,0.000,0.000,240.500,1.250,0.000,5.956,2565.591,6551.921,521.785,1896.340,551.997,0.000,1721.985,0.000,1692.591,1080.000,0.538,0.000
$DEVICE_MAMPS,456.705,192.015,2341.665,173.655,0.000,0.000,0.000,149.940,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.791,699.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188816
$DATA_FILE_SIZE,46740,1011
$CAP_FILE_SIZE,113088,0
$CFSIZE,259252224,248492032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.4
$CURRENT,0.100,235.4,1
$GPS,130912,154851,6702.008,-5657.285,47,0.7,47,-33.5