version: 66.11
glider: 193
mission: 2
dive: 140
start: 10 3 112 0 47 7
data:
$ID,193
$MISSION,2
$DIVE,140
$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,290
$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,-1017.5572
$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,18
$R_STBD_OVSHOOT,16
$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
$GPS1,031012,003934,6701.514,-5700.830,42,0.8,42,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-64.7
$GPS2,031012,004628,6701.630,-5700.695,4,0.8,4,-33.5
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,297.0,153702,-17.3,-8.919,-19.96
$D_GRID,697
$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,-136.9,0.0,0.0,0,63,0.00,0.00,-41.62,0.000,2,0.000,0.000,117,2128,2358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.50,-136.9,3.0,-1.7,7,122,11.48,2.65,-34.92,0.000,4,0.472,0.155,2349,707,3329,0,0,0,0,0,0,14.37,14.51,14.78
$GC,311,-1.50,-136.9,38.8,-14.1,51,317,0.00,2.65,0.00,0.000,6,0.000,0.142,2341,2119,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,628,-1.50,-136.9,81.9,-13.9,112,635,0.00,2.70,0.00,0.000,4,0.000,0.153,2330,3538,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,660,-1.50,-136.9,86.5,-14.2,117,669,0.10,2.53,0.00,0.000,6,0.311,0.101,2348,2120,3332,0,0,0,0,0,0,14.55,14.68,28.83
$GC,979,-1.50,-136.9,129.8,-14.2,157,989,0.00,2.53,0.00,0.000,4,0.000,0.134,2349,717,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1085,-1.50,-136.9,145.0,-14.8,167,1094,0.00,2.58,0.00,0.000,6,0.000,0.133,2340,2123,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1396,-1.50,-136.9,186.1,-12.3,198,1405,0.00,2.62,0.00,0.000,4,0.000,0.147,2330,3527,3331,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1451,-1.50,-136.9,193.2,-12.8,203,1461,0.08,2.47,0.00,0.000,6,0.281,0.099,2349,2118,3331,0,0,0,0,0,0,14.60,14.73,28.83
$GC,1762,-1.50,-136.9,229.6,-11.4,234,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2078,-1.50,-136.9,265.3,-11.3,265,2087,0.00,2.67,0.00,0.000,4,0.000,0.150,2340,3533,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2116,-1.50,-136.9,270.1,-11.9,268,2123,0.00,2.50,0.00,0.000,6,0.000,0.099,2340,2118,3329,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2424,-1.50,-136.9,305.1,-11.4,299,2433,0.00,2.53,0.00,0.000,4,0.000,0.131,2340,708,3329,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2460,-1.50,-136.9,309.1,-11.3,302,2469,0.05,2.58,0.00,0.000,6,0.309,0.135,2344,2121,3330,0,0,0,0,0,0,14.64,14.72,28.83
$GC,2770,-1.50,-136.9,341.8,-10.4,333,2780,0.00,2.62,0.00,0.000,4,0.000,0.148,2336,3534,3330,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2808,-1.50,-136.9,345.6,-10.7,336,2815,0.00,2.50,0.00,0.000,6,0.000,0.100,2335,2117,3330,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3115,-1.50,-136.9,379.1,-10.8,367,3124,0.00,2.53,0.00,0.000,4,0.000,0.131,2335,705,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3150,-1.50,-136.9,383.1,-11.3,370,3160,0.08,2.60,0.00,0.000,6,0.296,0.132,2347,2127,3330,0,0,0,0,0,0,14.65,14.73,28.83
$GC,3476,-1.50,-136.9,417.0,-10.8,392,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2127,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3771,-1.50,-136.9,447.5,-10.1,402,3777,0.00,2.55,0.00,0.000,4,0.000,0.132,2347,706,3329,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3811,-1.50,-136.9,450.9,-10.1,403,3816,0.00,2.58,0.00,0.000,6,0.000,0.135,2340,2120,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4134,-1.50,-136.9,483.9,-9.8,414,4140,0.00,2.62,0.00,0.000,4,0.000,0.148,2329,3530,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4174,-1.50,-136.9,487.3,-9.8,415,4180,0.08,2.45,0.00,0.000,6,0.283,0.101,2348,2124,3330,0,0,0,0,0,0,14.71,14.83,28.83
$GC,4497,-1.50,-136.9,518.4,-9.4,426,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4796,-1.50,-136.9,546.9,-9.4,436,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2124,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5096,-1.50,-136.9,576.3,-9.9,446,5102,0.00,2.53,0.00,0.000,4,0.000,0.133,2349,705,3331,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5136,-1.50,-136.9,579.6,-10.0,447,5141,0.00,2.58,0.00,0.000,6,0.000,0.135,2342,2119,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5459,-1.50,-136.9,614.0,-10.4,458,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5758,-1.50,-136.9,644.9,-10.2,468,5763,0.00,2.53,0.00,0.000,4,0.000,0.134,2342,711,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5807,-1.50,-136.9,648.2,-10.2,469,5817,0.00,2.58,0.00,0.000,6,0.000,0.135,2334,2126,3331,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6119,-1.50,-136.9,681.6,-10.0,480,6125,0.00,2.60,0.00,0.000,4,0.000,0.153,2323,3524,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6164,-1.50,-136.9,684.8,-10.1,481,6170,0.10,2.45,0.00,0.000,6,0.280,0.101,2350,2119,3331,0,0,0,0,0,0,14.73,14.86,28.83
$STATE,6296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6296,begin apogee
$GC,6308,-0.38,0.0,699.5,-9.6,486,6456,0.85,0.00,137.48,2.441,6,0.267,0.000,2588,2201,2773,0,0,0,0,0,0,14.75,28.83,13.15
$STATE,6457,end apogee,CONTROL_FINISHED_OK
$STATE,6457,begin climb
$GC,6462,1.50,136.9,703.7,0.0,491,6623,1.40,3.00,148.98,2.398,4,0.168,0.145,3006,3617,2214,0,0,0,0,0,0,13.93,13.35,12.66
$GC,6672,1.50,136.9,685.6,11.0,498,6678,0.00,2.75,0.00,0.000,6,0.000,0.102,3017,2196,2210,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6994,1.50,136.9,642.8,12.7,509,7000,0.00,2.62,0.00,0.000,4,0.000,0.131,3028,794,2204,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7019,1.50,136.9,642.8,12.7,509,7027,0.10,2.65,0.00,0.000,6,0.307,0.119,3009,2200,2203,0,0,0,0,0,0,14.16,14.23,28.83
$GC,7326,1.50,136.9,601.2,12.5,520,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2200,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7626,1.50,136.9,563.7,12.5,530,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2200,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7926,1.50,136.9,527.4,11.9,540,7931,0.00,2.65,0.00,0.000,4,0.000,0.142,3009,3618,2202,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7960,1.50,136.9,523.7,11.8,541,7966,0.00,2.55,0.00,0.000,6,0.000,0.104,3017,2195,2202,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8287,1.50,136.9,483.6,12.1,552,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2195,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8588,1.50,136.9,447.1,12.2,562,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2195,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8887,1.50,136.9,410.0,12.7,572,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2195,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9187,1.50,136.9,371.9,12.7,596,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2195,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9502,1.50,136.9,332.9,12.4,627,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2195,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9815,1.50,136.9,294.4,12.1,658,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2195,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10127,1.50,136.9,257.9,12.2,689,10137,0.00,2.67,0.00,0.000,4,0.000,0.150,3019,3616,2201,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10172,1.50,136.9,251.5,12.5,693,10183,0.08,2.53,0.00,0.000,6,0.283,0.110,3009,2197,2201,0,0,0,0,0,0,14.69,14.79,28.83
$GC,10484,1.50,136.9,218.0,10.9,724,10493,0.00,2.55,0.00,0.000,4,0.000,0.136,3018,782,2199,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10509,1.50,136.9,215.4,10.5,726,10518,0.00,2.55,0.00,0.000,6,0.000,0.127,3018,2199,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10819,1.50,136.9,182.3,10.5,757,10828,0.00,2.62,0.00,0.000,4,0.000,0.146,3018,3616,2198,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10867,1.50,136.9,177.3,11.0,761,10876,0.10,2.53,0.00,0.000,6,0.316,0.104,3009,2194,2199,0,0,0,0,0,0,14.71,14.82,28.83
$GC,11176,1.50,136.9,145.9,9.5,792,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2194,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11493,1.50,136.9,116.9,9.2,823,11499,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2194,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11803,1.50,136.9,86.5,10.2,867,11810,0.00,2.53,0.00,0.000,4,0.000,0.132,3018,784,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11846,1.50,136.9,82.0,10.5,874,11853,0.00,2.58,0.00,0.000,6,0.000,0.125,3018,2206,2198,0,0,0,0,0,0,28.83,14.79,28.83
$GC,12163,1.50,136.9,51.0,9.3,935,12170,0.00,2.62,0.00,0.000,4,0.000,0.143,3017,3614,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12231,1.50,139.1,44.6,8.8,947,12237,0.00,2.53,0.00,0.000,6,0.000,0.102,3028,2190,2199,0,0,0,0,0,0,28.83,14.81,28.83
$GC,12550,1.61,226.8,17.2,5.1,1008,12606,0.00,2.58,46.45,0.239,4,0.000,0.131,3038,792,1842,0,0,0,0,0,0,28.83,14.66,14.63
$GC,12642,1.61,226.8,11.3,9.3,1023,12649,0.00,2.58,0.00,0.000,6,0.000,0.125,3038,2204,1837,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,12749,end climb,SURFACE_DEPTH_REACHED
$STATE,12749,begin surface coast
$FINISH,1.9,1.014469
$STATE,12784,end surface coast,CONTROL_FINISHED_OK
$STATE,12784,begin surface
$SM_CCo,12812,30.88,0.193,0,0,1588,290.19
$SM_GC,3.19,8.55,0.20,30.88,0.106,0.148,0.193,136,2116,1588,-11.62,0.42,290.19,0,0,0,0,0,0,14.74,14.71,14.63
$RAFOS_CLK,541
$RAFOS,1,1349237344,4.166667,4.151111,90,65,62,59,56,56,945,155,172,196,222,131
$RAFOS,0,1349236861,4.033333,4.016944,66,63,58,57,55,54,181,143,196,120,215,163
$RAFOS,6,1349225344,0.833333,0.817778,87,74,64,63,56,54,758,192,225,210,157,123
$RAFOS,4,1349224385,0.566667,0.551389,67,63,60,56,55,52,152,210,174,221,124,163
$RAFOS_FIX,6706.674805,-5722.654785,031012,000028,2,84,0.00
$IRIDIUM_FIX,6631.12,-5701.34,021012,212102
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.02
$INTERNAL_PRESSURE,8.73303
$TCM_TEMP,13.20
$XPDR_PINGS,6
$24V_AH,12.7,46.504
$10V_AH,13.0,0.000
$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,23.025,114.150,332.900,30.875,0.000,0.000,0.000,259.575,1.500,0.000,5.646,2700.601,7484.292,532.786,1958.092,592.479,0.000,1780.805,0.000,1735.591,1440.000,0.538,0.000
$DEVICE_MAMPS,472.005,186.660,2441.115,192.780,0.000,0.000,0.000,150.705,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.572,733.621,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188788
$DATA_FILE_SIZE,50142,1050
$CAP_FILE_SIZE,120090,0
$CFSIZE,259252224,240943104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.0
$CURRENT,0.151,347.5,1
$GPS,031012,042304,6702.395,-5705.668,42,0.8,42,-33.5