version: 66.11
glider: 193
mission: 2
dive: 86
start: 9 23 112 15 34 17
data:
$ID,193
$MISSION,2
$DIVE,86
$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,-2
$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,-889.07727
$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,16
$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
$GPS1,230912,152717,6643.343,-6012.455,15,0.7,15,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-69.3
$GPS2,230912,153333,6643.344,-6012.393,5,0.8,7,-33.8
$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,91.0,152024,-17.3,-8.919,-19.96
$D_GRID,563
$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,13,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,49,0.00,0.00,-28.20,0.000,2,0.000,0.000,140,2112,1988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-1.50,-136.9,3.0,-1.2,5,147,11.30,2.80,-72.15,0.000,4,0.472,0.184,2340,3537,3330,0,0,0,0,0,0,14.36,14.46,14.72
$GC,287,-1.50,-136.9,35.4,-18.9,46,294,0.00,2.60,0.00,0.000,6,0.000,0.111,2340,2111,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,603,-1.50,-136.9,83.5,-14.1,107,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2111,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,920,-1.50,-136.9,125.3,-13.0,150,928,0.00,2.55,0.00,0.000,4,0.000,0.142,2340,710,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1005,-1.50,-136.9,137.6,-14.3,158,1014,0.08,2.62,0.00,0.000,6,0.298,0.147,2349,2118,3332,0,0,0,0,0,0,14.57,14.61,28.83
$GC,1315,-1.50,-136.9,177.7,-12.9,189,1324,0.00,2.58,0.00,0.000,4,0.000,0.142,2350,711,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1373,-1.50,-136.9,185.4,-13.9,194,1380,0.00,2.62,0.00,0.000,6,0.000,0.143,2341,2128,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1682,-1.50,-136.9,226.2,-12.7,225,1691,0.00,2.62,0.00,0.000,4,0.000,0.158,2331,3530,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1760,-1.50,-136.9,236.4,-13.5,232,1768,0.10,2.53,0.00,0.000,6,0.311,0.106,2349,2117,3331,0,0,0,0,0,0,14.62,14.72,28.83
$GC,2068,-1.50,-136.9,276.4,-12.5,263,2077,0.00,2.55,0.00,0.000,4,0.000,0.138,2349,706,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2176,-1.50,-136.9,290.1,-12.8,273,2183,0.00,2.62,0.00,0.000,6,0.000,0.142,2342,2129,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2485,-1.50,-136.9,327.5,-11.3,304,2494,0.00,2.62,0.00,0.000,4,0.000,0.155,2331,3535,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2512,-1.50,-136.9,330.6,-11.8,306,2520,0.10,2.53,0.00,0.000,6,0.312,0.105,2349,2117,3330,0,0,0,0,0,0,14.65,14.75,28.83
$GC,2820,-1.50,-136.9,366.0,-11.0,337,2830,0.00,2.55,0.00,0.000,4,0.000,0.138,2349,705,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2876,-1.50,-136.9,372.6,-12.3,342,2884,0.00,2.58,0.00,0.000,6,0.000,0.140,2342,2119,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3207,-1.50,-136.9,410.5,-11.2,369,3212,0.00,2.62,0.00,0.000,4,0.000,0.157,2331,3528,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3231,-1.50,-136.9,410.5,-11.2,369,3240,0.10,2.50,0.00,0.000,6,0.312,0.103,2349,2117,3330,0,0,0,0,0,0,14.66,14.76,28.83
$GC,3540,-1.50,-136.9,447.3,-10.9,380,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3838,-1.50,-136.9,479.9,-10.8,390,3844,0.00,2.67,0.00,0.000,4,0.000,0.162,2341,3533,3330,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3862,-1.50,-136.9,479.9,-10.8,390,3869,0.00,2.50,0.00,0.000,6,0.000,0.103,2340,2120,3330,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4170,-1.50,-136.9,517.5,-11.4,401,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2120,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4469,-1.50,-136.9,550.8,-11.4,411,4475,0.00,2.53,0.00,0.000,4,0.000,0.139,2341,713,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4538,-1.50,-136.9,557.9,-11.5,413,4544,0.00,2.58,0.00,0.000,6,0.000,0.143,2333,2126,3330,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,4585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4585,begin apogee
$GC,4598,-0.38,0.0,564.8,-11.6,415,4738,0.95,0.00,134.27,2.295,6,0.279,0.000,2591,2203,2772,0,0,0,0,0,0,14.71,28.83,13.11
$STATE,4743,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4749,1.50,136.9,570.1,0.0,420,4899,1.42,0.00,145.07,2.245,6,0.177,0.000,3004,2203,2213,0,0,0,0,0,0,13.88,28.83,12.78
$GC,5191,1.50,136.9,527.7,11.3,435,5196,0.00,2.75,0.00,0.000,4,0.000,0.143,3015,793,2204,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5240,1.50,136.9,524.0,11.3,436,5249,0.00,2.67,0.00,0.000,6,0.000,0.134,3015,2194,2203,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5552,1.50,136.9,486.0,11.5,447,5558,0.00,2.75,0.00,0.000,4,0.000,0.153,3015,3614,2203,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5602,1.50,136.9,482.1,11.7,448,5610,0.00,2.60,0.00,0.000,6,0.000,0.106,3026,2196,2202,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5914,1.50,136.9,441.6,12.2,459,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2196,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6214,1.50,136.9,403.4,13.0,469,6219,0.00,2.60,0.00,0.000,4,0.000,0.142,3036,781,2202,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6238,1.50,136.9,403.4,13.0,469,6246,0.15,2.62,0.00,0.000,6,0.303,0.131,3005,2206,2200,0,0,0,0,0,0,14.49,14.56,28.83
$GC,6547,1.50,136.9,363.4,12.1,500,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2206,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6863,1.50,136.9,327.3,11.6,531,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2206,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7175,1.50,136.9,294.7,9.9,562,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2206,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,1.52,155.5,267.0,8.1,593,7508,0.00,0.00,16.80,1.960,6,0.000,0.000,3004,2206,2138,0,0,0,0,0,0,28.83,28.83,13.90
$GC,7813,1.54,168.8,239.7,8.3,626,7833,0.00,2.70,14.48,1.906,4,0.000,0.145,3013,777,2083,0,0,0,0,0,0,28.83,14.46,13.83
$GC,7863,1.54,168.8,235.1,9.4,631,7872,0.00,2.62,0.00,0.000,6,0.000,0.132,3013,2202,2081,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8174,1.54,168.8,201.5,12.1,662,8183,0.00,2.67,0.00,0.000,4,0.000,0.156,3013,3617,2080,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8232,1.54,168.8,194.5,12.8,667,8239,0.00,2.60,0.00,0.000,6,0.000,0.112,3024,2190,2080,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8540,1.54,168.8,158.2,10.9,698,8549,0.00,2.58,0.00,0.000,4,0.000,0.143,3034,780,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8629,1.54,168.8,148.4,11.7,706,8636,0.00,2.62,0.00,0.000,6,0.000,0.135,3034,2210,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8936,1.54,168.8,115.2,10.6,737,8946,0.00,2.62,0.00,0.000,4,0.000,0.142,3044,780,2078,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9005,1.54,168.8,108.2,10.8,743,9013,0.12,2.60,0.00,0.000,6,0.304,0.131,3018,2206,2078,0,0,0,0,0,0,14.62,14.68,28.83
$GC,9319,1.58,204.7,81.0,7.4,796,9343,0.00,0.00,19.73,0.431,6,0.000,0.000,3018,2206,1936,0,0,0,0,0,0,28.83,28.83,14.52
$GC,9654,1.61,226.7,55.9,8.0,860,9668,0.00,0.00,11.38,0.367,6,0.000,0.000,3018,2206,1846,0,0,0,0,0,0,28.83,28.83,14.54
$GC,9980,1.63,246.4,27.7,8.1,922,9999,0.00,2.65,10.02,0.281,4,0.000,0.143,3027,788,1765,0,0,0,0,0,0,28.83,14.64,14.59
$GC,10045,1.68,283.1,23.1,7.3,933,10071,0.00,2.60,19.60,0.258,6,0.000,0.131,3027,2208,1615,0,0,0,0,0,0,28.83,14.65,14.57
$STATE,10294,end climb,SURFACE_DEPTH_REACHED
$STATE,10294,begin surface coast
$FINISH,1.9,1.020734
$STATE,10325,end surface coast,CONTROL_FINISHED_OK
$STATE,10330,begin surface
$SM_CCo,10358,1.35,0.281,0,0,1588,290.19
$SM_GC,4.05,8.70,0.20,1.35,0.122,0.154,0.281,139,2119,1588,-11.60,0.54,290.19,0,0,0,0,0,0,14.69,14.66,14.62
$RAFOS_CLK,450
$RAFOS,6,1348418941,16.833334,16.816944,67,60,58,57,50,50,119,213,134,201,146,181
$RAFOS,5,1348418471,16.700001,16.686388,116,61,58,57,56,54,886,172,158,208,191,250
$RAFOS,4,1348417989,16.566668,16.552500,84,65,64,57,57,54,644,214,197,182,155,141
$RAFOS,3,1348417507,16.433332,16.418612,106,70,60,58,53,51,741,174,213,201,137,115
$RAFOS,2,1348417022,16.299999,16.283890,83,66,60,58,54,54,540,148,210,191,180,163
$RAFOS,1,1348416544,16.166666,16.151112,141,64,60,58,56,53,473,210,195,177,137,155
$RAFOS,0,1348416062,16.033333,16.017221,66,66,62,55,55,55,201,219,185,129,157,171
$RAFOS_FIX,6637.030762,-5956.817383,230912,161628,4,97,4.71
$IRIDIUM_FIX,6620.33,-5842.51,230912,121235
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.57
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.60
$XPDR_PINGS,12
$24V_AH,12.8,30.495
$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,23.025,94.400,371.350,1.350,0.000,0.000,0.000,225.200,3.000,0.000,7.734,2487.796,5395.970,545.831,1805.293,521.942,0.000,1668.054,0.000,1620.106,2520.000,0.536,0.000
$DEVICE_MAMPS,472.005,198.135,2295.000,280.755,0.000,0.000,0.000,143.820,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.287,695.692,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188708
$DATA_FILE_SIZE,46700,987
$CAP_FILE_SIZE,105650,0
$CFSIZE,259252224,244609024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.6
$CURRENT,0.150,353.5,1
$GPS,230912,182834,6644.982,-6009.685,23,0.8,23,-33.9