version: 66.11
glider: 193
mission: 2
dive: 88
start: 9 23 112 21 47 22
data:
$ID,193
$MISSION,2
$DIVE,88
$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,-900.13446
$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
$GPS1,230912,213804,6644.850,-6006.292,23,0.8,23,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-69.0
$GPS2,230912,214643,6644.818,-6006.426,5,0.8,5,-33.9
$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,129.7,147196,-17.3,-8.919,-19.96
$D_GRID,608
$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,12,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,48,0.00,0.00,-28.02,0.000,2,0.000,0.000,140,2113,2093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-1.50,-136.9,3.0,-2.6,5,135,11.50,2.88,-61.42,0.000,4,0.480,0.190,2339,3531,3331,0,0,0,0,0,0,14.35,14.45,14.71
$GC,205,-1.50,-136.9,20.2,-22.8,30,212,0.00,2.60,0.00,0.000,6,0.000,0.115,2339,2117,3332,0,0,0,0,0,0,28.83,14.52,28.83
$GC,523,-1.50,-136.9,71.7,-15.0,91,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2116,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,838,-1.50,-136.9,119.3,-14.9,140,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2116,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1152,-1.50,-136.9,163.8,-13.5,171,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2117,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1464,-1.50,-136.9,204.5,-13.2,202,1473,0.00,2.60,0.00,0.000,4,0.000,0.148,2339,705,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1502,-1.50,-136.9,209.9,-13.3,205,1510,0.10,2.65,0.00,0.000,6,0.330,0.147,2348,2126,3332,0,0,0,0,0,0,14.62,14.69,28.83
$GC,1811,-1.50,-136.9,251.6,-13.5,236,1820,0.00,2.65,0.00,0.000,4,0.000,0.161,2339,3532,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1856,-1.50,-136.9,257.4,-13.0,240,1864,0.00,2.53,0.00,0.000,6,0.000,0.108,2339,2115,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2165,-1.50,-136.9,297.0,-12.5,271,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2115,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2482,-1.50,-136.9,332.5,-11.1,302,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2115,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2793,-1.50,-136.9,367.4,-11.0,333,2803,0.00,2.67,0.00,0.000,4,0.000,0.163,2329,3525,3331,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2831,-1.50,-136.9,371.8,-11.0,336,2839,0.10,2.53,0.00,0.000,6,0.311,0.107,2348,2112,3331,0,0,0,0,0,0,14.67,14.76,28.83
$GC,3159,-1.50,-136.9,407.5,-10.8,365,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2112,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-1.50,-136.9,440.6,-10.9,375,3465,0.00,2.67,0.00,0.000,4,0.000,0.161,2339,3528,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3504,-1.50,-136.9,444.2,-11.0,376,3509,0.00,2.50,0.00,0.000,6,0.000,0.107,2339,2116,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3821,-1.50,-136.9,481.2,-11.1,387,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4121,-1.50,-136.9,513.1,-10.6,397,4126,0.00,2.53,0.00,0.000,4,0.000,0.142,2339,713,3331,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4201,-1.50,-136.9,519.9,-10.9,399,4210,0.05,2.55,0.00,0.000,6,0.302,0.142,2345,2112,3331,0,0,0,0,0,0,14.72,14.76,28.83
$GC,4513,-1.50,-136.9,553.4,-10.0,410,4518,0.00,2.62,0.00,0.000,4,0.000,0.158,2336,3528,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4592,-1.50,-136.9,560.0,-10.3,412,4601,0.00,2.50,0.00,0.000,6,0.000,0.107,2336,2112,3331,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4904,-1.50,-136.9,594.7,-10.6,423,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2111,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5048,begin apogee
$GC,5061,-0.38,0.0,610.9,-10.9,428,5208,0.93,0.00,136.40,2.362,6,0.278,0.000,2589,2205,2773,0,0,0,0,0,0,14.73,28.83,13.08
$STATE,5209,end apogee,CONTROL_FINISHED_OK
$STATE,5209,begin climb
$GC,5214,1.50,136.9,616.0,0.0,433,5367,1.40,0.00,147.10,2.305,6,0.176,0.000,3002,2205,2213,0,0,0,0,0,0,13.86,28.83,12.73
$GC,5654,1.50,136.9,572.8,11.7,448,5660,0.00,2.75,0.00,0.000,4,0.000,0.143,3012,787,2204,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5685,1.50,136.9,569.1,11.6,449,5691,0.00,2.72,0.00,0.000,6,0.000,0.133,3012,2203,2204,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6017,1.50,136.9,528.8,12.1,460,6022,0.00,2.72,0.00,0.000,4,0.000,0.151,3012,3616,2203,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6066,1.50,136.9,524.6,12.4,461,6075,0.00,2.60,0.00,0.000,6,0.000,0.107,3023,2197,2203,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6378,1.50,136.9,482.2,12.9,472,6383,0.00,2.60,0.00,0.000,4,0.000,0.138,3033,790,2202,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6422,1.50,136.9,478.0,13.1,473,6428,0.10,2.58,0.00,0.000,6,0.285,0.128,3007,2197,2201,0,0,0,0,0,0,14.40,14.47,28.83
$GC,6739,1.50,136.9,437.1,12.5,484,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2197,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7039,1.50,136.9,399.9,12.7,494,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2197,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7354,1.50,136.9,361.9,11.8,525,7363,0.00,2.65,0.00,0.000,4,0.000,0.149,3007,3611,2201,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7391,1.50,136.9,357.1,11.9,528,7398,0.00,2.55,0.00,0.000,6,0.000,0.106,3016,2196,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7700,1.50,136.9,320.6,11.3,559,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2196,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8014,1.50,136.9,287.1,10.3,590,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2196,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8328,1.50,136.9,256.8,9.7,621,8337,0.00,2.67,0.00,0.000,4,0.000,0.156,3016,3610,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8406,1.50,136.9,248.6,10.7,628,8413,0.00,2.55,0.00,0.000,6,0.000,0.109,3027,2193,2201,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8714,1.50,136.9,218.2,9.6,659,8722,0.00,2.53,0.00,0.000,4,0.000,0.139,3037,793,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8771,1.50,136.9,212.8,10.1,664,8779,0.15,2.58,0.00,0.000,6,0.301,0.130,3004,2209,2199,0,0,0,0,0,0,14.66,14.73,28.83
$GC,9080,1.50,136.9,182.5,10.1,695,9089,0.00,2.60,0.00,0.000,4,0.000,0.140,3013,785,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9138,1.50,136.9,176.7,10.6,700,9145,0.00,2.58,0.00,0.000,6,0.000,0.125,3013,2201,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9446,1.50,136.9,144.3,9.8,731,9455,0.00,2.60,0.00,0.000,4,0.000,0.151,3013,3609,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9503,1.50,136.9,138.6,10.4,736,9510,0.00,2.53,0.00,0.000,6,0.000,0.107,3023,2195,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9812,1.51,144.2,110.8,8.6,767,9821,0.00,2.70,2.17,0.776,4,0.000,0.155,3024,3617,2184,0,0,0,0,0,0,28.83,14.72,13.97
$GC,9908,1.51,144.2,101.6,9.8,776,9917,0.08,2.53,0.00,0.000,6,0.286,0.105,3013,2197,2185,0,0,0,0,0,0,14.66,14.73,28.83
$GC,10228,1.53,161.5,76.5,8.2,836,10248,0.00,2.60,9.57,0.413,4,0.000,0.137,3022,793,2112,0,0,0,0,0,0,28.83,14.69,14.58
$GC,10294,1.53,161.5,70.3,9.3,847,10301,0.00,2.55,0.00,0.000,6,0.000,0.125,3022,2204,2111,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10618,1.55,175.1,42.2,8.3,908,10632,0.00,2.70,7.03,0.327,4,0.000,0.150,3022,3612,2056,0,0,0,0,0,0,28.83,14.68,14.62
$GC,10703,1.55,175.1,33.5,10.4,923,10710,0.00,2.55,0.00,0.000,6,0.000,0.107,3032,2191,2055,0,0,0,0,0,0,28.83,14.72,28.83
$GC,11025,1.72,318.9,14.6,2.7,984,11109,0.10,2.58,75.70,0.220,4,0.181,0.138,3081,790,1467,0,0,0,0,0,0,14.74,14.59,14.55
$STATE,11173,end climb,SURFACE_DEPTH_REACHED
$STATE,11173,begin surface coast
$FINISH,1.9,1.004845
$STATE,11200,end surface coast,CONTROL_FINISHED_OK
$STATE,11200,begin surface
$SM_CCo,11291,0.00,0.000,0,0,1451,323.80
$SM_GC,2.99,8.75,2.53,0.00,0.107,0.133,0.000,135,2124,1451,-11.62,-0.40,323.80,0,0,0,0,0,0,14.65,14.60,28.83
$RAFOS_CLK,494
$RAFOS,5,1348447263,0.700000,0.684167,107,57,57,56,53,51,898,189,174,205,136,119
$RAFOS,4,1348446785,0.566667,0.551389,115,73,64,60,55,50,640,228,196,214,175,146
$RAFOS,3,1348446301,0.433333,0.416944,114,71,67,57,53,50,739,197,211,127,221,179
$RAFOS,2,1348445826,0.300000,0.285000,86,64,64,62,59,56,484,215,186,170,146,198
$RAFOS,1,1348445350,0.166667,0.152778,129,64,62,57,55,53,437,193,147,211,181,230
$RAFOS,0,1348444861,0.033333,0.016944,65,63,60,57,53,51,210,178,161,229,119,150
$RAFOS_FIX,6644.065918,-5948.022949,240912,000033,3,112,1.34
$IRIDIUM_FIX,6614.97,-6018.68,230912,212143
$TT8_MAMPS,0.027713,0.027713
$HUMID,46.73
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.40
$XPDR_PINGS,12
$24V_AH,12.7,31.037
$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,23.250,99.200,377.975,0.000,0.000,0.000,0.000,304.700,3.000,0.000,6.709,2549.985,6235.505,523.175,1958.958,551.141,0.000,1782.950,0.000,1690.395,2520.000,0.536,0.000
$DEVICE_MAMPS,479.655,190.485,2362.320,0.000,0.000,0.000,0.000,143.820,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,743.239,712.029,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188768
$DATA_FILE_SIZE,46706,1015
$CAP_FILE_SIZE,111346,0
$CFSIZE,259252224,244486144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.5
$CURRENT,0.234,166.4,1
$GPS,240912,005703,6643.264,-6001.855,23,0.6,23,-33.8