version: 66.11
glider: 193
mission: 2
dive: 89
start: 9 24 112 1 3 54
data:
$ID,193
$MISSION,2
$DIVE,89
$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,-909.93646
$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
$GPS1,240912,005703,6643.264,-6001.855,23,0.6,23,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-68.0
$GPS2,240912,010320,6643.222,-6001.777,5,0.7,5,-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,64.1,144650,-17.3,-8.919,-19.96
$D_GRID,640
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-1.50,-136.9,0.0,0.0,0,51,0.00,0.00,-28.88,0.000,2,0.000,0.000,134,2125,1991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-1.50,-136.9,3.1,-1.6,5,150,11.27,2.80,-70.25,0.000,4,0.470,0.189,2341,3531,3331,0,0,0,0,0,0,14.35,14.45,14.73
$GC,240,-1.50,-136.9,24.5,-18.8,36,247,0.00,2.58,0.00,0.000,6,0.000,0.109,2340,2116,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,557,-1.50,-136.9,71.6,-13.4,97,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2116,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,879,-1.50,-136.9,116.1,-14.2,148,888,0.00,2.58,0.00,0.000,4,0.000,0.142,2341,706,3333,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1024,-1.50,-136.9,138.1,-14.9,162,1034,0.05,2.62,0.00,0.000,6,0.300,0.145,2344,2125,3332,0,0,0,0,0,0,14.57,14.62,28.83
$GC,1334,-1.50,-136.9,181.7,-13.7,193,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2125,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1651,-1.50,-136.9,223.1,-13.5,224,1660,0.00,2.58,0.00,0.000,4,0.000,0.141,2344,715,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1678,-1.50,-136.9,227.1,-13.3,226,1685,0.00,2.60,0.00,0.000,6,0.000,0.141,2336,2123,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1985,-1.50,-136.9,268.2,-12.9,257,1995,0.00,2.62,0.00,0.000,4,0.000,0.155,2325,3533,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2103,-1.50,-136.9,283.9,-13.7,268,2110,0.12,2.53,0.00,0.000,6,0.310,0.105,2350,2113,3331,0,0,0,0,0,0,14.64,14.74,28.83
$GC,2411,-1.50,-136.9,321.2,-11.9,299,2420,0.00,2.53,0.00,0.000,4,0.000,0.137,2350,712,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2486,-1.50,-136.9,330.5,-12.6,306,2495,0.00,2.58,0.00,0.000,6,0.000,0.143,2343,2117,3331,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2796,-1.50,-136.9,367.2,-11.6,337,2805,0.00,2.62,0.00,0.000,4,0.000,0.157,2332,3528,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2853,-1.50,-136.9,374.0,-12.3,342,2861,0.10,2.53,0.00,0.000,6,0.311,0.107,2350,2110,3331,0,0,0,0,0,0,14.66,14.76,28.83
$GC,3177,-1.50,-136.9,410.2,-11.3,368,3182,0.00,2.53,0.00,0.000,4,0.000,0.138,2351,709,3331,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3268,-1.50,-136.9,421.3,-11.4,371,3274,0.00,2.60,0.00,0.000,6,0.000,0.140,2344,2120,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3601,-1.50,-136.9,458.5,-11.4,382,3606,0.00,2.62,0.00,0.000,4,0.000,0.155,2333,3534,3331,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3665,-1.50,-136.9,465.8,-11.5,384,3671,0.00,2.50,0.00,0.000,6,0.000,0.105,2333,2120,3331,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3992,-1.50,-136.9,502.4,-11.1,395,3997,0.00,2.65,0.00,0.000,4,0.000,0.159,2323,3535,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4037,-1.50,-136.9,505.9,-11.1,396,4043,0.10,2.50,0.00,0.000,6,0.284,0.104,2349,2113,3331,0,0,0,0,0,0,14.70,14.79,28.83
$GC,4353,-1.50,-136.9,540.1,-9.8,407,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2112,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4653,-1.50,-136.9,570.2,-10.0,417,4659,0.00,2.53,0.00,0.000,4,0.000,0.141,2349,708,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4703,-1.50,-136.9,573.5,-10.1,418,4712,0.00,2.58,0.00,0.000,6,0.000,0.145,2343,2116,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5015,-1.50,-136.9,606.8,-9.7,429,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2116,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5315,-1.50,-136.9,636.8,-10.5,439,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2116,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5369,begin apogee
$GC,5382,-0.38,0.0,642.7,-10.5,441,5525,0.90,0.00,137.77,2.396,6,0.276,0.000,2590,2203,2772,0,0,0,0,0,0,14.76,28.83,13.07
$STATE,5531,end apogee,CONTROL_FINISHED_OK
$STATE,5531,begin climb
$GC,5536,1.50,136.9,646.6,0.0,446,5699,1.40,3.00,146.75,2.348,4,0.179,0.142,3011,785,2213,0,0,0,0,0,0,13.86,13.38,12.68
$GC,5713,1.50,136.9,632.7,9.9,452,5719,0.00,2.83,0.00,0.000,6,0.000,0.131,3011,2197,2210,0,0,0,0,0,0,28.83,13.52,28.83
$GC,6040,1.50,136.9,590.7,12.4,463,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2197,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6340,1.50,136.9,554.5,12.3,473,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2197,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6640,1.50,136.9,518.4,11.9,483,6646,0.00,2.65,0.00,0.000,4,0.000,0.142,3020,789,2202,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6680,1.50,136.9,514.5,11.9,484,6685,0.00,2.60,0.00,0.000,6,0.000,0.129,3021,2200,2201,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7002,1.50,136.9,473.6,12.5,495,7008,0.00,2.67,0.00,0.000,4,0.000,0.151,3021,3611,2202,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7036,1.50,136.9,469.3,12.6,496,7043,0.08,2.55,0.00,0.000,6,0.289,0.108,3011,2202,2202,0,0,0,0,0,0,14.49,14.57,28.83
$GC,7364,1.50,136.9,428.8,12.2,507,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2201,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7664,1.50,136.9,393.3,11.8,519,7672,0.00,2.55,0.00,0.000,4,0.000,0.137,3020,790,2200,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7739,1.50,136.9,384.3,12.1,526,7748,0.00,2.53,0.00,0.000,6,0.000,0.124,3020,2199,2199,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8048,1.50,136.9,348.4,11.4,557,8058,0.00,2.65,0.00,0.000,4,0.000,0.149,3020,3614,2200,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8114,1.50,136.9,340.1,12.8,563,8124,0.08,2.53,0.00,0.000,6,0.292,0.106,3011,2196,2200,0,0,0,0,0,0,14.62,14.71,28.83
$GC,8425,1.50,136.9,306.9,10.6,594,8434,0.00,2.55,0.00,0.000,4,0.000,0.136,3020,786,2199,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8503,1.50,136.9,298.6,11.1,601,8510,0.00,2.55,0.00,0.000,6,0.000,0.123,3020,2201,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8811,1.50,136.9,264.9,10.9,632,8820,0.00,2.58,0.00,0.000,4,0.000,0.138,3030,786,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8876,1.50,136.9,257.9,10.7,638,8886,0.08,2.53,0.00,0.000,6,0.290,0.125,3010,2199,2199,0,0,0,0,0,0,14.65,14.71,28.83
$GC,9187,1.50,136.9,226.5,10.6,669,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9502,1.50,136.9,195.2,9.4,700,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9815,1.51,143.2,166.9,8.6,731,9825,0.00,2.72,4.18,1.494,4,0.000,0.152,3010,3615,2189,0,0,0,0,0,0,28.83,14.71,14.02
$GC,9938,1.51,143.2,156.0,9.3,742,9945,0.00,2.55,0.00,0.000,6,0.000,0.109,3019,2193,2190,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10246,1.55,177.6,130.6,7.4,773,10282,0.00,2.67,26.20,1.873,4,0.000,0.138,3030,780,2046,0,0,0,0,0,0,28.83,14.48,13.88
$GC,10375,1.55,177.6,119.4,10.2,785,10383,0.00,2.62,0.00,0.000,6,0.000,0.132,3030,2202,2042,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10689,1.55,177.6,87.5,9.2,828,10696,0.00,2.62,0.00,0.000,4,0.000,0.140,3039,787,2041,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10807,1.55,177.6,76.5,9.6,850,10814,0.10,2.60,0.00,0.000,6,0.309,0.132,3020,2205,2039,0,0,0,0,0,0,14.55,14.62,28.83
$GC,11129,1.55,177.6,48.8,9.3,911,11136,0.00,2.65,0.00,0.000,4,0.000,0.151,3019,3615,2039,0,0,0,0,0,0,28.83,14.63,28.83
$GC,11172,1.55,177.6,44.2,10.0,918,11179,0.00,2.55,0.00,0.000,6,0.000,0.106,3029,2194,2039,0,0,0,0,0,0,28.83,14.68,28.83
$GC,11494,1.63,245.7,19.4,6.0,979,11538,0.00,2.58,36.10,0.239,4,0.000,0.135,3039,784,1767,0,0,0,0,0,0,28.83,14.61,13.86
$GC,11680,1.72,316.3,6.4,5.8,1012,11722,0.00,2.60,36.33,0.194,6,0.000,0.128,3039,2208,1479,0,0,0,0,0,0,28.83,14.62,14.56
$STATE,11727,end climb,SURFACE_DEPTH_REACHED
$STATE,11727,begin surface coast
$FINISH,2.0,1.022695
$STATE,11760,end surface coast,CONTROL_FINISHED_OK
$STATE,11765,begin surface
$SM_CCo,11852,0.00,0.000,0,0,1468,319.87
$SM_GC,3.02,8.48,0.20,0.00,0.090,0.150,0.000,136,2119,1468,-11.61,0.54,319.87,0,0,0,0,0,0,14.64,14.61,28.83
$RAFOS_CLK,534
$RAFOS,1,1348459743,4.166667,4.150833,120,60,57,56,56,56,493,223,211,139,170,264
$RAFOS,0,1348459261,4.033333,4.016944,63,58,56,54,50,49,171,184,219,153,207,121
$RAFOS,6,1348447741,0.833333,0.816944,67,64,59,52,52,51,216,768,191,166,116,150
$RAFOS_FIX,6644.065918,-5948.022949,240912,000033,3,112,1.34
$IRIDIUM_FIX,6620.33,-6013.28,230912,212157
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.37
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,11
$24V_AH,12.7,31.318
$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,22.750,114.950,387.325,0.000,0.000,0.000,0.000,226.200,2.750,0.000,9.172,2604.504,6516.383,534.301,2000.423,564.874,0.000,1786.165,0.000,1799.340,1080.000,0.536,0.000
$DEVICE_MAMPS,469.710,196.605,2395.980,0.000,0.000,0.000,0.000,138.465,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,743.907,722.504,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188748
$DATA_FILE_SIZE,46754,1026
$CAP_FILE_SIZE,116681,0
$CFSIZE,259252224,244416512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.0
$CURRENT,0.265,167.5,1
$GPS,240912,042258,6642.893,-5958.708,38,0.8,38,-33.8