version: 66.11
glider: 193
mission: 2
dive: 90
start: 9 24 112 4 30 12
data:
$ID,193
$MISSION,2
$DIVE,90
$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,-911.1922
$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,12
$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
$GPS1,240912,042258,6642.893,-5958.708,38,0.8,38,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-68.6
$GPS2,240912,042929,6642.812,-5958.620,5,0.8,5,-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,63.6,142643,-17.3,-8.919,-19.96
$D_GRID,669
$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,-136.9,0.0,0.0,0,49,0.00,0.00,-28.88,0.000,2,0.000,0.000,135,2118,2002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.50,-136.9,3.1,-2.1,5,154,11.27,2.85,-79.85,0.000,4,0.470,0.184,2338,3536,3330,0,0,0,0,0,0,14.35,14.46,14.71
$GC,250,-1.50,-136.9,22.6,-19.6,38,256,0.00,2.60,0.00,0.000,6,0.000,0.110,2337,2111,3331,0,0,0,0,0,0,28.83,14.53,28.83
$GC,567,-1.50,-136.9,71.1,-13.7,99,574,0.00,2.58,0.00,0.000,4,0.000,0.140,2338,708,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,656,-1.50,-136.9,83.5,-14.1,115,663,0.12,2.65,0.00,0.000,6,0.315,0.147,2353,2122,3332,0,0,0,0,0,0,14.52,14.58,28.83
$GC,969,-1.50,-136.9,124.2,-13.1,158,978,0.00,2.60,0.00,0.000,4,0.000,0.140,2353,705,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1044,-1.50,-136.9,134.7,-14.6,165,1053,0.00,2.60,0.00,0.000,6,0.000,0.144,2345,2117,3332,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1354,-1.50,-136.9,176.8,-13.0,196,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2117,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1670,-1.50,-136.9,218.8,-13.6,227,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1982,-1.50,-136.9,260.9,-12.8,258,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2294,-1.50,-136.9,301.8,-12.4,289,2303,0.00,2.58,0.00,0.000,4,0.000,0.142,2345,711,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2402,-1.50,-136.9,316.2,-13.1,299,2409,0.00,2.65,0.00,0.000,6,0.000,0.152,2337,2129,3330,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2710,-1.50,-136.9,351.2,-10.7,330,2719,0.00,2.65,0.00,0.000,4,0.000,0.162,2326,3533,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2748,-1.50,-136.9,355.0,-10.9,333,2756,0.12,2.53,0.00,0.000,6,0.310,0.106,2351,2115,3330,0,0,0,0,0,0,14.66,14.76,28.83
$GC,3057,-1.50,-136.9,387.1,-10.2,364,3066,0.00,2.53,0.00,0.000,4,0.000,0.141,2351,711,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3122,-1.50,-136.9,394.1,-11.0,370,3131,0.00,2.60,0.00,0.000,6,0.000,0.145,2344,2126,3330,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3452,-1.50,-136.9,429.2,-10.5,385,3457,0.00,2.62,0.00,0.000,4,0.000,0.158,2334,3535,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3485,-1.50,-136.9,432.6,-10.5,386,3491,0.00,2.50,0.00,0.000,6,0.000,0.106,2334,2119,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3813,-1.50,-136.9,468.4,-10.8,397,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4113,-1.50,-136.9,500.7,-10.7,407,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4413,-1.50,-136.9,531.9,-10.2,417,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2120,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4713,-1.50,-136.9,561.7,-10.0,427,4719,0.00,2.53,0.00,0.000,4,0.000,0.138,2333,704,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4763,-1.50,-136.9,565.0,-10.1,428,4772,0.08,2.58,0.00,0.000,6,0.294,0.142,2346,2121,3330,0,0,0,0,0,0,14.71,14.78,28.83
$GC,5075,-1.50,-136.9,598.4,-9.9,439,5080,0.00,2.62,0.00,0.000,4,0.000,0.160,2336,3537,3330,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5119,-1.50,-136.9,601.8,-10.1,440,5125,0.00,2.50,0.00,0.000,6,0.000,0.108,2337,2116,3330,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5436,-1.50,-136.9,638.0,-11.5,451,5442,0.00,2.53,0.00,0.000,4,0.000,0.138,2336,711,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5461,-1.50,-136.9,638.0,-11.5,451,5468,0.10,2.58,0.00,0.000,6,0.330,0.142,2349,2122,3331,0,0,0,0,0,0,14.75,14.81,28.83
$STATE,5732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5732,begin apogee
$GC,5745,-0.38,0.0,670.4,-10.5,461,5889,0.88,0.00,138.95,2.434,6,0.277,0.000,2590,2210,2772,0,0,0,0,0,0,14.76,28.83,13.05
$STATE,5895,end apogee,CONTROL_FINISHED_OK
$STATE,5895,begin climb
$GC,5900,1.50,136.9,675.1,0.0,466,6064,1.40,2.95,149.32,2.398,4,0.176,0.147,3001,3617,2213,0,0,0,0,0,0,13.85,13.33,12.64
$GC,6078,1.52,153.9,665.9,8.2,471,6104,0.00,2.78,19.95,2.235,6,0.000,0.107,3011,2205,2144,0,0,0,0,0,0,28.83,13.50,12.66
$GC,6431,1.52,153.9,615.0,13.2,483,6436,0.00,2.80,0.00,0.000,4,0.000,0.151,3011,3611,2137,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6465,1.52,153.9,610.3,13.6,484,6470,0.00,2.65,0.00,0.000,6,0.000,0.103,3022,2197,2137,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6792,1.52,153.9,564.9,13.6,495,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2197,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,1.52,153.9,524.7,13.4,505,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2196,2134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7393,1.52,153.9,484.8,13.4,515,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2197,2134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7692,1.52,153.9,445.5,13.1,525,7698,0.00,2.67,0.00,0.000,4,0.000,0.149,3022,3607,2133,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7753,1.52,153.9,436.9,13.3,527,7760,0.08,2.53,0.00,0.000,6,0.281,0.109,3013,2202,2134,0,0,0,0,0,0,14.54,14.63,28.83
$GC,8067,1.52,153.9,397.8,12.4,538,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2202,2133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8380,1.52,153.9,359.3,12.3,569,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2202,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8694,1.52,153.9,322.4,11.4,600,8703,0.00,2.67,0.00,0.000,4,0.000,0.155,3013,3611,2132,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8729,1.52,153.9,317.6,11.7,603,8737,0.00,2.53,0.00,0.000,6,0.000,0.109,3022,2197,2132,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9039,1.52,153.9,282.9,10.9,634,9048,0.00,2.55,0.00,0.000,4,0.000,0.140,3032,790,2132,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9077,1.52,153.9,279.2,10.6,637,9085,0.00,2.58,0.00,0.000,6,0.000,0.131,3032,2206,2130,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9386,1.52,153.9,244.8,11.3,668,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2206,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9700,1.52,153.9,208.0,12.5,699,9709,0.00,2.62,0.00,0.000,4,0.000,0.151,3032,3610,2131,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9777,1.52,153.9,197.0,14.4,706,9785,0.15,2.53,0.00,0.000,6,0.304,0.106,3010,2194,2131,0,0,0,0,0,0,14.69,14.78,28.83
$GC,10086,1.52,153.9,161.4,10.5,737,10095,0.00,2.50,0.00,0.000,4,0.000,0.135,3019,793,2130,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10133,1.52,153.9,156.7,10.6,741,10141,0.00,2.55,0.00,0.000,6,0.000,0.125,3019,2207,2130,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10442,1.52,157.3,127.6,8.8,772,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2207,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10759,1.55,176.5,101.2,8.1,803,10777,0.00,0.00,11.50,1.686,6,0.000,0.000,3019,2207,2051,0,0,0,0,0,0,28.83,28.83,14.07
$GC,11089,1.58,198.7,73.5,8.0,866,11108,0.00,2.65,11.93,0.415,4,0.000,0.148,3019,3618,1962,0,0,0,0,0,0,28.83,14.64,14.52
$GC,11129,1.58,198.7,69.4,10.4,872,11136,0.00,2.58,0.00,0.000,6,0.000,0.109,3029,2191,1960,0,0,0,0,0,0,28.83,14.68,28.83
$GC,11447,1.61,225.4,39.2,7.8,933,11467,0.00,2.65,14.23,0.312,4,0.000,0.138,3039,777,1851,0,0,0,0,0,0,28.83,14.64,14.58
$GC,11578,1.67,273.2,29.3,6.8,956,11609,0.00,2.60,25.55,0.276,6,0.000,0.132,3039,2199,1655,0,0,0,0,0,0,28.83,14.66,14.56
$STATE,11903,end climb,SURFACE_DEPTH_REACHED
$STATE,11908,begin surface coast
$FINISH,2.0,1.025422
$STATE,11939,end surface coast,CONTROL_FINISHED_OK
$STATE,11939,begin surface
$SM_CCo,11967,6.72,0.203,0,0,1587,290.19
$SM_GC,4.26,8.55,0.17,6.72,0.104,0.149,0.203,139,2117,1587,-11.59,0.62,290.19,0,0,0,0,0,0,14.71,14.69,14.62
$RAFOS_CLK,527
$RAFOS,6,1348462151,4.833333,4.819722,113,61,59,55,50,49,715,201,157,124,214,183
$RAFOS,5,1348461661,4.700000,4.683611,143,57,53,51,50,50,909,162,207,140,152,229
$RAFOS,4,1348461181,4.566667,4.550278,76,57,52,51,48,47,654,215,196,139,101,168
$RAFOS,2,1348460222,4.300000,4.283889,63,62,57,53,53,52,505,196,206,219,176,116
$RAFOS_FIX,6651.207520,-5949.080566,240912,040444,3,111,20.11
$IRIDIUM_FIX,6614.97,-5954.40,240912,000056
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.36
$INTERNAL_PRESSURE,8.69397
$TCM_TEMP,12.60
$XPDR_PINGS,8
$24V_AH,12.6,31.608
$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,22.750,99.575,371.425,6.725,0.000,0.000,0.000,238.950,2.000,0.000,6.738,2601.545,6784.516,524.626,1919.825,551.327,0.000,1738.869,0.000,1715.634,1080.000,0.536,0.000
$DEVICE_MAMPS,470.475,189.720,2434.230,203.490,0.000,0.000,0.000,143.820,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.005,720.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188704
$DATA_FILE_SIZE,46696,1025
$CAP_FILE_SIZE,112318,0
$CFSIZE,259252224,244359168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.5
$CURRENT,0.017,130.3,1
$GPS,240912,075134,6644.236,-5956.518,35,0.8,35,-33.8