version: 66.11
glider: 193
mission: 2
dive: 91
start: 9 24 112 7 58 20
data:
$ID,193
$MISSION,2
$DIVE,91
$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,-912.44666
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,240912,075134,6644.236,-5956.518,35,0.8,35,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-67.4
$GPS2,240912,075737,6644.248,-5956.610,6,1.0,6,-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,106.3,140562,-17.3,-8.919,-19.96
$D_GRID,695
$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,-136.9,0.0,0.0,0,56,0.00,0.00,-35.47,0.000,2,0.000,0.000,138,2117,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-1.50,-136.9,3.1,-1.6,6,131,11.43,2.78,-48.60,0.000,4,0.478,0.183,2338,3534,3330,0,0,0,0,0,0,14.37,14.47,14.74
$GC,257,-1.50,-136.9,32.8,-20.1,40,264,0.00,2.58,0.00,0.000,6,0.000,0.111,2338,2119,3331,0,0,0,0,0,0,28.83,14.56,28.83
$GC,575,-1.50,-136.9,82.9,-14.3,101,583,0.00,2.60,0.00,0.000,4,0.000,0.141,2338,702,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,670,-1.50,-136.9,97.2,-14.9,118,677,0.12,2.65,0.00,0.000,6,0.319,0.144,2352,2123,3332,0,0,0,0,0,0,14.53,14.59,28.83
$GC,985,-1.50,-136.9,138.7,-13.6,150,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2124,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1293,-1.50,-136.9,179.4,-12.7,181,1303,0.00,2.60,0.00,0.000,4,0.000,0.138,2353,709,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1339,-1.50,-136.9,185.4,-13.2,185,1348,0.00,2.60,0.00,0.000,6,0.000,0.145,2345,2117,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1648,-1.50,-136.9,226.0,-11.9,216,1657,0.00,2.65,0.00,0.000,4,0.000,0.157,2334,3531,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1713,-1.50,-136.9,234.1,-12.7,222,1722,0.00,2.50,0.00,0.000,6,0.000,0.107,2334,2122,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2023,-1.50,-136.9,269.7,-11.3,253,2032,0.00,2.55,0.00,0.000,4,0.000,0.139,2334,709,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2068,-1.50,-136.9,275.3,-12.3,257,2078,0.08,2.60,0.00,0.000,6,0.292,0.146,2345,2118,3330,0,0,0,0,0,0,14.63,14.68,28.83
$GC,2379,-1.50,-136.9,311.0,-11.5,288,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2688,-1.50,-136.9,346.0,-10.6,319,2697,0.00,2.65,0.00,0.000,4,0.000,0.158,2336,3535,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2735,-1.50,-136.9,351.1,-11.6,323,2742,0.00,2.53,0.00,0.000,6,0.000,0.106,2336,2119,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3044,-1.50,-136.9,386.5,-11.0,354,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2120,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3353,-1.50,-136.9,420.2,-10.9,373,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3653,-1.50,-136.9,453.4,-10.8,383,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2120,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3953,-1.50,-136.9,486.2,-11.1,393,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4253,-1.50,-136.9,519.3,-11.0,403,4258,0.00,2.67,0.00,0.000,4,0.000,0.165,2326,3529,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4302,-1.50,-136.9,522.9,-11.2,404,4311,0.08,2.50,0.00,0.000,6,0.285,0.108,2346,2113,3330,0,0,0,0,0,0,14.71,14.79,28.83
$GC,4615,-1.50,-136.9,557.8,-10.1,415,4620,0.00,2.50,0.00,0.000,4,0.000,0.140,2346,715,3330,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4669,-1.50,-136.9,561.1,-10.2,416,4676,0.00,2.60,0.00,0.000,6,0.000,0.145,2339,2128,3330,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4976,-1.50,-136.9,596.1,-10.7,427,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2128,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5276,-1.50,-136.9,626.6,-10.1,437,5282,0.00,2.62,0.00,0.000,4,0.000,0.160,2328,3537,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5337,-1.50,-136.9,633.3,-10.5,439,5344,0.08,2.47,0.00,0.000,6,0.283,0.104,2347,2125,3330,0,0,0,0,0,0,14.75,14.84,28.83
$GC,5670,-1.50,-136.9,666.7,-10.1,450,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2125,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5964,begin apogee
$GC,5977,-0.38,0.0,697.8,-10.2,460,6128,0.88,0.00,139.85,2.474,6,0.278,0.000,2590,2204,2773,0,0,0,0,0,0,14.77,28.83,13.04
$STATE,6129,end apogee,CONTROL_FINISHED_OK
$STATE,6129,begin climb
$GC,6134,1.50,136.9,703.0,0.0,465,6303,1.40,3.00,150.15,2.424,4,0.175,0.153,3002,3610,2213,0,0,0,0,0,0,13.85,13.31,12.62
$GC,6347,1.50,136.9,687.2,9.9,472,6353,0.00,2.75,0.00,0.000,6,0.000,0.106,3013,2197,2210,0,0,0,0,0,0,28.83,13.60,28.83
$GC,6670,1.50,136.9,648.1,11.8,483,6676,0.00,2.67,0.00,0.000,4,0.000,0.137,3023,787,2204,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6695,1.50,136.9,648.1,11.8,483,6702,0.00,2.70,0.00,0.000,6,0.000,0.128,3023,2204,2203,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7002,1.50,136.9,606.6,12.7,494,7007,0.00,2.70,0.00,0.000,4,0.000,0.148,3023,3612,2202,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7066,1.50,136.9,598.6,12.7,496,7073,0.10,2.58,0.00,0.000,6,0.288,0.104,3008,2199,2203,0,0,0,0,0,0,14.28,14.38,28.83
$GC,7394,1.50,136.9,558.4,12.0,507,7400,0.00,2.60,0.00,0.000,4,0.000,0.135,3017,786,2201,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7434,1.50,136.9,554.5,12.0,508,7439,0.00,2.58,0.00,0.000,6,0.000,0.122,3017,2198,2200,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7757,1.50,136.9,513.5,12.5,519,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8056,1.50,136.9,476.0,12.6,529,8061,0.00,2.62,0.00,0.000,4,0.000,0.148,3017,3609,2200,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8095,1.50,136.9,471.5,12.9,530,8101,0.08,2.53,0.00,0.000,6,0.296,0.106,3008,2194,2201,0,0,0,0,0,0,14.57,14.66,28.83
$GC,8417,1.50,136.9,431.3,11.8,541,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2194,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8718,1.50,136.9,397.8,10.8,551,8726,0.00,2.53,0.00,0.000,4,0.000,0.136,3017,792,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8742,1.50,136.9,395.1,10.6,553,8750,0.00,2.53,0.00,0.000,6,0.000,0.127,3017,2199,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9052,1.50,136.9,360.1,11.3,584,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9369,1.50,136.9,325.0,11.2,615,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9680,1.50,136.9,289.0,11.7,646,9690,0.00,2.62,0.00,0.000,4,0.000,0.153,3017,3612,2199,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9765,1.50,136.9,277.8,12.8,654,9776,0.08,2.50,0.00,0.000,6,0.294,0.110,3007,2202,2199,0,0,0,0,0,0,14.67,14.76,28.83
$GC,10076,1.50,136.9,243.8,11.0,685,10085,0.00,2.65,0.00,0.000,4,0.000,0.155,3007,3605,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10113,1.50,136.9,239.8,11.7,688,10122,0.00,2.50,0.00,0.000,6,0.000,0.107,3016,2192,2199,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10423,1.50,136.9,205.9,10.7,719,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2193,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10737,1.50,136.9,172.6,10.6,750,10747,0.00,2.67,0.00,0.000,4,0.000,0.152,3017,3614,2199,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10755,1.50,136.9,171.0,10.4,751,10762,0.00,2.53,0.00,0.000,6,0.000,0.103,3027,2193,2199,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11063,1.50,136.9,139.2,9.8,782,11073,0.00,2.65,0.00,0.000,4,0.000,0.149,3027,3614,2199,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11139,1.50,136.9,131.6,10.5,789,11148,0.10,2.50,0.00,0.000,6,0.278,0.102,3010,2192,2199,0,0,0,0,0,0,14.69,14.78,28.83
$GC,11449,1.53,162.6,104.7,7.8,820,11466,0.00,2.62,11.98,1.702,4,0.000,0.134,3019,776,2109,0,0,0,0,0,0,28.83,14.66,14.08
$GC,11528,1.54,172.2,98.1,8.5,829,11541,0.00,2.58,4.55,0.493,6,0.000,0.122,3019,2207,2070,0,0,0,0,0,0,28.83,14.67,14.50
$GC,11856,1.58,199.5,71.6,7.7,891,11882,0.00,2.70,14.30,0.399,4,0.000,0.148,3019,3611,1956,0,0,0,0,0,0,28.83,14.63,14.52
$GC,11928,1.58,201.8,65.1,8.8,903,11935,0.00,2.53,0.00,0.000,6,0.000,0.103,3029,2197,1954,0,0,0,0,0,0,28.83,14.68,28.83
$GC,12245,1.63,241.9,38.0,7.2,964,12276,0.00,2.62,21.35,0.302,4,0.000,0.138,3040,792,1783,0,0,0,0,0,0,28.83,14.62,14.56
$GC,12486,1.69,292.4,17.6,6.7,1009,12517,0.00,2.58,24.88,0.239,6,0.000,0.130,3040,2203,1578,0,0,0,0,0,0,28.83,14.66,14.57
$STATE,12667,end climb,SURFACE_DEPTH_REACHED
$STATE,12667,begin surface coast
$FINISH,1.9,1.012561
$STATE,12693,end surface coast,CONTROL_FINISHED_OK
$STATE,12693,begin surface
$SM_CCo,12782,0.00,0.000,0,0,1564,296.32
$SM_GC,3.22,8.73,0.20,0.00,0.121,0.151,0.000,138,2115,1564,-11.60,0.37,296.32,0,0,0,0,0,0,14.69,14.66,28.83
$RAFOS_CLK,559
$RAFOS,6,1348476549,8.833333,8.819167,137,72,64,60,58,57,702,196,207,180,135,231
$RAFOS,5,1348476064,8.700000,8.684444,117,60,59,59,56,54,875,194,210,177,156,229
$RAFOS,4,1348475583,8.566667,8.550834,128,68,61,59,55,54,629,221,204,191,147,137
$RAFOS,3,1348475103,8.433333,8.417500,137,62,60,55,55,50,728,207,151,224,195,186
$RAFOS,2,1348474628,8.300000,8.285556,104,60,59,55,55,54,495,191,113,141,172,200
$RAFOS,1,1348474143,8.166667,8.150833,103,59,55,54,52,52,486,214,155,176,126,187
$RAFOS,0,1348473666,8.033334,8.018333,67,63,61,60,58,57,135,221,167,198,121,209
$RAFOS_FIX,6646.948730,-5939.524414,240912,080856,4,130,5.43
$IRIDIUM_FIX,6614.97,-5956.38,240912,040433
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.96
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,7
$24V_AH,12.6,31.892
$10V_AH,12.9,0.000
$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,23.125,115.050,367.050,0.000,0.000,0.000,0.000,215.700,1.750,0.000,6.693,2677.941,7432.895,521.995,1957.906,573.300,0.000,1752.911,0.000,1773.508,2520.000,0.536,0.000
$DEVICE_MAMPS,478.125,196.605,2474.010,0.000,0.000,0.000,0.000,150.705,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.987,738.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188700
$DATA_FILE_SIZE,50006,1048
$CAP_FILE_SIZE,120183,0
$CFSIZE,259252224,244285440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.5
$CURRENT,0.025,124.1,1
$GPS,240912,113334,6644.728,-5952.257,60,0.7,60,-33.8