version: 66.11
glider: 193
mission: 2
dive: 87
start: 9 23 112 18 35 35
data:
$ID,193
$MISSION,2
$DIVE,87
$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,-898.87817
$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,14
$R_STBD_OVSHOOT,11
$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
$GPS1,230912,182834,6644.982,-6009.685,23,0.8,23,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-68.4
$GPS2,230912,183501,6644.992,-6009.651,5,0.8,5,-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,148.3,149392,-17.3,-8.919,-19.96
$D_GRID,588
$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,-136.9,0.0,0.0,0,44,0.00,0.00,-22.62,0.000,2,0.000,0.000,138,2119,2006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-1.50,-136.9,3.0,-2.6,4,142,11.38,2.70,-68.85,0.000,4,0.475,0.173,2348,710,3330,0,0,0,0,0,0,14.35,14.47,14.73
$GC,152,-1.50,-136.9,7.9,-14.5,20,159,0.00,2.70,0.00,0.000,6,0.000,0.158,2339,2121,3331,0,0,0,0,0,0,28.83,14.47,28.83
$GC,468,-1.50,-136.9,65.1,-16.5,81,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,784,-1.50,-136.9,115.8,-14.9,132,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1099,-1.50,-136.9,160.4,-13.7,163,1108,0.00,2.62,0.00,0.000,4,0.000,0.151,2339,712,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1186,-1.50,-136.9,172.7,-13.9,171,1194,0.10,2.67,0.00,0.000,6,0.330,0.155,2348,2132,3332,0,0,0,0,0,0,14.59,14.66,28.83
$GC,1495,-1.50,-136.9,210.7,-11.8,202,1504,0.00,2.65,0.00,0.000,4,0.000,0.150,2349,704,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1531,-1.50,-136.9,215.0,-12.2,205,1541,0.00,2.62,0.00,0.000,6,0.000,0.147,2340,2124,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1842,-1.50,-136.9,251.4,-11.7,236,1851,0.00,2.65,0.00,0.000,4,0.000,0.157,2330,3534,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1916,-1.50,-136.9,260.6,-12.4,243,1926,0.08,2.53,0.00,0.000,6,0.284,0.109,2349,2116,3331,0,0,0,0,0,0,14.63,14.71,28.83
$GC,2227,-1.50,-136.9,295.3,-11.6,274,2236,0.00,2.55,0.00,0.000,4,0.000,0.143,2349,706,3331,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2281,-1.50,-136.9,302.1,-12.1,279,2290,0.00,2.60,0.00,0.000,6,0.000,0.143,2342,2122,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2592,-1.50,-136.9,340.4,-12.3,310,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2906,-1.50,-136.9,379.0,-11.8,341,2916,0.00,2.62,0.00,0.000,4,0.000,0.157,2331,3527,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2942,-1.50,-136.9,383.9,-12.2,344,2951,0.08,2.50,0.00,0.000,6,0.282,0.110,2350,2118,3331,0,0,0,0,0,0,14.66,14.74,28.83
$GC,3262,-1.50,-136.9,419.9,-11.0,364,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3562,-1.50,-136.9,452.2,-10.6,374,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3862,-1.50,-136.9,485.4,-11.2,384,3867,0.00,2.55,0.00,0.000,4,0.000,0.144,2350,703,3331,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3901,-1.50,-136.9,489.0,-11.3,385,3907,0.00,2.60,0.00,0.000,6,0.000,0.145,2344,2122,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4223,-1.50,-136.9,526.4,-11.2,396,4229,0.00,2.62,0.00,0.000,4,0.000,0.157,2334,3528,3331,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4287,-1.50,-136.9,533.5,-11.3,398,4293,0.00,2.47,0.00,0.000,6,0.000,0.109,2333,2123,3330,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4615,-1.50,-136.9,570.9,-11.6,409,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4789,begin apogee
$GC,4802,-0.38,0.0,591.2,-11.3,415,4942,0.93,0.00,134.88,2.333,6,0.275,0.000,2588,2202,2772,0,0,0,0,0,0,14.75,28.83,13.10
$STATE,4948,end apogee,CONTROL_FINISHED_OK
$STATE,4948,begin climb
$GC,4953,1.50,136.9,596.8,0.0,420,5104,1.45,0.00,145.73,2.288,6,0.179,0.000,3008,2202,2214,0,0,0,0,0,0,13.88,28.83,12.76
$GC,5395,1.50,136.9,552.6,12.1,435,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2202,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5695,1.50,136.9,516.6,11.9,445,5700,0.00,2.75,0.00,0.000,4,0.000,0.154,3008,3610,2203,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5756,1.50,136.9,508.7,12.2,447,5761,0.00,2.62,0.00,0.000,6,0.000,0.110,3018,2203,2203,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6088,1.50,136.9,469.1,11.8,458,6092,0.00,2.62,0.00,0.000,4,0.000,0.143,3029,792,2202,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6132,1.50,136.9,464.9,11.6,459,6137,0.08,2.60,0.00,0.000,6,0.287,0.132,3010,2203,2201,0,0,0,0,0,0,14.40,14.47,28.83
$GC,6454,1.50,136.9,428.6,10.7,470,6460,0.00,2.67,0.00,0.000,4,0.000,0.151,3010,3609,2202,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6479,1.50,136.9,428.6,10.7,470,6485,0.00,2.58,0.00,0.000,6,0.000,0.108,3019,2192,2202,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6786,1.50,136.9,392.0,11.3,485,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2193,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7096,1.50,136.9,356.4,11.5,516,7104,0.00,2.70,0.00,0.000,4,0.000,0.152,3019,3614,2202,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7122,1.50,136.9,353.5,11.8,518,7130,0.12,2.55,0.00,0.000,6,0.311,0.106,3004,2197,2202,0,0,0,0,0,0,14.58,14.67,28.83
$GC,7432,1.50,136.9,318.8,11.2,549,7441,0.00,2.58,0.00,0.000,4,0.000,0.142,3013,787,2201,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7500,1.50,136.9,311.0,11.9,555,7507,0.00,2.58,0.00,0.000,6,0.000,0.128,3013,2205,2200,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7808,1.50,136.9,274.1,11.9,586,7817,0.00,2.60,0.00,0.000,4,0.000,0.149,3013,3607,2200,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7835,1.50,136.9,271.0,12.0,588,7841,0.00,2.53,0.00,0.000,6,0.000,0.106,3023,2196,2200,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8142,1.50,136.9,233.5,11.5,619,8151,0.00,2.55,0.00,0.000,4,0.000,0.140,3033,786,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8217,1.50,136.9,224.5,11.9,626,8227,0.08,2.55,0.00,0.000,6,0.285,0.129,3013,2201,2199,0,0,0,0,0,0,14.64,14.70,28.83
$GC,8527,1.50,136.9,193.5,9.1,657,8537,0.00,2.62,0.00,0.000,4,0.000,0.148,3013,3607,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8566,1.50,136.9,190.0,9.7,660,8573,0.00,2.53,0.00,0.000,6,0.000,0.105,3022,2191,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8873,1.55,178.5,165.6,7.1,691,8919,0.00,0.00,39.28,1.929,6,0.000,0.000,3022,2191,2044,0,0,0,0,0,0,28.83,28.83,13.74
$GC,9224,1.55,178.5,134.1,9.9,726,9232,0.00,2.58,0.00,0.000,4,0.000,0.139,3032,790,2038,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9385,1.55,178.5,119.6,9.3,741,9392,0.00,2.60,0.00,0.000,6,0.000,0.132,3032,2200,2036,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9696,1.55,178.5,90.3,9.4,781,9704,0.00,2.67,0.00,0.000,4,0.000,0.154,3032,3612,2036,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9760,1.55,178.5,83.7,10.5,792,9767,0.12,2.58,0.00,0.000,6,0.310,0.109,3016,2190,2036,0,0,0,0,0,0,14.57,14.65,28.83
$GC,10078,1.55,178.5,52.9,9.0,853,10085,0.00,2.58,0.00,0.000,4,0.000,0.142,3025,781,2035,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10146,1.55,178.5,46.6,9.2,865,10153,0.00,2.60,0.00,0.000,6,0.000,0.130,3025,2206,2035,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10466,1.65,263.4,21.0,5.2,926,10520,0.00,2.72,44.80,0.249,4,0.000,0.155,3025,3611,1695,0,0,0,0,0,0,28.83,14.58,14.56
$GC,10566,1.69,288.9,14.9,7.8,943,10585,0.00,2.58,12.62,0.240,6,0.000,0.111,3034,2192,1592,0,0,0,0,0,0,28.83,14.64,14.55
$STATE,10730,end climb,SURFACE_DEPTH_REACHED
$STATE,10730,begin surface coast
$FINISH,2.0,1.012723
$STATE,10766,end surface coast,CONTROL_FINISHED_OK
$STATE,10766,begin surface
$SM_CCo,10854,0.00,0.000,0,0,1579,292.64
$SM_GC,3.16,8.62,0.15,0.00,0.110,0.167,0.000,140,2114,1579,-11.59,0.40,292.64,0,0,0,0,0,0,14.66,14.64,28.83
$RAFOS_CLK,491
$RAFOS,6,1348433342,20.833334,20.817223,128,66,58,57,55,55,775,213,190,123,159,147
$RAFOS,5,1348432867,20.700001,20.685278,135,66,61,60,54,51,889,210,191,151,175,225
$RAFOS,4,1348432385,20.566668,20.551390,129,62,57,57,54,51,649,223,125,167,188,155
$RAFOS,3,1348431905,20.433332,20.418056,128,74,61,56,55,52,739,204,171,182,225,192
$RAFOS,2,1348431426,20.299999,20.285000,78,57,55,55,50,50,509,164,216,191,177,103
$RAFOS,1,1348430964,20.166666,20.156666,84,56,55,54,53,51,348,214,128,147,163,191
$RAFOS,0,1348430484,20.033333,20.023333,58,57,57,56,56,55,187,165,206,145,223,196
$RAFOS_FIX,6647.523438,-5952.596680,230912,202056,4,130,1.79
$IRIDIUM_FIX,6614.97,-6018.68,230912,151551
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.08
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.50
$XPDR_PINGS,9
$24V_AH,12.8,30.771
$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,23.025,104.525,377.300,0.000,0.000,0.000,0.000,238.425,2.250,0.000,9.171,2463.039,5880.989,565.322,1827.195,513.517,0.000,1708.265,0.000,1618.745,2520.000,0.536,0.000
$DEVICE_MAMPS,475.065,190.485,2333.250,0.000,0.000,0.000,0.000,143.055,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.487,687.429,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46698,981
$CAP_FILE_SIZE,108090,0
$CFSIZE,259252224,244547584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.5
$CURRENT,0.083,  2.4,1
$GPS,230912,213804,6644.850,-6006.292,23,0.8,23,-33.9