version: 66.11
glider: 193
mission: 2
dive: 82
start: 9 23 112 3 24 22
data:
$ID,193
$MISSION,2
$DIVE,82
$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,-884.0506
$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
$GPS1,230912,031704,6642.523,-6007.097,28,0.8,28,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-69.5
$GPS2,230912,032338,6642.472,-6007.031,5,0.8,5,-33.8
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,0.3,14163,-17.3,-8.919,-19.96
$D_GRID,575
$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,14,begin dive
$GC,20,-1.50,-136.9,0.0,0.0,0,44,0.00,0.00,-22.88,0.000,2,0.000,0.000,140,2132,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-1.50,-136.9,3.0,-2.2,4,143,11.12,2.70,-73.38,0.000,4,0.466,0.182,2338,3530,3329,0,0,0,0,0,0,14.37,14.47,14.73
$GC,269,-1.50,-136.9,29.7,-16.1,42,276,0.00,2.58,0.00,0.000,6,0.000,0.111,2338,2117,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,584,-1.50,-136.9,78.0,-14.4,103,591,0.00,2.75,0.00,0.000,4,0.000,0.167,2327,3533,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,642,-1.50,-136.9,86.8,-15.4,113,650,0.12,2.55,0.00,0.000,6,0.304,0.109,2352,2119,3332,0,0,0,0,0,0,14.53,14.62,28.83
$GC,961,-1.50,-136.9,129.2,-13.0,153,971,0.00,2.55,0.00,0.000,4,0.000,0.142,2352,715,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1006,-1.50,-136.9,135.2,-13.1,157,1016,0.00,2.60,0.00,0.000,6,0.000,0.143,2344,2124,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1317,-1.50,-136.9,176.4,-12.9,188,1326,0.00,2.62,0.00,0.000,4,0.000,0.156,2334,3525,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1355,-1.50,-136.9,181.0,-12.9,191,1362,0.00,2.53,0.00,0.000,6,0.000,0.105,2333,2111,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1663,-1.50,-136.9,221.7,-12.5,222,1672,0.00,2.50,0.00,0.000,4,0.000,0.136,2333,716,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1758,-1.50,-136.9,234.0,-12.9,231,1767,0.08,2.58,0.00,0.000,6,0.292,0.142,2343,2122,3330,0,0,0,0,0,0,14.62,14.67,28.83
$GC,2068,-1.50,-136.9,271.9,-13.1,262,2077,0.00,2.62,0.00,0.000,4,0.000,0.158,2335,3533,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2103,-1.50,-136.9,276.4,-12.9,265,2113,0.00,2.50,0.00,0.000,6,0.000,0.106,2335,2123,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2414,-1.50,-136.9,315.9,-12.4,296,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2123,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-1.50,-136.9,352.5,-11.4,327,2732,0.00,2.65,0.00,0.000,4,0.000,0.162,2325,3526,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2760,-1.50,-136.9,356.7,-12.3,330,2767,0.12,2.53,0.00,0.000,6,0.309,0.107,2350,2109,3330,0,0,0,0,0,0,14.66,14.76,28.83
$GC,3069,-1.50,-136.9,390.3,-10.2,361,3079,0.00,2.72,0.00,0.000,4,0.000,0.164,2341,3534,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3098,-1.50,-136.9,393.1,-10.3,363,3105,0.00,2.53,0.00,0.000,6,0.000,0.106,2341,2116,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3406,-1.50,-136.9,427.0,-11.0,378,3412,0.00,2.53,0.00,0.000,4,0.000,0.138,2341,706,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3467,-1.50,-136.9,434.6,-11.7,380,3472,0.00,2.58,0.00,0.000,6,0.000,0.141,2333,2118,3329,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3798,-1.50,-136.9,473.2,-11.6,391,3803,0.00,2.62,0.00,0.000,4,0.000,0.157,2323,3529,3329,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3830,-1.50,-136.9,476.8,-11.5,392,3836,0.10,2.47,0.00,0.000,6,0.283,0.104,2349,2121,3329,0,0,0,0,0,0,14.69,14.79,28.83
$GC,4161,-1.50,-136.9,512.2,-10.7,403,4167,0.00,2.53,0.00,0.000,4,0.000,0.139,2349,711,3330,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4200,-1.50,-136.9,515.5,-10.7,404,4206,0.00,2.58,0.00,0.000,6,0.000,0.145,2343,2118,3329,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4524,-1.50,-136.9,551.7,-11.4,415,4530,0.00,2.62,0.00,0.000,4,0.000,0.159,2332,3527,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4619,-1.50,-136.9,563.0,-11.9,418,4624,0.00,2.50,0.00,0.000,6,0.000,0.106,2332,2111,3330,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,4731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4731,begin apogee
$GC,4743,-0.38,0.0,577.3,-11.9,422,4883,0.95,0.00,133.75,2.339,6,0.275,0.000,2593,2203,2772,0,0,0,0,0,0,14.71,28.83,13.09
$STATE,4888,end apogee,CONTROL_FINISHED_OK
$STATE,4889,begin climb
$GC,4894,1.50,136.9,582.1,0.0,427,5049,1.42,2.97,144.27,2.297,4,0.174,0.151,3007,3619,2215,0,0,0,0,0,0,13.88,13.44,12.77
$GC,5078,1.51,149.2,570.3,8.4,433,5099,0.00,2.75,14.48,2.113,6,0.000,0.106,3018,2202,2163,0,0,0,0,0,0,28.83,13.64,12.87
$GC,5400,1.51,149.2,528.0,13.0,444,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2202,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5701,1.51,149.2,490.6,12.7,454,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2202,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6000,1.51,149.2,454.3,11.8,464,6005,0.00,2.60,0.00,0.000,4,0.000,0.138,3028,792,2153,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6024,1.51,149.2,454.3,11.8,464,6031,0.00,2.62,0.00,0.000,6,0.000,0.129,3028,2207,2153,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6331,1.51,149.2,414.5,12.0,475,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2207,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6632,1.51,149.2,380.1,11.3,495,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2207,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6946,1.51,149.2,344.6,11.4,526,6955,0.00,2.65,0.00,0.000,4,0.000,0.151,3029,3615,2153,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6983,1.51,149.2,339.6,12.0,529,6993,0.10,2.55,0.00,0.000,6,0.283,0.111,3012,2197,2152,0,0,0,0,0,0,14.57,14.65,28.83
$GC,7294,1.51,149.2,306.7,10.4,560,7303,0.00,2.55,0.00,0.000,4,0.000,0.141,3021,792,2152,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7352,1.51,149.2,300.7,11.2,565,7360,0.00,2.58,0.00,0.000,6,0.000,0.129,3021,2207,2151,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7660,1.51,149.2,266.1,11.3,596,7669,0.00,2.62,0.00,0.000,4,0.000,0.151,3021,3611,2151,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7738,1.51,149.2,256.7,12.8,603,7745,0.10,2.55,0.00,0.000,6,0.322,0.107,3013,2188,2152,0,0,0,0,0,0,14.64,14.72,28.83
$GC,8046,1.51,149.2,219.0,12.4,634,8055,0.00,2.53,0.00,0.000,4,0.000,0.137,3022,781,2151,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8084,1.51,149.2,214.9,11.9,637,8092,0.00,2.58,0.00,0.000,6,0.000,0.127,3022,2206,2150,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8392,1.51,149.2,181.2,9.6,668,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2206,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8709,1.51,149.2,151.7,10.3,699,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2206,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9021,1.51,149.2,120.2,9.0,730,9029,0.00,2.62,0.00,0.000,4,0.000,0.153,3022,3613,2151,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9115,1.51,149.2,110.2,10.1,739,9124,0.08,2.53,0.00,0.000,6,0.288,0.106,3012,2194,2151,0,0,0,0,0,0,14.68,14.77,28.83
$GC,9430,1.56,184.5,85.2,7.4,788,9454,0.00,0.00,18.10,0.451,6,0.000,0.000,3012,2194,2019,0,0,0,0,0,0,28.83,28.83,14.56
$GC,9766,1.59,211.9,58.1,7.7,852,9786,0.00,2.80,14.62,0.362,4,0.000,0.164,3012,3614,1906,0,0,0,0,0,0,28.83,14.66,14.58
$GC,9812,1.60,220.0,54.4,8.6,859,9825,0.00,2.55,4.25,0.376,6,0.000,0.108,3021,2196,1874,0,0,0,0,0,0,28.83,14.71,14.56
$GC,10140,1.64,252.6,24.0,7.5,921,10165,0.00,2.60,17.05,0.262,4,0.000,0.142,3031,781,1740,0,0,0,0,0,0,28.83,14.65,14.61
$GC,10330,1.69,294.4,10.1,7.1,956,10361,0.00,2.62,21.58,0.214,6,0.000,0.137,3031,2207,1570,0,0,0,0,0,0,28.83,14.66,14.60
$STATE,10416,end climb,SURFACE_DEPTH_REACHED
$STATE,10417,begin surface coast
$FINISH,2.1,1.004901
$STATE,10457,end surface coast,CONTROL_FINISHED_OK
$STATE,10457,begin surface
$SM_CCo,10545,0.00,0.000,0,0,1557,298.04
$SM_GC,3.09,8.65,0.20,0.00,0.115,0.147,0.000,133,2113,1557,-11.62,0.42,298.04,0,0,0,0,0,0,14.69,14.67,28.83
$RAFOS_CLK,456
$RAFOS,6,1348375744,4.833333,4.817778,108,64,61,58,58,53,767,191,211,173,115,132
$RAFOS,5,1348375261,4.700000,4.683611,64,58,56,55,55,51,191,115,150,181,219,938
$RAFOS,4,1348374788,4.566667,4.552222,87,64,57,54,49,48,649,193,216,138,153,182
$RAFOS,3,1348374305,4.433333,4.418056,85,78,69,63,62,59,743,204,124,191,218,145
$RAFOS,2,1348373822,4.300000,4.283889,85,71,62,60,58,57,528,214,129,115,151,195
$RAFOS,1,1348373350,4.166667,4.152778,71,64,56,53,53,52,442,208,196,153,114,185
$RAFOS,0,1348372861,4.033333,4.016944,57,56,54,52,51,50,167,147,200,121,209,191
$RAFOS_FIX,6647.299316,-5949.760254,230912,040402,3,93,3.47
$IRIDIUM_FIX,6614.97,-6006.54,230912,000005
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.40
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.60
$XPDR_PINGS,10
$24V_AH,12.8,29.449
$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,22.850,109.600,368.100,0.000,0.000,0.000,0.000,243.300,2.500,0.000,5.963,2497.319,5528.072,540.988,1846.256,539.393,0.000,1715.619,0.000,1638.209,2520.000,0.536,0.000
$DEVICE_MAMPS,465.885,185.130,2338.605,0.000,0.000,0.000,0.000,146.880,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,713.456,687.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46673,979
$CAP_FILE_SIZE,109481,0
$CFSIZE,259252224,244838400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.6
$CURRENT,0.045,164.9,1
$GPS,230912,062151,6643.444,-6008.762,36,0.7,36,-33.8