version: 66.11
glider: 193
mission: 2
dive: 85
start: 9 23 112 12 37 47
data:
$ID,193
$MISSION,2
$DIVE,85
$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,-887.82031
$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
$GPS1,230912,123104,6642.655,-6014.523,36,0.8,36,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-68.6
$GPS2,230912,123704,6642.638,-6014.488,5,0.8,5,-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,64.6,153809,-17.3,-8.919,-19.96
$D_GRID,549
$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,-29.60,0.000,2,0.000,0.000,134,2110,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.50,-136.9,3.1,-2.1,5,137,11.40,2.78,-59.72,0.000,4,0.475,0.183,2339,3530,3329,0,0,0,0,0,0,14.35,14.46,14.72
$GC,286,-1.50,-136.9,36.1,-16.9,46,294,0.00,2.58,0.00,0.000,6,0.000,0.110,2338,2115,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,605,-1.50,-136.9,81.7,-13.3,107,612,0.00,2.58,0.00,0.000,4,0.000,0.140,2338,709,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,662,-1.50,-136.9,90.3,-15.1,117,670,0.10,2.65,0.00,0.000,6,0.326,0.144,2348,2129,3331,0,0,0,0,0,0,14.52,14.59,28.83
$GC,981,-1.50,-136.9,134.3,-13.4,154,990,0.00,2.60,0.00,0.000,4,0.000,0.139,2348,711,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1008,-1.50,-136.9,137.7,-13.5,156,1015,0.00,2.62,0.00,0.000,6,0.000,0.142,2340,2125,3331,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1317,-1.50,-136.9,180.7,-13.5,187,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2125,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1632,-1.50,-136.9,220.5,-12.4,218,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2125,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,-1.50,-136.9,260.1,-13.3,249,1953,0.00,2.62,0.00,0.000,4,0.000,0.160,2330,3524,3330,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1991,-1.50,-136.9,266.7,-13.4,253,1999,0.10,2.53,0.00,0.000,6,0.314,0.109,2347,2113,3330,0,0,0,0,0,0,14.64,14.73,28.83
$GC,2300,-1.50,-136.9,306.1,-12.5,284,2309,0.00,2.53,0.00,0.000,4,0.000,0.139,2348,710,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2327,-1.50,-136.9,309.3,-13.1,286,2334,0.00,2.62,0.00,0.000,6,0.000,0.145,2340,2129,3329,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2635,-1.50,-136.9,346.9,-11.7,317,2644,0.00,2.60,0.00,0.000,4,0.000,0.139,2340,704,3329,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2690,-1.50,-136.9,353.7,-12.5,322,2699,0.00,2.60,0.00,0.000,6,0.000,0.143,2332,2117,3329,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3000,-1.50,-136.9,389.7,-11.4,353,3006,0.10,0.00,0.00,0.000,6,0.337,0.000,2349,2117,3329,0,0,0,0,0,0,14.67,28.83,28.83
$GC,3310,-1.50,-136.9,423.2,-10.9,370,3316,0.00,2.58,0.00,0.000,4,0.000,0.141,2350,706,3329,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3342,-1.50,-136.9,426.5,-10.9,371,3347,0.00,2.60,0.00,0.000,6,0.000,0.145,2343,2126,3329,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3673,-1.50,-136.9,462.1,-10.5,382,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2126,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3973,-1.50,-136.9,494.1,-10.7,392,3979,0.00,2.58,0.00,0.000,4,0.000,0.142,2343,706,3329,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4017,-1.50,-136.9,497.6,-10.7,393,4023,0.00,2.58,0.00,0.000,6,0.000,0.142,2336,2121,3329,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4334,-1.50,-136.9,533.3,-10.8,404,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2121,3330,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4479,begin apogee
$GC,4492,-0.38,0.0,549.6,-10.9,409,4632,0.93,0.00,133.52,2.269,6,0.283,0.000,2587,2209,2773,0,0,0,0,0,0,14.73,28.83,13.13
$STATE,4637,end apogee,CONTROL_FINISHED_OK
$STATE,4637,begin climb
$GC,4643,1.50,136.9,555.1,0.0,414,4792,1.42,0.00,143.88,2.220,6,0.181,0.000,3005,2208,2213,0,0,0,0,0,0,13.88,28.83,12.83
$GC,5084,1.50,136.9,511.4,11.6,429,5090,0.00,2.78,0.00,0.000,4,0.000,0.154,3005,3609,2204,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5109,1.50,136.9,511.4,11.6,429,5116,0.00,2.65,0.00,0.000,6,0.000,0.108,3015,2200,2205,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5416,1.50,136.9,471.2,11.8,440,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2200,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5716,1.50,136.9,435.8,12.2,450,5722,0.00,2.62,0.00,0.000,4,0.000,0.142,3026,788,2202,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5757,1.50,136.9,431.7,12.5,451,5762,0.00,2.60,0.00,0.000,6,0.000,0.133,3026,2196,2201,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6068,1.50,136.9,391.8,12.5,465,6077,0.00,2.70,0.00,0.000,4,0.000,0.151,3026,3615,2202,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6113,1.50,136.9,385.6,13.7,469,6122,0.10,2.55,0.00,0.000,6,0.285,0.108,3010,2201,2202,0,0,0,0,0,0,14.48,14.55,28.83
$GC,6423,1.50,136.9,347.8,11.9,500,6432,0.00,2.58,0.00,0.000,4,0.000,0.138,3019,791,2201,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6521,1.50,136.9,336.2,12.3,509,6528,0.00,2.58,0.00,0.000,6,0.000,0.125,3019,2205,2200,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6829,1.50,136.9,299.5,11.5,540,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2205,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7145,1.50,136.9,264.1,11.0,571,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2205,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7457,1.50,136.9,229.4,10.8,602,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2205,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7768,1.50,136.9,194.6,10.5,633,7777,0.00,2.62,0.00,0.000,4,0.000,0.152,3019,3617,2200,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7823,1.50,136.9,188.0,11.5,638,7832,0.08,2.53,0.00,0.000,6,0.288,0.108,3009,2199,2200,0,0,0,0,0,0,14.66,14.73,28.83
$GC,8133,1.50,138.1,159.1,8.9,669,8142,0.00,2.55,0.00,0.000,4,0.000,0.140,3018,784,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8248,1.50,138.1,148.8,8.9,680,8257,0.00,2.55,0.00,0.000,6,0.000,0.132,3019,2199,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8558,1.55,179.3,125.0,7.1,711,8587,0.00,2.70,23.67,1.800,4,0.000,0.155,3018,3613,2040,0,0,0,0,0,0,28.83,14.50,13.94
$GC,8640,1.55,179.3,118.1,9.1,719,8648,0.00,2.58,0.00,0.000,6,0.000,0.108,3028,2195,2038,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8954,1.55,179.3,91.1,9.4,759,8961,0.00,2.58,0.00,0.000,4,0.000,0.139,3038,790,2034,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9062,1.55,179.3,80.3,9.9,779,9069,0.00,2.60,0.00,0.000,6,0.000,0.133,3039,2205,2032,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9380,1.55,179.3,46.4,10.1,840,9386,0.00,2.65,0.00,0.000,4,0.000,0.152,3039,3611,2032,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9458,1.55,179.3,37.8,10.5,854,9465,0.15,2.55,0.00,0.000,6,0.298,0.106,3015,2194,2032,0,0,0,0,0,0,14.59,14.69,28.83
$GC,9776,1.72,316.6,18.6,2.9,915,9856,0.12,2.65,72.30,0.234,4,0.159,0.137,3077,790,1478,0,0,0,0,0,0,14.70,14.57,14.09
$GC,9877,1.72,316.6,12.4,9.1,931,9885,0.10,2.60,0.00,0.000,6,0.295,0.132,3057,2201,1472,0,0,0,0,0,0,14.52,14.57,28.83
$STATE,9970,end climb,SURFACE_DEPTH_REACHED
$STATE,9970,begin surface coast
$FINISH,1.9,1.013427
$STATE,10000,end surface coast,CONTROL_FINISHED_OK
$STATE,10000,begin surface
$SM_CCo,10088,0.00,0.000,0,0,1461,321.59
$SM_GC,2.97,8.75,0.20,0.00,0.115,0.153,0.000,141,2113,1461,-11.60,0.37,321.59,0,0,0,0,0,0,14.64,14.62,28.83
$RAFOS_CLK,434
$RAFOS,6,1348404542,12.833333,12.817223,82,61,56,56,53,53,789,140,204,158,117,216
$RAFOS,5,1348404062,12.700000,12.683888,69,63,58,56,55,55,939,200,166,131,151,117
$RAFOS,3,1348403105,12.433333,12.418056,82,68,58,56,55,54,748,195,204,171,127,221
$RAFOS_FIX,6647.094727,-5958.333984,230912,121210,3,78,78.65
$IRIDIUM_FIX,6620.33,-6015.98,230912,090900
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.08
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.60
$XPDR_PINGS,10
$24V_AH,12.8,30.226
$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,23.350,94.200,373.375,0.000,0.000,0.000,0.000,210.050,2.500,0.000,6.759,2386.298,5322.510,519.693,1726.590,506.132,0.000,1610.958,0.000,1556.565,720.000,0.536,0.000
$DEVICE_MAMPS,475.065,188.955,2268.990,0.000,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.380,667.504,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188784
$DATA_FILE_SIZE,43466,954
$CAP_FILE_SIZE,100737,0
$CFSIZE,259252224,244674560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.5
$CURRENT,0.080,169.9,1
$GPS,230912,152717,6643.343,-6012.455,15,0.7,15,-33.8