version: 66.11
glider: 193
mission: 2
dive: 33
start: 9 14 112 1 23 28
data:
$ID,193
$MISSION,2
$DIVE,33
$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,-3
$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,310
$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,-792.27533
$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,17
$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
$GPS1,140912,011629,6703.382,-5650.343,12,0.8,12,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-64.5
$GPS2,140912,012245,6703.403,-5650.402,4,2.0,4,-33.5
$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,268.3,161765,-17.3,-8.919,-19.96
$D_GRID,528
$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,-136.9,0.0,0.0,0,85,0.00,0.00,-64.78,0.000,2,0.000,0.000,124,2111,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-1.50,-136.9,3.4,-4.4,11,124,10.95,2.60,-14.18,0.000,4,0.455,0.161,2351,702,3327,0,0,0,0,0,0,14.43,14.53,14.77
$GC,360,-1.50,-136.9,53.1,-14.6,61,367,0.00,2.65,0.00,0.000,6,0.000,0.148,2343,2121,3328,0,0,0,0,0,0,28.83,14.60,28.83
$GC,677,-1.50,-136.9,94.8,-13.0,122,684,0.00,2.58,0.00,0.000,4,0.000,0.140,2343,711,3329,0,0,0,0,0,0,28.83,14.66,28.83
$GC,887,-1.50,-136.9,123.4,-13.8,145,896,0.00,2.58,0.00,0.000,6,0.000,0.145,2333,2115,3329,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1197,-1.50,-136.9,163.4,-13.6,176,1206,0.00,2.65,0.00,0.000,4,0.000,0.155,2322,3536,3329,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1242,-1.50,-136.9,169.6,-13.6,180,1251,0.10,2.47,0.00,0.000,6,0.285,0.102,2349,2123,3329,0,0,0,0,0,0,14.65,14.73,28.83
$GC,1552,-1.50,-136.9,206.9,-11.7,211,1561,0.00,2.65,0.00,0.000,4,0.000,0.158,2340,3528,3329,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1589,-1.50,-136.9,210.9,-11.5,214,1596,0.00,2.50,0.00,0.000,6,0.000,0.103,2340,2109,3329,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1897,-1.50,-136.9,246.9,-11.1,245,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2110,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2211,-1.50,-136.9,281.9,-10.7,276,2220,0.00,2.50,0.00,0.000,4,0.000,0.138,2339,716,3328,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2259,-1.50,-136.9,287.4,-11.1,280,2266,0.10,2.58,0.00,0.000,6,0.321,0.142,2349,2124,3328,0,0,0,0,0,0,14.72,14.77,28.83
$GC,2567,-1.50,-136.9,318.2,-9.5,311,2576,0.00,2.60,0.00,0.000,4,0.000,0.155,2340,3528,3328,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2622,-1.50,-136.9,323.8,-10.3,316,2631,0.00,2.45,0.00,0.000,6,0.000,0.101,2340,2120,3328,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2932,-1.50,-136.9,356.1,-10.4,347,2941,0.00,2.53,0.00,0.000,4,0.000,0.136,2340,703,3328,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2979,-1.50,-136.9,361.1,-11.3,351,2986,0.00,2.58,0.00,0.000,6,0.000,0.138,2332,2121,3327,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3287,-1.50,-136.9,395.3,-11.3,382,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2121,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3607,-1.50,-136.9,430.7,-11.1,396,3609,0.10,0.00,0.00,0.000,6,0.333,0.000,2351,2121,3328,0,0,0,0,0,0,14.76,28.83,28.83
$GC,3907,-1.50,-136.9,461.6,-10.2,406,3913,0.00,2.60,0.00,0.000,4,0.000,0.158,2341,3530,3328,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3938,-1.50,-136.9,465.0,-10.4,407,3944,0.00,2.47,0.00,0.000,6,0.000,0.107,2342,2113,3328,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4270,-1.50,-136.9,498.3,-9.8,418,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2112,3328,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4564,begin apogee
$GC,4576,-0.38,0.0,529.3,-10.8,428,4717,0.88,0.00,133.05,2.221,6,0.257,0.000,2589,2207,2773,0,0,0,0,0,0,14.81,28.83,13.19
$STATE,4722,end apogee,CONTROL_FINISHED_OK
$STATE,4722,begin climb
$GC,4728,1.50,136.9,534.6,0.0,433,4885,1.38,2.85,142.93,2.193,4,0.163,0.144,3013,781,2214,0,0,0,0,0,0,13.92,13.68,13.05
$GC,4961,1.50,136.9,515.3,10.8,441,4966,0.00,2.72,0.00,0.000,6,0.000,0.134,3013,2203,2208,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5292,1.50,136.9,474.7,12.9,452,5298,0.00,2.70,0.00,0.000,4,0.000,0.152,3013,3609,2205,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5362,1.50,136.9,466.0,13.5,454,5367,0.00,2.55,0.00,0.000,6,0.000,0.106,3024,2200,2205,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5684,1.50,136.9,422.8,13.1,465,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2200,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5984,1.50,136.9,383.9,12.9,483,5993,0.00,2.55,0.00,0.000,4,0.000,0.140,3034,791,2203,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6031,1.50,136.9,377.9,13.4,487,6039,0.12,2.58,0.00,0.000,6,0.298,0.129,3008,2204,2202,0,0,0,0,0,0,14.58,14.64,28.83
$GC,6340,1.50,136.9,338.9,12.8,518,6349,0.00,2.60,0.00,0.000,4,0.000,0.147,3008,3609,2202,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6367,1.50,136.9,335.7,12.9,520,6374,0.00,2.53,0.00,0.000,6,0.000,0.103,3017,2189,2202,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6676,1.50,136.9,295.2,12.5,551,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2189,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6990,1.50,136.9,257.1,12.1,582,7000,0.00,2.50,0.00,0.000,4,0.000,0.137,3028,790,2201,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7039,1.50,136.9,250.9,12.0,586,7047,0.10,2.55,0.00,0.000,6,0.309,0.129,3009,2204,2201,0,0,0,0,0,0,14.69,14.74,28.83
$GC,7348,1.50,136.9,213.9,11.8,617,7357,0.00,2.60,0.00,0.000,4,0.000,0.147,3008,3616,2201,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7456,1.50,136.9,200.8,12.5,627,7463,0.00,2.50,0.00,0.000,6,0.000,0.103,3018,2198,2202,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7764,1.50,136.9,166.6,10.4,658,7774,0.00,2.53,0.00,0.000,4,0.000,0.136,3028,794,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7792,1.50,136.9,163.7,10.4,660,7800,0.10,2.53,0.00,0.000,6,0.310,0.127,3009,2203,2200,0,0,0,0,0,0,14.71,14.78,28.83
$GC,8101,1.50,136.9,130.7,9.9,691,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2202,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8416,1.50,136.9,101.7,9.5,722,8426,0.00,2.53,0.00,0.000,4,0.000,0.136,3017,797,2200,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8466,1.50,136.9,96.2,10.0,729,8473,0.00,2.53,0.00,0.000,6,0.000,0.129,3017,2204,2200,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8783,1.51,144.6,66.4,8.6,790,8792,0.00,2.67,2.42,0.437,4,0.000,0.149,3017,3612,2183,0,0,0,0,0,0,28.83,14.78,14.67
$GC,8819,1.51,147.4,63.3,8.8,795,8826,0.00,2.50,1.98,0.460,6,0.000,0.105,3028,2194,2169,0,0,0,0,0,0,28.83,14.81,14.66
$GC,9137,1.54,170.3,33.6,7.9,856,9156,0.00,0.00,12.30,0.287,6,0.000,0.000,3028,2194,2074,0,0,0,0,0,0,28.83,28.83,14.69
$GC,9467,1.66,265.8,16.1,4.8,919,9526,0.00,2.60,49.97,0.221,4,0.000,0.140,3037,792,1685,0,0,0,0,0,0,28.83,14.68,14.66
$GC,9587,1.66,265.8,8.1,9.3,940,9594,0.00,2.55,0.00,0.000,6,0.000,0.131,3038,2198,1677,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,9644,end climb,SURFACE_DEPTH_REACHED
$STATE,9645,begin surface coast
$FINISH,1.1,1.024969
$STATE,9681,end surface coast,CONTROL_FINISHED_OK
$STATE,9685,begin surface
$SM_CCo,9713,21.00,0.177,0,0,1505,310.06
$SM_GC,2.02,8.38,0.17,21.00,0.090,0.158,0.177,139,2124,1505,-11.62,0.65,310.06,0,0,0,0,0,0,14.71,14.71,14.66
$RAFOS_CLK,382
$RAFOS_FIX,6649.043457,-5714.099609,140912,000048,4,80,3.97
$IRIDIUM_FIX,6636.54,-5655.33,130912,222210
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.16
$INTERNAL_PRESSURE,8.79163
$TCM_TEMP,14.00
$XPDR_PINGS,9
$24V_AH,13.0,14.559
$10V_AH,13.3,0.000
$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,22.200,93.000,342.650,21.000,0.000,0.000,0.000,225.875,2.250,0.000,6.046,2430.808,4888.586,499.510,1801.136,497.187,0.000,1628.738,0.000,1607.876,360.000,0.539,0.000
$DEVICE_MAMPS,455.175,184.365,2220.795,176.715,0.000,0.000,0.000,144.585,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.749,654.807,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188804
$DATA_FILE_SIZE,43401,958
$CAP_FILE_SIZE,102751,0
$CFSIZE,259252224,248266752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.045,227.6,1
$GPS,140912,040722,6702.522,-5653.184,40,1.0,40,-33.5