version: 66.11
glider: 193
mission: 2
dive: 80
start: 9 22 112 20 53 41
data:
$ID,193
$MISSION,2
$DIVE,80
$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,-881.5365
$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,15
$R_STBD_OVSHOOT,12
$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
$GPS1,220912,204604,6645.454,-6003.200,35,0.8,35,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-69.9
$GPS2,220912,205258,6645.475,-6003.232,5,0.8,5,-33.9
$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,268.4,16879,-17.3,-8.919,-19.96
$D_GRID,621
$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,-136.9,0.0,0.0,0,44,0.00,0.00,-22.98,0.000,2,0.000,0.000,139,2111,2011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-1.50,-136.9,3.0,-2.6,4,141,11.25,2.88,-68.00,0.000,4,0.470,0.188,2338,3535,3331,0,0,0,0,0,0,14.36,14.46,14.72
$GC,321,-1.50,-136.9,39.2,-15.2,53,329,0.00,2.60,0.00,0.000,6,0.000,0.113,2338,2110,3333,0,0,0,0,0,0,28.83,14.56,28.83
$GC,638,-1.50,-136.9,87.0,-16.1,114,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2110,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,956,-1.50,-136.9,129.1,-13.0,154,965,0.00,2.55,0.00,0.000,4,0.000,0.144,2338,715,3333,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1020,-1.50,-136.9,138.6,-14.9,160,1029,0.08,2.60,0.00,0.000,6,0.296,0.147,2348,2119,3333,0,0,0,0,0,0,14.57,14.62,28.83
$GC,1331,-1.50,-136.9,183.4,-14.9,191,1339,0.00,2.67,0.00,0.000,4,0.000,0.159,2339,3537,3333,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1428,-1.50,-136.9,197.6,-15.1,200,1434,0.00,2.55,0.00,0.000,6,0.000,0.109,2339,2113,3333,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1735,-1.50,-136.9,240.6,-13.2,231,1744,0.00,2.70,0.00,0.000,4,0.000,0.161,2329,3532,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1793,-1.50,-136.9,248.2,-13.8,236,1800,0.10,2.55,0.00,0.000,6,0.314,0.109,2348,2108,3332,0,0,0,0,0,0,14.64,14.73,28.83
$GC,2101,-1.50,-136.9,284.9,-11.3,267,2109,0.00,2.53,0.00,0.000,4,0.000,0.143,2349,708,3332,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2218,-1.50,-136.9,298.8,-12.5,278,2225,0.00,2.62,0.00,0.000,6,0.000,0.145,2341,2129,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2525,-1.50,-136.9,334.8,-11.2,309,2535,0.00,2.62,0.00,0.000,4,0.000,0.161,2330,3527,3331,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2612,-1.50,-136.9,345.0,-11.9,317,2622,0.08,2.50,0.00,0.000,6,0.282,0.110,2349,2120,3331,0,0,0,0,0,0,14.66,14.74,28.83
$GC,2923,-1.50,-136.9,379.7,-10.9,348,2932,0.00,2.55,0.00,0.000,4,0.000,0.143,2350,706,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2961,-1.50,-136.9,383.7,-11.3,351,2968,0.00,2.62,0.00,0.000,6,0.000,0.144,2343,2129,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3279,-1.50,-136.9,420.9,-11.7,371,3284,0.00,2.60,0.00,0.000,4,0.000,0.158,2332,3526,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3323,-1.50,-136.9,424.6,-11.7,372,3329,0.05,2.47,0.00,0.000,6,0.279,0.105,2345,2122,3331,0,0,0,0,0,0,14.69,14.78,28.83
$GC,3640,-1.50,-136.9,461.8,-11.0,383,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3940,-1.50,-136.9,493.3,-10.4,393,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4240,-1.50,-136.9,522.6,-9.8,403,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2122,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4540,-1.50,-136.9,552.3,-9.9,413,4545,0.00,2.65,0.00,0.000,4,0.000,0.167,2336,3521,3332,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4589,-1.50,-136.9,555.5,-10.1,414,4598,0.00,2.50,0.00,0.000,6,0.000,0.112,2336,2112,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4902,-1.50,-136.9,590.0,-10.6,425,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2112,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5196,begin apogee
$GC,5208,-0.38,0.0,621.0,-10.2,435,5349,0.93,0.00,134.98,2.379,6,0.275,0.000,2590,2204,2772,0,0,0,0,0,0,14.76,28.83,13.09
$STATE,5354,end apogee,CONTROL_FINISHED_OK
$STATE,5354,begin climb
$GC,5360,1.50,136.9,625.6,0.0,440,5520,1.42,2.95,144.98,2.332,4,0.176,0.144,3016,788,2214,0,0,0,0,0,0,13.88,13.45,12.76
$GC,5544,1.50,136.9,611.9,9.5,446,5549,0.00,2.80,0.00,0.000,6,0.000,0.134,3016,2196,2210,0,0,0,0,0,0,28.83,13.62,28.83
$GC,5866,1.50,136.9,570.2,12.8,457,5872,0.00,2.78,0.00,0.000,4,0.000,0.152,3016,3609,2204,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5911,1.50,136.9,566.1,12.8,458,5916,0.00,2.62,0.00,0.000,6,0.000,0.111,3026,2199,2205,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6228,1.50,136.9,524.5,12.3,469,6233,0.00,2.75,0.00,0.000,4,0.000,0.154,3026,3614,2203,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6260,1.50,136.9,520.4,12.5,470,6266,0.10,2.60,0.00,0.000,6,0.285,0.109,3011,2194,2203,0,0,0,0,0,0,14.31,14.40,28.83
$GC,6592,1.50,136.9,480.8,11.7,481,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2194,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6891,1.50,136.9,446.4,11.6,491,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2194,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7192,1.50,136.9,410.6,12.3,501,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2194,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7491,1.50,136.9,373.4,12.3,525,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2194,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7806,1.50,136.9,337.1,11.1,556,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2194,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8119,1.50,136.9,301.4,12.2,587,8127,0.00,2.67,0.00,0.000,4,0.000,0.155,3011,3613,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8146,1.50,136.9,297.4,12.3,589,8153,0.00,2.58,0.00,0.000,6,0.000,0.115,3021,2188,2201,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8454,1.50,136.9,260.0,11.5,620,8463,0.00,2.58,0.00,0.000,4,0.000,0.143,3031,783,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8531,1.50,136.9,251.4,11.3,627,8539,0.12,2.60,0.00,0.000,6,0.305,0.138,3005,2203,2199,0,0,0,0,0,0,14.66,14.73,28.83
$GC,8840,1.50,136.9,220.3,9.6,658,8849,0.00,2.58,0.00,0.000,4,0.000,0.144,3014,793,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8897,1.50,136.9,214.9,10.1,663,8904,0.00,2.58,0.00,0.000,6,0.000,0.134,3014,2208,2199,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9204,1.50,136.9,183.8,10.6,694,9213,0.00,2.60,0.00,0.000,4,0.000,0.151,3014,3611,2200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9261,1.50,136.9,177.7,11.5,699,9268,0.00,2.53,0.00,0.000,6,0.000,0.106,3024,2194,2200,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9570,1.51,148.2,149.1,8.4,730,9587,0.00,2.70,9.50,1.815,4,0.000,0.155,3024,3612,2168,0,0,0,0,0,0,28.83,14.65,14.02
$GC,9615,1.51,148.2,145.2,9.2,734,9622,0.12,2.55,0.00,0.000,6,0.307,0.108,3009,2193,2167,0,0,0,0,0,0,14.60,14.69,28.83
$GC,9923,1.53,159.4,117.7,8.4,765,9937,0.00,2.60,6.62,1.634,4,0.000,0.137,3018,793,2121,0,0,0,0,0,0,28.83,14.64,14.02
$GC,10079,1.53,159.4,102.8,9.4,780,10088,0.00,2.55,0.00,0.000,6,0.000,0.129,3018,2203,2119,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10394,1.56,183.6,76.9,7.9,838,10413,0.00,2.72,13.38,0.414,4,0.000,0.153,3018,3612,2022,0,0,0,0,0,0,28.83,14.63,14.52
$GC,10489,1.56,183.6,67.8,10.1,855,10496,0.00,2.55,0.00,0.000,6,0.000,0.110,3028,2196,2020,0,0,0,0,0,0,28.83,14.67,28.83
$GC,10808,1.61,227.0,41.8,7.0,916,10839,0.00,2.72,23.58,0.307,4,0.000,0.158,3028,3613,1843,0,0,0,0,0,0,28.83,14.61,14.54
$GC,10936,1.61,227.0,29.8,10.3,938,10943,0.00,2.55,0.00,0.000,6,0.000,0.110,3036,2198,1838,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11253,1.67,274.2,5.6,6.9,999,11284,0.00,2.58,23.98,0.195,4,0.000,0.141,3048,791,1650,0,0,0,0,0,0,28.83,14.63,14.59
$STATE,11289,end climb,SURFACE_DEPTH_REACHED
$STATE,11289,begin surface coast
$FINISH,1.9,1.012150
$STATE,11325,end surface coast,CONTROL_FINISHED_OK
$STATE,11325,begin surface
$SM_CCo,11356,6.68,0.212,0,0,1587,290.19
$SM_GC,4.43,8.62,2.55,6.68,0.106,0.148,0.212,135,2120,1587,-11.62,-0.48,290.19,0,0,0,0,0,0,14.67,14.62,14.60
$RAFOS_CLK,493
$RAFOS,5,1348346465,20.700001,20.684723,62,57,55,53,52,51,213,156,168,186,195,120
$RAFOS_FIX,6646.547363,-5946.081055,220912,202056,2,96,0.91
$IRIDIUM_FIX,6614.97,-6006.54,220912,171741
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.00
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.60
$XPDR_PINGS,10
$24V_AH,12.8,28.917
$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,22.875,110.250,357.000,6.675,0.000,0.000,0.000,259.325,2.500,0.000,6.030,2542.597,6252.679,508.700,1929.776,546.273,0.000,1731.399,0.000,1712.415,360.000,0.536,0.000
$DEVICE_MAMPS,469.710,188.955,2379.150,211.905,0.000,0.000,0.000,143.055,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.949,712.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188692
$DATA_FILE_SIZE,46815,1012
$CAP_FILE_SIZE,113028,0
$CFSIZE,259252224,244957184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.7
$CURRENT,0.261,169.1,1
$GPS,230912,000434,6643.113,-6005.620,30,0.8,30,-33.8