version: 66.11
glider: 193
mission: 2
dive: 83
start: 9 23 112 6 30 23
data:
$ID,193
$MISSION,2
$DIVE,83
$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,-885.30652
$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,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
$GPS1,230912,062151,6643.444,-6008.762,36,0.7,36,-33.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-69.4
$GPS2,230912,062944,6643.403,-6008.808,4,0.7,4,-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,318.7,12626,-17.3,-8.919,-19.96
$D_GRID,574
$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,-136.9,0.0,0.0,0,43,0.00,0.00,-22.85,0.000,2,0.000,0.000,133,2114,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.50,-136.9,3.0,-1.8,4,158,11.12,2.83,-85.82,0.000,4,0.464,0.187,2341,3533,3331,0,0,0,0,0,0,14.40,14.48,14.75
$GC,303,-1.50,-136.9,30.2,-18.5,49,310,0.00,2.58,0.00,0.000,6,0.000,0.112,2341,2119,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,621,-1.50,-136.9,79.8,-15.5,110,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2119,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,933,-1.50,-136.9,124.5,-14.1,154,942,0.00,2.75,0.00,0.000,4,0.000,0.173,2331,3535,3332,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1011,-1.50,-136.9,136.1,-14.9,161,1019,0.10,2.58,0.00,0.000,6,0.314,0.110,2348,2108,3332,0,0,0,0,0,0,14.58,14.68,28.83
$GC,1320,-1.50,-136.9,178.8,-13.6,192,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2108,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,-1.50,-136.9,221.4,-14.1,223,1644,0.00,2.72,0.00,0.000,4,0.000,0.165,2339,3530,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1679,-1.50,-136.9,228.5,-14.5,227,1688,0.00,2.50,0.00,0.000,6,0.000,0.108,2339,2122,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1990,-1.50,-136.9,270.9,-13.0,258,1999,0.00,2.70,0.00,0.000,4,0.000,0.162,2329,3532,3331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2077,-1.50,-136.9,282.3,-13.3,266,2086,0.08,2.50,0.00,0.000,6,0.283,0.108,2348,2120,3331,0,0,0,0,0,0,14.64,14.73,28.83
$GC,2387,-1.50,-136.9,320.3,-11.7,297,2396,0.00,2.55,0.00,0.000,4,0.000,0.140,2349,708,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2444,-1.50,-136.9,327.0,-12.0,302,2451,0.00,2.62,0.00,0.000,6,0.000,0.145,2341,2128,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2752,-1.50,-136.9,361.2,-11.1,333,2762,0.00,2.58,0.00,0.000,4,0.000,0.139,2341,710,3330,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2789,-1.50,-136.9,365.3,-11.6,336,2798,0.00,2.58,0.00,0.000,6,0.000,0.145,2333,2116,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3098,-1.50,-136.9,400.5,-11.2,367,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2116,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3398,-1.50,-136.9,434.7,-11.4,377,3404,0.00,2.65,0.00,0.000,4,0.000,0.158,2322,3534,3330,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3432,-1.50,-136.9,438.4,-11.5,378,3438,0.10,2.50,0.00,0.000,6,0.282,0.106,2348,2119,3330,0,0,0,0,0,0,14.69,14.79,28.83
$GC,3760,-1.50,-136.9,474.9,-11.0,389,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4060,-1.50,-136.9,507.1,-10.7,399,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4360,-1.50,-136.9,539.6,-11.0,409,4365,0.00,2.53,0.00,0.000,4,0.000,0.139,2348,706,3330,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4394,-1.50,-136.9,543.1,-11.0,410,4399,0.00,2.58,0.00,0.000,6,0.000,0.144,2342,2121,3330,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,4686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4686,begin apogee
$GC,4698,-0.38,0.0,574.8,-10.6,420,4838,0.90,0.00,133.85,2.309,6,0.275,0.000,2589,2209,2773,0,0,0,0,0,0,14.75,28.83,13.12
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$GC,4850,1.50,136.9,580.1,0.0,425,4999,1.42,0.00,144.45,2.248,6,0.177,0.000,3004,2209,2214,0,0,0,0,0,0,13.89,28.83,12.81
$GC,5291,1.50,136.9,535.6,11.8,440,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2209,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5591,1.50,136.9,501.6,11.5,450,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2209,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5891,1.50,136.9,467.1,11.3,460,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2208,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6191,1.50,136.9,433.8,10.9,470,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2209,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6491,1.50,136.9,400.6,11.2,480,6496,0.00,2.65,0.00,0.000,4,0.000,0.153,3004,3611,2201,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6515,1.50,136.9,400.6,11.2,480,6522,0.00,2.58,0.00,0.000,6,0.000,0.112,3014,2195,2201,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6823,1.50,136.9,361.5,11.4,511,6832,0.00,2.60,0.00,0.000,4,0.000,0.144,3024,787,2200,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6869,1.50,136.9,356.1,12.3,515,6877,0.00,2.58,0.00,0.000,6,0.000,0.136,3024,2198,2200,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7178,1.50,136.9,320.5,10.8,546,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2199,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7488,1.50,136.9,289.6,9.6,577,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2199,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,1.50,136.9,258.5,10.5,608,7812,0.00,2.65,0.00,0.000,4,0.000,0.157,3024,3610,2201,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7850,1.50,136.9,252.8,11.6,612,7859,0.10,2.53,0.00,0.000,6,0.285,0.111,3008,2197,2201,0,0,0,0,0,0,14.63,14.72,28.83
$GC,8160,1.50,136.9,221.5,9.7,643,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2197,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8470,1.50,136.9,191.6,10.1,674,8480,0.00,2.70,0.00,0.000,4,0.000,0.158,3007,3617,2200,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8508,1.50,136.9,187.9,10.5,677,8515,0.00,2.55,0.00,0.000,6,0.000,0.110,3016,2197,2200,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8815,1.50,136.9,157.1,9.8,708,8824,0.00,2.55,0.00,0.000,4,0.000,0.139,3027,784,2199,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8863,1.50,136.9,152.9,9.2,712,8869,0.00,2.58,0.00,0.000,6,0.000,0.132,3027,2200,2198,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9170,1.50,136.9,125.5,9.6,743,9179,0.00,2.62,0.00,0.000,4,0.000,0.153,3027,3610,2199,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9245,1.50,136.9,118.1,9.8,750,9255,0.10,2.50,0.00,0.000,6,0.285,0.108,3010,2199,2199,0,0,0,0,0,0,14.67,14.76,28.83
$GC,9560,1.55,174.5,92.4,7.3,790,9585,0.00,0.00,18.20,0.474,6,0.000,0.000,3010,2199,2058,0,0,0,0,0,0,28.83,28.83,14.54
$GC,9896,1.55,182.1,67.2,8.6,854,9905,0.00,2.62,3.10,0.434,4,0.000,0.137,3019,791,2028,0,0,0,0,0,0,28.83,14.69,14.59
$GC,9971,1.57,194.5,60.5,8.4,867,9985,0.00,2.58,6.97,0.382,6,0.000,0.132,3019,2205,1976,0,0,0,0,0,0,28.83,14.70,14.57
$GC,10299,1.57,194.5,33.8,9.3,929,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2204,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10617,1.69,291.4,11.4,4.7,990,10679,0.10,2.67,51.38,0.209,4,0.177,0.142,3069,792,1580,0,0,0,0,0,0,14.76,14.62,14.61
$GC,10701,1.70,299.5,5.5,8.6,1003,10714,0.00,2.60,3.38,0.217,6,0.000,0.135,3069,2206,1548,0,0,0,0,0,0,28.83,14.64,14.59
$STATE,10725,end climb,SURFACE_DEPTH_REACHED
$STATE,10725,begin surface coast
$FINISH,2.0,1.013161
$STATE,10756,end surface coast,CONTROL_FINISHED_OK
$STATE,10756,begin surface
$SM_CCo,10845,0.00,0.000,0,0,1538,302.45
$SM_GC,3.18,8.70,0.20,0.00,0.108,0.143,0.000,135,2112,1538,-11.62,0.42,302.45,0,0,0,0,0,0,14.67,14.66,28.83
$RAFOS_CLK,472
$RAFOS,6,1348390147,8.833333,8.818611,77,56,56,53,52,51,760,208,195,119,139,162
$RAFOS,5,1348389666,8.700000,8.685000,82,64,62,59,57,56,922,206,183,165,217,192
$RAFOS,4,1348389186,8.566667,8.551666,114,61,60,57,53,51,672,207,198,218,126,149
$RAFOS,3,1348388705,8.433333,8.418056,85,62,60,58,56,49,752,210,199,145,162,219
$RAFOS,2,1348388249,8.300000,8.291389,79,60,59,58,55,54,386,195,181,216,171,155
$RAFOS,1,1348387769,8.166667,8.158055,123,58,57,56,55,54,348,187,161,133,124,148
$RAFOS,0,1348387289,8.033334,8.024722,59,57,51,51,47,43,177,148,206,228,66,120
$RAFOS_FIX,6647.303223,-5957.617676,230912,080828,4,90,1.40
$IRIDIUM_FIX,6614.97,-6009.24,230912,030339
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.81
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.60
$XPDR_PINGS,10
$24V_AH,12.8,29.702
$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,22.725,83.650,361.325,0.000,0.000,0.000,0.000,257.125,2.500,0.000,5.954,2556.031,5878.706,553.820,1823.288,515.708,0.000,1699.105,0.000,1604.860,2520.000,0.535,0.000
$DEVICE_MAMPS,464.355,190.485,2308.770,0.000,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.229,708.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188696
$DATA_FILE_SIZE,46749,1013
$CAP_FILE_SIZE,105612,0
$CFSIZE,259252224,244781056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.9
$CURRENT,0.056,158.0,1
$GPS,230912,093229,6643.583,-6011.949,12,0.8,12,-33.9