version: 66.11
glider: 193
mission: 2
dive: 84
start: 9 23 112 9 39 57
data:
$ID,193
$MISSION,2
$DIVE,84
$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,-886.56262
$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,19
$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
$GPS1,230912,093229,6643.583,-6011.949,12,0.8,12,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-69.2
$GPS2,230912,093915,6643.548,-6011.979,4,1.4,4,-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,320.2,10292,-17.3,-8.919,-19.96
$D_GRID,550
$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,-22.77,0.000,2,0.000,0.000,134,2112,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.50,-136.9,3.1,-2.6,4,142,11.30,2.62,-71.95,0.000,4,0.470,0.165,2352,708,3330,0,0,0,0,0,0,14.36,14.47,14.73
$GC,378,-1.50,-136.9,50.0,-16.1,64,385,0.00,2.70,0.00,0.000,6,0.000,0.157,2344,2127,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,695,-1.50,-136.9,97.1,-15.6,125,703,0.00,2.65,0.00,0.000,4,0.000,0.145,2344,704,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,803,-1.50,-136.9,114.3,-16.1,137,813,0.00,2.62,0.00,0.000,6,0.000,0.146,2333,2120,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1113,-1.50,-136.9,161.9,-16.1,168,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1428,-1.50,-136.9,207.3,-13.7,199,1437,0.00,2.58,0.00,0.000,4,0.000,0.140,2334,715,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1496,-1.50,-136.9,217.1,-14.2,205,1504,0.12,2.60,0.00,0.000,6,0.325,0.144,2350,2121,3332,0,0,0,0,0,0,14.62,14.68,28.83
$GC,1805,-1.50,-136.9,255.0,-11.2,236,1814,0.00,2.65,0.00,0.000,4,0.000,0.158,2341,3525,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1870,-1.50,-136.9,262.6,-11.8,242,1879,0.00,2.50,0.00,0.000,6,0.000,0.108,2341,2114,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2180,-1.50,-136.9,297.4,-11.1,273,2189,0.00,2.55,0.00,0.000,4,0.000,0.139,2341,706,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2330,-1.50,-136.9,315.0,-12.0,287,2339,0.00,2.58,0.00,0.000,6,0.000,0.142,2333,2117,3330,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2641,-1.50,-136.9,352.0,-12.3,318,2650,0.00,2.62,0.00,0.000,4,0.000,0.157,2323,3523,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2686,-1.50,-136.9,357.4,-12.1,322,2695,0.10,2.47,0.00,0.000,6,0.287,0.106,2348,2121,3330,0,0,0,0,0,0,14.64,14.74,28.83
$GC,2996,-1.50,-136.9,393.1,-11.5,353,3005,0.00,2.55,0.00,0.000,4,0.000,0.140,2349,707,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3064,-1.50,-136.9,401.1,-12.5,359,3070,0.00,2.58,0.00,0.000,6,0.000,0.143,2342,2116,3330,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3391,-1.50,-136.9,439.6,-11.7,370,3397,0.00,2.67,0.00,0.000,4,0.000,0.158,2332,3537,3330,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3453,-1.50,-136.9,447.1,-11.9,372,3459,0.08,2.50,0.00,0.000,6,0.282,0.105,2350,2117,3330,0,0,0,0,0,0,14.69,14.78,28.83
$GC,3785,-1.50,-136.9,483.7,-10.9,383,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4085,-1.50,-136.9,515.6,-10.4,393,4091,0.00,2.53,0.00,0.000,4,0.000,0.139,2351,708,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4135,-1.50,-136.9,519.0,-10.5,394,4143,0.00,2.60,0.00,0.000,6,0.000,0.144,2344,2126,3331,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,4411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4411,begin apogee
$GC,4423,-0.38,0.0,550.5,-10.2,404,4564,0.90,0.00,133.77,2.274,6,0.278,0.000,2590,2203,2773,0,0,0,0,0,0,14.73,28.83,13.13
$STATE,4569,end apogee,CONTROL_FINISHED_OK
$STATE,4569,begin climb
$GC,4575,1.50,136.9,555.0,0.0,409,4724,1.42,0.00,143.90,2.215,6,0.180,0.000,3002,2203,2214,0,0,0,0,0,0,13.88,28.83,12.81
$GC,5021,1.50,136.9,511.0,11.8,424,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2203,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5316,1.50,136.9,474.9,12.1,434,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2203,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5617,1.50,136.9,441.0,11.1,444,5622,0.00,2.70,0.00,0.000,4,0.000,0.153,3003,3611,2203,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5651,1.50,136.9,437.3,11.1,445,5656,0.00,2.58,0.00,0.000,6,0.000,0.111,3013,2198,2202,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5978,1.50,136.9,400.6,11.1,456,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2198,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6278,1.50,136.9,365.5,12.1,484,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2198,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6593,1.50,136.9,328.0,12.2,515,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2198,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6906,1.50,136.9,289.8,12.5,546,6915,0.00,2.55,0.00,0.000,4,0.000,0.141,3024,791,2201,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6954,1.50,136.9,283.6,12.1,550,6961,0.00,2.58,0.00,0.000,6,0.000,0.133,3023,2199,2200,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7261,1.50,136.9,247.2,11.6,581,7270,0.00,2.58,0.00,0.000,4,0.000,0.142,3034,791,2199,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7299,1.50,136.9,243.0,11.9,584,7307,0.12,2.58,0.00,0.000,6,0.308,0.132,3008,2202,2200,0,0,0,0,0,0,14.63,14.69,28.83
$GC,7608,1.50,136.9,211.6,9.5,615,7617,0.00,2.62,0.00,0.000,4,0.000,0.152,3008,3612,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7735,1.50,136.9,199.4,9.9,627,7742,0.00,2.55,0.00,0.000,6,0.000,0.107,3016,2197,2201,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8043,1.51,143.8,171.5,8.6,658,8054,0.00,2.62,5.22,1.610,4,0.000,0.137,3027,789,2185,0,0,0,0,0,0,28.83,14.69,14.02
$GC,8110,1.51,148.5,165.7,8.7,664,8122,0.00,2.55,6.60,1.683,6,0.000,0.132,3027,2196,2165,0,0,0,0,0,0,28.83,14.66,13.98
$GC,8433,1.54,173.6,140.0,7.8,696,8461,0.00,0.00,25.75,1.857,6,0.000,0.000,3027,2196,2063,0,0,0,0,0,0,28.83,28.83,13.83
$GC,8763,1.54,173.6,107.7,10.3,729,8772,0.00,2.60,0.00,0.000,4,0.000,0.142,3037,794,2060,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8790,1.54,173.6,105.1,10.6,731,8796,0.00,2.60,0.00,0.000,6,0.000,0.132,3037,2202,2059,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9102,1.56,184.3,73.9,8.5,788,9115,0.00,2.65,5.45,0.441,4,0.000,0.141,3047,786,2020,0,0,0,0,0,0,28.83,14.59,14.47
$GC,9150,1.56,184.3,69.6,9.0,796,9158,0.12,2.60,0.00,0.000,6,0.301,0.132,3020,2202,2019,0,0,0,0,0,0,14.52,14.59,28.83
$GC,9473,1.61,224.6,44.8,7.2,857,9504,0.00,2.70,22.38,0.319,4,0.000,0.154,3021,3617,1855,0,0,0,0,0,0,28.83,14.57,14.51
$GC,9615,1.61,230.2,33.3,8.7,882,9624,0.00,2.58,2.53,0.348,6,0.000,0.109,3029,2196,1831,0,0,0,0,0,0,28.83,14.63,14.52
$GC,9940,1.67,277.6,12.4,6.9,943,9971,0.00,2.65,25.02,0.219,4,0.000,0.139,3039,790,1637,0,0,0,0,0,0,28.83,14.59,14.57
$GC,10032,1.69,294.8,5.0,8.2,959,10046,0.00,2.60,8.12,0.208,6,0.000,0.134,3039,2203,1569,0,0,0,0,0,0,28.83,14.60,14.57
$STATE,10051,end climb,SURFACE_DEPTH_REACHED
$STATE,10051,begin surface coast
$FINISH,1.9,1.015000
$STATE,10088,end surface coast,CONTROL_FINISHED_OK
$STATE,10088,begin surface
$SM_CCo,10176,0.00,0.000,0,0,1558,297.55
$SM_GC,3.30,8.70,0.20,0.00,0.113,0.144,0.000,135,2111,1558,-11.62,0.37,297.55,0,0,0,0,0,0,14.64,14.63,28.83
$RAFOS_CLK,440
$RAFOS,2,1348402624,12.300000,12.284445,78,59,57,56,55,53,502,186,120,209,137,219
$RAFOS,1,1348402143,12.166667,12.150833,79,65,65,58,52,51,493,209,194,175,224,135
$RAFOS,0,1348401664,12.033333,12.017777,66,56,54,52,52,51,203,156,122,174,133,165
$RAFOS_FIX,6647.303223,-5957.617676,230912,080828,4,90,1.40
$IRIDIUM_FIX,6614.97,-6001.83,230912,060610
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.12
$INTERNAL_PRESSURE,8.6842
$TCM_TEMP,12.60
$XPDR_PINGS,10
$24V_AH,12.8,29.970
$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,22.875,93.800,378.750,0.000,0.000,0.000,0.000,257.125,2.500,0.000,5.961,2443.197,5274.060,523.154,1834.479,506.704,0.000,1678.773,0.000,1613.114,1440.000,0.535,0.000
$DEVICE_MAMPS,469.710,198.900,2273.580,0.000,0.000,0.000,0.000,150.705,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.561,676.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188756
$DATA_FILE_SIZE,43451,969
$CAP_FILE_SIZE,104434,0
$CFSIZE,259252224,244727808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.3
$CURRENT,0.197,167.5,1
$GPS,230912,123104,6642.655,-6014.523,36,0.8,36,-33.8