version: 66.11
glider: 193
mission: 2
dive: 291
start: 10 30 112 8 18 23
data:
$ID,193
$MISSION,2
$DIVE,291
$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,-1440.0404
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$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
$GPS1,301012,081134,6641.936,-6008.166,27,0.8,27,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.39
$_SM_ANGLEo,-69.4
$GPS2,301012,081740,6641.916,-6008.047,5,0.7,5,-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,5.2,13689,-17.3,-8.919,-19.96
$D_GRID,568
$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,-136.9,0.0,0.0,0,27,0.00,0.00,-6.03,0.000,2,0.000,0.000,137,2122,1698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.6,0.0,1,154,11.62,2.85,-100.32,0.000,4,0.466,0.183,2341,3533,3327,0,0,0,0,0,0,14.19,14.31,14.75
$GC,338,-1.50,-136.9,36.3,-16.9,56,345,0.00,2.60,0.00,0.000,6,0.000,0.107,2340,2112,3329,0,0,0,0,0,0,28.83,14.45,28.83
$GC,656,-1.50,-136.9,86.3,-15.8,117,663,0.00,2.60,0.00,0.000,4,0.000,0.135,2342,704,3327,0,0,0,0,0,0,28.83,14.40,28.83
$GC,849,-1.50,-136.9,114.6,-13.7,143,858,0.00,2.67,0.00,0.000,6,0.000,0.138,2332,2123,3329,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1159,-1.50,-136.9,158.2,-14.4,174,1168,0.00,2.70,0.00,0.000,4,0.000,0.151,2322,3530,3329,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1217,-1.50,-136.9,166.0,-14.3,179,1224,0.15,2.55,0.00,0.000,6,0.305,0.100,2352,2115,3329,0,0,0,0,0,0,14.23,14.52,28.83
$GC,1525,-1.50,-136.9,205.7,-12.1,210,1535,0.00,2.58,0.00,0.000,4,0.000,0.132,2353,712,3329,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1564,-1.50,-136.9,210.1,-12.1,213,1572,0.00,2.67,0.00,0.000,6,0.000,0.138,2345,2124,3328,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1873,-1.50,-136.9,245.8,-11.8,244,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2124,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2188,-1.50,-136.9,282.2,-11.7,275,2197,0.00,2.60,0.00,0.000,4,0.000,0.133,2345,713,3327,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2276,-1.50,-136.9,292.7,-12.0,283,2283,0.00,2.67,0.00,0.000,6,0.000,0.134,2338,2121,3328,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2583,-1.50,-136.9,328.4,-11.3,314,2592,0.00,2.72,0.00,0.000,4,0.000,0.151,2327,3526,3328,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2668,-1.50,-136.9,338.0,-11.5,322,2677,0.08,2.53,0.00,0.000,6,0.281,0.100,2346,2118,3327,0,0,0,0,0,0,14.21,14.46,28.83
$GC,2978,-1.50,-136.9,369.2,-9.9,353,2988,0.00,2.78,0.00,0.000,4,0.000,0.155,2337,3530,3327,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3027,-1.50,-136.9,374.0,-10.4,357,3034,0.00,2.55,0.00,0.000,6,0.000,0.102,2337,2117,3328,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3340,-1.50,-136.9,407.6,-11.1,384,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2117,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3636,-1.50,-136.9,441.8,-11.5,394,3642,0.00,2.55,0.00,0.000,4,0.000,0.129,2337,708,3328,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3705,-1.50,-136.9,449.1,-11.5,396,3712,0.08,2.67,0.00,0.000,6,0.301,0.133,2347,2119,3328,0,0,0,0,0,0,14.25,14.44,28.83
$GC,4028,-1.50,-136.9,483.6,-10.2,407,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2119,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4328,-1.50,-136.9,514.5,-10.0,417,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2119,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4628,-1.50,-136.9,544.8,-10.0,427,4633,0.00,2.75,0.00,0.000,4,0.000,0.155,2339,3527,3329,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4708,-1.50,-136.9,550.7,-9.4,429,4718,0.00,2.53,0.00,0.000,6,0.000,0.104,2338,2122,3329,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,4864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4864,begin apogee
$GC,4877,-0.38,0.0,569.9,-10.2,435,5024,0.95,0.00,137.25,2.372,6,0.272,0.000,2590,2147,2772,0,0,0,0,0,0,14.31,28.83,12.97
$STATE,5025,end apogee,CONTROL_FINISHED_OK
$STATE,5025,begin climb
$GC,5030,1.50,136.9,575.9,0.0,440,5198,1.42,3.10,150.43,2.275,4,0.179,0.148,3002,3568,2214,0,0,0,0,0,0,13.74,13.19,12.46
$GC,5227,1.56,183.9,567.7,6.9,446,5291,0.00,2.83,53.17,2.241,6,0.000,0.105,3012,2141,2022,0,0,0,0,0,0,28.83,13.50,12.52
$GC,5599,1.56,183.9,514.7,13.6,459,5605,0.00,2.92,0.00,0.000,4,0.000,0.147,3012,3567,2014,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5635,1.56,183.9,509.4,13.8,460,5641,0.00,2.65,0.00,0.000,6,0.000,0.105,3023,2155,2014,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5961,1.56,183.9,461.7,14.0,471,5967,0.00,2.62,0.00,0.000,4,0.000,0.132,3034,733,2011,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5986,1.56,183.9,461.7,14.0,471,5993,0.00,2.67,0.00,0.000,6,0.000,0.119,3033,2153,2010,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6294,1.56,183.9,414.4,14.3,482,6300,0.00,2.65,0.00,0.000,4,0.000,0.135,3043,732,2010,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6328,1.56,183.9,409.6,14.5,483,6334,0.08,2.62,0.00,0.000,6,0.272,0.119,3024,2150,2010,0,0,0,0,0,0,14.28,14.42,28.83
$GC,6645,1.56,183.9,365.3,13.3,509,6655,0.00,2.70,0.00,0.000,4,0.000,0.142,3024,3559,2010,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6715,1.56,183.9,356.0,14.4,515,6722,0.00,2.58,0.00,0.000,6,0.000,0.103,3032,2138,2010,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7023,1.56,183.9,315.4,12.6,546,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2138,2010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7337,1.56,183.9,278.2,11.3,577,7347,0.00,2.55,0.00,0.000,4,0.000,0.131,3043,737,2009,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7396,1.56,183.9,271.1,12.1,582,7404,0.12,2.62,0.00,0.000,6,0.295,0.118,3017,2153,2008,0,0,0,0,0,0,14.37,14.54,28.83
$GC,7704,1.56,183.9,234.4,11.7,613,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2153,2008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8021,1.56,183.9,200.1,10.1,644,8030,0.00,2.72,0.00,0.000,4,0.000,0.147,3016,3566,2008,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8069,1.56,183.9,194.7,10.5,648,8075,0.00,2.58,0.00,0.000,6,0.000,0.105,3025,2144,2009,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8376,1.56,183.9,163.9,10.0,679,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2144,2008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8693,1.56,183.9,133.4,10.1,710,8702,0.00,2.55,0.00,0.000,4,0.000,0.132,3035,740,2008,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8788,1.56,183.9,122.7,10.5,719,8796,0.00,2.62,0.00,0.000,6,0.000,0.121,3036,2153,2007,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9102,1.56,183.9,91.3,8.9,758,9109,0.00,2.78,0.00,0.000,4,0.000,0.148,3035,3566,2008,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9195,1.56,183.9,81.7,10.2,775,9203,0.12,2.58,0.00,0.000,6,0.304,0.105,3019,2142,2008,0,0,0,0,0,0,14.35,14.58,28.83
$GC,9514,1.59,208.0,54.4,7.9,836,9533,0.00,2.58,11.85,0.356,4,0.000,0.132,3029,730,1924,0,0,0,0,0,0,28.83,14.55,14.35
$GC,9649,1.59,208.0,42.4,9.7,860,9656,0.00,2.65,0.00,0.000,6,0.000,0.118,3029,2157,1920,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9965,1.64,247.6,18.3,7.2,921,9990,0.00,0.00,21.75,0.239,6,0.000,0.000,3029,2157,1760,0,0,0,0,0,0,28.83,28.83,14.42
$STATE,10150,end climb,SURFACE_DEPTH_REACHED
$STATE,10150,begin surface coast
$FINISH,2.5,1.025424
$STATE,10182,end surface coast,CONTROL_FINISHED_OK
$STATE,10182,begin surface
$SM_CCo,10210,21.42,0.194,0,0,1588,290.19
$SM_GC,3.14,8.65,0.10,21.42,0.107,0.174,0.194,133,2117,1588,-11.62,0.57,290.19,0,0,0,0,0,0,14.62,14.59,14.45
$RAFOS_CLK,448
$RAFOS,6,1351586945,8.833333,8.818055,65,57,57,56,55,54,147,177,758,193,115,226
$RAFOS,5,1351586463,8.700000,8.684167,66,59,59,57,52,50,193,205,924,151,94,218
$RAFOS,4,1351585987,8.566667,8.551945,67,65,62,59,58,55,198,679,184,125,149,218
$RAFOS,3,1351585504,8.433333,8.417778,61,58,57,57,53,52,220,197,174,187,118,139
$RAFOS,1,1351584542,8.166667,8.150556,73,60,57,56,53,51,185,197,168,480,214,124
$RAFOS_FIX,6656.532227,-5957.996094,301012,040444,3,79,2.28
$IRIDIUM_FIX,6614.97,-6001.83,301012,050537
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.88
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.40
$XPDR_PINGS,7
$24V_AH,12.5,93.963
$10V_AH,12.6,0.000
$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,23.275,101.325,374.450,21.425,0.000,0.000,0.000,213.425,1.750,0.000,6.526,2432.826,5260.720,538.940,1831.007,539.003,0.000,1692.126,0.000,1653.426,1440.000,0.536,0.000
$DEVICE_MAMPS,465.885,231.795,2371.500,193.545,0.000,0.000,0.000,149.940,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.218,672.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188728
$DATA_FILE_SIZE,43477,962
$CAP_FILE_SIZE,105554,0
$CFSIZE,259252224,230563840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.4
$CURRENT,0.024,  5.4,1
$GPS,301012,111011,6643.229,-6009.640,16,0.8,16,-33.8