version: 66.11
glider: 193
mission: 2
dive: 296
start: 10 30 112 23 52 6
data:
$ID,193
$MISSION,2
$DIVE,296
$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,-1455.9116
$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,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
$GPS1,301012,234104,6642.987,-6003.251,26,0.9,26,-33.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-68.0
$GPS2,301012,235122,6642.868,-6003.110,5,1.3,5,-33.8
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,73.3,145748,-17.3,-8.919,-19.96
$D_GRID,624
$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,-136.9,0.0,0.0,0,26,0.00,0.00,-5.50,0.000,2,0.000,0.000,134,2119,1681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.4,0.0,1,157,11.50,2.72,-104.50,0.000,4,0.459,0.158,2349,700,3330,0,0,0,0,0,0,14.16,14.34,14.73
$GC,227,-1.50,-136.9,14.6,-18.2,34,234,0.00,2.80,0.00,0.000,6,0.000,0.147,2341,2122,3331,0,0,0,0,0,0,28.83,14.33,28.83
$GC,547,-1.50,-136.9,66.6,-15.5,95,554,0.00,2.65,0.00,0.000,4,0.000,0.136,2341,706,3331,0,0,0,0,0,0,28.83,14.39,28.83
$GC,640,-1.50,-136.9,81.7,-16.1,112,647,0.10,2.72,0.00,0.000,6,0.329,0.140,2349,2121,3332,0,0,0,0,0,0,14.24,14.40,28.83
$GC,958,-1.50,-136.9,126.9,-13.3,155,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2122,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-1.50,-136.9,169.6,-13.6,186,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1582,-1.50,-136.9,210.8,-11.9,217,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,-1.50,-136.9,249.3,-12.3,248,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2121,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2211,-1.50,-136.9,287.9,-11.7,279,2220,0.00,2.80,0.00,0.000,4,0.000,0.158,2340,3533,3331,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2246,-1.50,-136.9,292.9,-12.3,282,2254,0.00,2.55,0.00,0.000,6,0.000,0.103,2340,2115,3330,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2555,-1.50,-136.9,330.2,-12.0,313,2565,0.00,2.58,0.00,0.000,4,0.000,0.133,2340,706,3330,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2621,-1.50,-136.9,338.1,-12.2,319,2630,0.00,2.67,0.00,0.000,6,0.000,0.134,2332,2120,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2931,-1.50,-136.9,374.1,-11.8,350,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3251,-1.50,-136.9,411.6,-11.9,376,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2120,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3551,-1.50,-136.9,446.6,-11.6,386,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3850,-1.50,-136.9,481.2,-11.2,396,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2120,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4152,-1.50,-136.9,515.3,-11.5,406,4157,0.00,2.58,0.00,0.000,4,0.000,0.131,2333,709,3332,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4191,-1.50,-136.9,519.2,-11.6,407,4197,0.10,2.70,0.00,0.000,6,0.296,0.137,2350,2120,3331,0,0,0,0,0,0,14.25,14.45,28.83
$GC,4513,-1.50,-136.9,554.4,-10.3,418,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2120,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4813,-1.50,-136.9,585.4,-10.2,428,4819,0.00,2.78,0.00,0.000,4,0.000,0.156,2342,3531,3332,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4893,-1.50,-136.9,592.2,-10.4,430,4902,0.00,2.55,0.00,0.000,6,0.000,0.103,2342,2115,3332,0,0,0,0,0,0,28.83,14.44,28.83
$STATE,5169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5169,begin apogee
$GC,5182,-0.38,0.0,624.2,-11.4,440,5333,0.93,0.00,139.35,2.437,6,0.272,0.000,2587,2150,2773,0,0,0,0,0,0,14.30,28.83,12.90
$STATE,5334,end apogee,CONTROL_FINISHED_OK
$STATE,5334,begin climb
$GC,5340,1.50,136.9,631.1,0.0,445,5509,1.45,3.10,152.18,2.388,4,0.183,0.148,3003,3565,2216,0,0,0,0,0,0,13.70,13.18,12.43
$GC,5553,1.50,136.9,616.5,9.8,452,5559,0.00,2.78,0.00,0.000,6,0.000,0.103,3012,2146,2212,0,0,0,0,0,0,28.83,13.54,28.83
$GC,5875,1.50,136.9,578.3,11.0,463,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2146,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6175,1.50,136.9,544.6,11.0,473,6181,0.00,2.83,0.00,0.000,4,0.000,0.146,3013,3560,2206,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6239,1.50,136.9,537.2,11.5,475,6245,0.00,2.58,0.00,0.000,6,0.000,0.103,3023,2149,2206,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6567,1.50,136.9,498.4,11.8,486,6572,0.00,2.60,0.00,0.000,4,0.000,0.131,3034,730,2205,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6601,1.50,136.9,494.8,11.8,487,6607,0.10,2.65,0.00,0.000,6,0.272,0.116,3008,2155,2203,0,0,0,0,0,0,14.26,14.43,28.83
$GC,6928,1.50,136.9,458.8,10.7,498,6934,0.00,2.72,0.00,0.000,4,0.000,0.142,3008,3562,2204,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6978,1.50,136.9,455.2,10.7,499,6987,0.00,2.55,0.00,0.000,6,0.000,0.101,3017,2143,2204,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7290,1.50,136.9,418.0,11.3,510,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2143,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7590,1.50,136.9,383.4,11.7,528,7599,0.00,2.53,0.00,0.000,4,0.000,0.131,3027,742,2203,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7634,1.50,136.9,378.2,12.0,532,7643,0.00,2.60,0.00,0.000,6,0.000,0.119,3027,2146,2203,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7945,1.50,136.9,342.2,10.8,563,7954,0.00,2.72,0.00,0.000,4,0.000,0.143,3027,3558,2204,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8003,1.50,136.9,335.9,11.6,568,8010,0.15,2.55,0.00,0.000,6,0.293,0.102,3004,2146,2204,0,0,0,0,0,0,14.36,14.58,28.83
$GC,8312,1.51,146.9,307.5,8.5,599,8329,0.00,2.55,9.52,1.933,4,0.000,0.131,3013,734,2173,0,0,0,0,0,0,28.83,14.63,13.80
$GC,8365,1.52,151.1,302.8,8.7,604,8377,0.00,2.60,5.97,1.717,6,0.000,0.117,3013,2152,2155,0,0,0,0,0,0,28.83,14.51,13.74
$GC,8690,1.52,151.1,271.2,10.5,636,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2152,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9003,1.52,151.1,237.8,10.7,667,9012,0.00,2.60,0.00,0.000,4,0.000,0.133,3024,740,2153,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9051,1.52,151.1,232.5,10.6,671,9058,0.00,2.65,0.00,0.000,6,0.000,0.120,3024,2156,2153,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9358,1.54,171.1,204.5,8.0,702,9385,0.00,0.00,21.10,1.939,6,0.000,0.000,3024,2156,2074,0,0,0,0,0,0,28.83,28.83,13.78
$GC,9689,1.54,171.1,174.0,9.5,735,9697,0.00,2.75,0.00,0.000,4,0.000,0.147,3022,3563,2071,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9793,1.54,171.1,162.9,10.7,745,9802,0.00,2.55,0.00,0.000,6,0.000,0.103,3033,2149,2071,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10103,1.54,171.1,133.4,9.0,776,10112,0.00,2.80,0.00,0.000,4,0.000,0.148,3033,3566,2070,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10181,1.54,171.1,126.1,9.9,783,10188,0.12,2.58,0.00,0.000,6,0.300,0.102,3017,2144,2070,0,0,0,0,0,0,14.35,14.56,28.83
$GC,10489,1.57,193.9,100.9,7.9,814,10508,0.00,2.62,13.40,1.652,4,0.000,0.129,3027,733,1979,0,0,0,0,0,0,28.83,14.59,13.89
$GC,10550,1.59,212.4,96.0,8.1,823,10569,0.00,2.62,10.48,0.477,6,0.000,0.115,3027,2150,1905,0,0,0,0,0,0,28.83,14.52,14.25
$GC,10884,1.59,212.4,67.8,9.2,886,10892,0.00,2.62,0.00,0.000,4,0.000,0.131,3036,734,1899,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10913,1.60,215.6,64.8,8.8,890,10921,0.00,2.65,0.00,0.000,6,0.000,0.119,3036,2153,1899,0,0,0,0,0,0,28.83,14.48,28.83
$GC,11233,1.65,258.5,35.1,7.1,951,11265,0.00,2.85,25.27,0.299,4,0.000,0.151,3036,3566,1716,0,0,0,0,0,0,28.83,14.47,14.35
$GC,11386,1.65,258.5,20.8,9.5,978,11393,0.00,2.58,0.00,0.000,6,0.000,0.102,3046,2145,1709,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,11563,end climb,SURFACE_DEPTH_REACHED
$STATE,11563,begin surface coast
$FINISH,2.6,1.015753
$STATE,11595,end surface coast,CONTROL_FINISHED_OK
$STATE,11595,begin surface
$SM_CCo,11623,15.48,0.205,0,0,1587,290.19
$SM_GC,3.27,8.85,0.05,15.48,0.122,0.265,0.205,141,2120,1587,-11.59,0.51,290.19,0,0,0,0,0,0,14.60,14.63,14.40
$RAFOS_CLK,513
$RAFOS,6,1351644551,0.833333,0.819722,65,64,63,58,58,56,166,217,702,156,189,139
$RAFOS,5,1351644062,0.700000,0.683889,63,59,53,51,51,50,191,217,895,242,138,173
$RAFOS,4,1351643586,0.566667,0.551667,88,70,65,58,56,55,664,186,162,205,234,143
$RAFOS,3,1351643106,0.433333,0.418333,60,58,57,57,55,50,170,214,202,136,190,161
$RAFOS,2,1351642622,0.300000,0.283889,115,72,61,58,53,53,513,193,159,216,174,115
$RAFOS,1,1351642149,0.166667,0.152500,84,61,61,58,52,51,443,195,141,216,226,179
$RAFOS,0,1351641665,0.033333,0.018056,64,60,59,58,55,55,163,181,151,127,215,225
$RAFOS_FIX,6655.921875,-5959.634766,301012,202044,2,80,28.46
$IRIDIUM_FIX,6614.97,-6001.83,301012,232338
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.96
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.40
$XPDR_PINGS,4
$24V_AH,12.4,95.428
$10V_AH,12.7,0.000
$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,23.300,101.475,377.275,15.475,0.000,0.000,0.000,404.325,1.000,0.000,6.427,2581.927,6500.357,534.137,2049.522,597.566,0.000,1918.031,0.000,1715.172,2520.000,0.536,0.000
$DEVICE_MAMPS,459.000,265.455,2436.525,205.020,0.000,0.000,0.000,152.235,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.666,715.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188724
$DATA_FILE_SIZE,46668,1018
$CAP_FILE_SIZE,114604,0
$CFSIZE,259252224,230248448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.8
$CURRENT,0.079,  7.1,1
$GPS,311012,030734,6644.636,-6000.547,28,0.7,28,-33.9