version: 66.11
glider: 193
mission: 2
dive: 297
start: 10 31 112 3 14 52
data:
$ID,193
$MISSION,2
$DIVE,297
$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,-1461.8899
$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,14
$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
$GPS1,311012,030734,6644.636,-6000.547,28,0.7,28,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.37
$_SM_ANGLEo,-67.4
$GPS2,311012,031408,6644.593,-6000.688,5,1.1,5,-33.9
$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,127.7,143264,-17.3,-8.919,-19.96
$D_GRID,663
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,26,0.00,0.00,-5.57,0.000,2,0.000,0.000,140,2119,1690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.4,0.0,1,148,11.35,2.72,-97.05,0.000,4,0.454,0.160,2352,700,3331,0,0,0,0,0,0,14.19,14.36,14.74
$GC,338,-1.50,-136.9,38.7,-18.1,56,345,0.00,2.78,0.00,0.000,6,0.000,0.143,2343,2123,3332,0,0,0,0,0,0,28.83,14.38,28.83
$GC,655,-1.50,-136.9,87.3,-15.4,117,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2123,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,973,-1.50,-136.9,133.9,-14.2,156,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2123,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1288,-1.50,-136.9,175.3,-12.8,187,1297,0.00,2.78,0.00,0.000,4,0.000,0.156,2333,3525,3331,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1336,-1.50,-136.9,182.3,-14.0,191,1343,0.00,2.55,0.00,0.000,6,0.000,0.103,2333,2118,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1644,-1.50,-136.9,226.4,-13.8,222,1654,0.10,2.58,0.00,0.000,4,0.328,0.132,2350,711,3332,0,0,0,0,0,0,14.38,14.39,28.83
$GC,1692,-1.50,-136.9,233.0,-14.2,226,1699,0.00,2.70,0.00,0.000,6,0.000,0.136,2342,2123,3332,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2000,-1.50,-136.9,272.8,-12.8,257,2010,0.00,2.60,0.00,0.000,4,0.000,0.133,2342,715,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2058,-1.50,-136.9,280.2,-13.2,262,2065,0.00,2.70,0.00,0.000,6,0.000,0.135,2336,2126,3331,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2365,-1.50,-136.9,319.0,-11.9,293,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2125,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2682,-1.50,-136.9,356.2,-11.9,324,2690,0.00,2.62,0.00,0.000,4,0.000,0.132,2336,702,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2737,-1.50,-136.9,363.7,-12.7,329,2747,0.08,2.67,0.00,0.000,6,0.305,0.132,2347,2119,3331,0,0,0,0,0,0,14.23,14.40,28.83
$GC,3047,-1.50,-136.9,398.6,-11.4,360,3056,0.00,2.75,0.00,0.000,4,0.000,0.151,2338,3525,3331,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3085,-1.50,-136.9,402.6,-11.6,363,3090,0.00,2.53,0.00,0.000,6,0.000,0.099,2338,2113,3331,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3413,-1.50,-136.9,439.0,-10.6,374,3418,0.00,2.55,0.00,0.000,4,0.000,0.128,2338,705,3331,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3447,-1.50,-136.9,442.6,-10.8,375,3453,0.08,2.65,0.00,0.000,6,0.301,0.129,2349,2116,3331,0,0,0,0,0,0,14.25,14.45,28.83
$GC,3775,-1.50,-136.9,475.4,-9.8,386,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-1.50,-136.9,505.3,-9.9,396,4079,0.00,2.58,0.00,0.000,4,0.000,0.128,2349,708,3331,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4105,-1.50,-136.9,508.7,-10.0,397,4110,0.00,2.62,0.00,0.000,6,0.000,0.131,2343,2128,3331,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4441,-1.50,-136.9,542.6,-10.2,408,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2128,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4741,-1.50,-136.9,573.0,-9.9,418,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2128,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5040,-1.50,-136.9,604.0,-10.1,428,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2128,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5341,-1.50,-136.9,634.3,-10.0,438,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2128,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5635,begin apogee
$GC,5648,-0.38,0.0,664.3,-10.1,448,5799,0.93,0.00,140.65,2.460,6,0.272,0.000,2589,2147,2773,0,0,0,0,0,0,14.32,28.83,12.88
$STATE,5800,end apogee,CONTROL_FINISHED_OK
$STATE,5800,begin climb
$GC,5806,1.50,136.9,670.4,0.0,453,5974,1.45,3.15,154.35,2.430,4,0.178,0.140,3006,3569,2215,0,0,0,0,0,0,13.69,13.18,12.42
$GC,6029,1.50,139.8,656.2,8.8,460,6038,0.00,2.78,0.00,0.000,6,0.000,0.103,3016,2152,2210,0,0,0,0,0,0,28.83,13.52,28.83
$GC,6341,1.50,139.8,616.4,12.3,471,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2152,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6640,1.50,139.8,578.7,12.3,481,6646,0.00,2.80,0.00,0.000,4,0.000,0.147,3016,3563,2203,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6675,1.50,139.8,574.7,12.3,482,6680,0.00,2.60,0.00,0.000,6,0.000,0.103,3027,2142,2204,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7002,1.50,139.8,532.7,12.7,493,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2142,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7302,1.50,139.8,496.1,12.2,503,7308,0.00,2.78,0.00,0.000,4,0.000,0.145,3026,3563,2203,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7337,1.50,139.8,492.0,12.4,504,7343,0.10,2.55,0.00,0.000,6,0.277,0.101,3010,2148,2203,0,0,0,0,0,0,14.31,14.50,28.83
$GC,7665,1.50,139.8,454.6,11.1,515,7671,0.00,2.55,0.00,0.000,4,0.000,0.130,3020,742,2202,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7697,1.50,139.8,450.9,11.1,516,7703,0.00,2.60,0.00,0.000,6,0.000,0.117,3020,2150,2201,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8029,1.50,139.8,414.2,11.0,527,8035,0.00,2.70,0.00,0.000,4,0.000,0.142,3020,3562,2201,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8099,1.50,139.8,406.8,11.4,529,8105,0.08,2.55,0.00,0.000,6,0.280,0.099,3011,2141,2202,0,0,0,0,0,0,14.36,14.55,28.83
$GC,8411,1.50,139.8,372.5,10.7,557,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2141,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,1.50,139.8,338.9,10.7,588,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2141,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9038,1.50,139.8,304.8,10.5,619,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2141,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9351,1.50,139.8,271.4,10.2,650,9361,0.00,2.53,0.00,0.000,4,0.000,0.130,3019,742,2201,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9389,1.50,139.8,266.9,10.9,653,9396,0.00,2.62,0.00,0.000,6,0.000,0.116,3019,2159,2200,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9696,1.50,139.8,234.0,11.3,684,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2159,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10014,1.52,157.5,204.5,8.1,715,10035,0.00,0.00,19.02,1.950,6,0.000,0.000,3019,2159,2130,0,0,0,0,0,0,28.83,28.83,13.82
$GC,10336,1.52,157.5,173.1,10.1,748,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2159,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10654,1.52,157.5,142.2,9.0,779,10662,0.00,2.72,0.00,0.000,4,0.000,0.147,3019,3563,2128,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10809,1.52,157.5,126.7,9.4,794,10818,0.00,2.55,0.00,0.000,6,0.000,0.106,3029,2151,2127,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11120,1.55,175.3,99.9,8.1,825,11140,0.00,2.62,10.12,0.487,4,0.000,0.135,3039,741,2057,0,0,0,0,0,0,28.83,14.51,14.26
$GC,11216,1.56,184.5,91.7,8.5,842,11230,0.00,2.65,5.15,0.476,6,0.000,0.124,3039,2154,2018,0,0,0,0,0,0,28.83,14.50,14.23
$GC,11545,1.56,187.4,65.2,8.8,904,11552,0.00,2.65,0.00,0.000,4,0.000,0.138,3050,734,2015,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11573,1.56,188.9,62.4,8.9,908,11582,0.12,2.67,1.92,0.455,6,0.285,0.129,3023,2156,2001,0,0,0,0,0,0,14.35,14.50,14.29
$GC,11897,1.66,265.6,38.3,5.6,969,11947,0.00,2.80,43.58,0.302,4,0.000,0.151,3022,3563,1687,0,0,0,0,0,0,28.83,14.47,14.39
$GC,12082,1.66,265.6,22.7,9.2,1002,12090,0.00,2.58,0.00,0.000,6,0.000,0.106,3030,2149,1677,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,12305,end climb,SURFACE_DEPTH_REACHED
$STATE,12305,begin surface coast
$FINISH,2.5,1.016037
$STATE,12337,end surface coast,CONTROL_FINISHED_OK
$STATE,12337,begin surface
$SM_CCo,12365,10.85,0.208,0,0,1588,290.19
$SM_GC,3.52,8.70,0.05,10.85,0.109,0.251,0.208,136,2121,1588,-11.61,0.62,290.19,0,0,0,0,0,0,14.58,14.62,14.40
$RAFOS_CLK,549
$RAFOS,6,1351658943,4.833333,4.817500,58,55,54,52,51,50,198,171,121,864,153,213
$RAFOS,5,1351658477,4.700000,4.688056,76,69,61,57,57,50,801,208,199,176,153,222
$RAFOS,4,1351657997,4.566667,4.554722,86,58,56,55,53,52,590,172,211,116,185,149
$RAFOS,3,1351657517,4.433333,4.421389,77,59,59,59,59,56,192,181,168,203,219,137
$RAFOS,2,1351657030,4.300000,4.286111,93,72,57,56,53,50,467,215,186,131,173,224
$RAFOS,1,1351656548,4.166667,4.152222,113,67,54,54,49,49,448,196,208,174,220,127
$RAFOS,0,1351656064,4.033333,4.017778,60,55,53,50,50,49,215,189,115,133,225,147
$RAFOS_FIX,6633.152832,-5925.306641,311012,040428,2,81,6.57
$IRIDIUM_FIX,6614.97,-5959.11,301012,232323
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.04
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.50
$XPDR_PINGS,8
$24V_AH,12.4,95.721
$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,22.975,95.900,374.800,10.850,0.000,0.000,0.000,238.150,2.000,0.000,11.078,2695.220,7030.831,519.019,1964.607,578.195,0.000,1748.277,0.000,1757.877,2520.000,0.536,0.000
$DEVICE_MAMPS,454.410,380.970,2460.240,208.080,0.000,0.000,0.000,148.410,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.305,741.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50075,1051
$CAP_FILE_SIZE,115309,0
$CFSIZE,259252224,230178816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.6
$CURRENT,0.185,171.0,1
$GPS,311012,064305,6643.388,-5956.023,42,0.8,42,-33.8