version: 66.11
glider: 193
mission: 2
dive: 302
start: 10 31 112 18 42 56
data:
$ID,193
$MISSION,2
$DIVE,302
$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,-1642.7117
$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,360
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,20
$ROLL_MAXERRORS,200
$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,720
$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
$GPS1,311012,183328,6642.377,-5951.397,38,0.9,39,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.36
$_SM_ANGLEo,-67.1
$GPS2,311012,184157,6642.303,-5951.422,5,0.8,5,-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,88.0,137892,-17.3,-8.919,-19.96
$D_GRID,731
$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,13,begin dive
$GC,19,-1.50,-136.9,0.0,0.0,0,26,0.00,0.00,-5.50,0.000,2,0.000,0.000,120,1949,1684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.3,0.0,1,157,11.70,0.00,-103.25,0.000,6,0.464,0.000,2351,1949,3331,0,0,0,0,0,0,14.16,28.83,14.73
$GC,472,-1.50,-136.9,55.1,-15.3,82,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1949,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,788,-1.50,-136.9,99.7,-13.9,143,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1100,-1.50,-136.9,138.8,-12.9,174,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1413,-1.50,-136.9,181.5,-13.5,205,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1726,-1.50,-136.9,224.3,-13.4,236,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2037,-1.50,-136.9,264.1,-12.0,267,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-1.50,-136.9,301.2,-12.3,298,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,-1.50,-136.9,339.4,-12.9,329,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,-1.50,-136.9,376.5,-12.0,360,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,-1.50,-136.9,414.5,-11.3,385,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3601,-1.50,-136.9,448.0,-11.0,395,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3901,-1.50,-136.9,481.2,-10.9,405,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-1.50,-136.9,513.1,-10.8,415,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4501,-1.50,-136.9,544.8,-10.6,425,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4801,-1.50,-136.9,575.6,-10.2,435,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5102,-1.50,-136.9,605.1,-9.6,445,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5401,-1.50,-136.9,634.7,-10.1,455,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5701,-1.50,-136.9,664.8,-10.1,465,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6001,-1.50,-136.9,694.1,-9.6,475,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6301,-1.50,-136.9,721.9,-9.2,485,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1949,3334,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6415,begin apogee
$GC,6442,-0.38,0.0,731.8,-8.4,489,6611,0.90,14.85,141.35,2.533,6,0.273,0.077,2591,1949,2773,0,0,6,1,0,0,14.28,13.67,12.83
$STATE,6612,end apogee,CONTROL_FINISHED_OK
$STATE,6612,begin climb
$GC,6617,1.50,136.9,735.9,0.0,495,6779,1.42,0.00,157.00,2.473,6,0.169,0.000,3007,1949,2214,0,0,0,0,0,0,13.70,28.83,12.41
$GC,7085,1.50,136.9,688.7,11.3,511,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1949,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7381,1.50,136.9,655.0,10.9,521,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1949,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7681,1.50,136.9,622.7,10.7,531,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1949,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7982,1.50,136.9,591.7,10.2,541,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1949,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8281,1.50,136.9,561.2,10.2,551,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1949,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8581,1.50,136.9,529.9,10.5,561,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1949,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8881,1.50,136.9,497.3,11.1,571,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1949,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9181,1.50,136.9,463.8,11.3,581,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1949,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9481,1.50,136.9,429.4,11.4,591,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1949,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9781,1.50,136.9,395.5,11.2,603,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1949,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10096,1.50,136.9,361.2,10.8,634,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1949,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10408,1.50,136.9,328.3,10.5,665,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1949,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10722,1.50,136.9,295.5,10.7,696,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1949,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11033,1.50,136.9,262.5,10.7,727,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1949,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11346,1.50,136.9,232.0,9.4,758,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1949,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11658,1.50,136.9,202.4,9.2,789,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1949,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11971,1.51,144.9,174.8,8.6,820,11984,0.00,0.00,6.22,1.715,6,0.000,0.000,3007,1949,2182,0,0,0,0,0,0,28.83,28.83,13.81
$GC,12287,1.51,148.7,146.9,8.8,852,12294,0.00,0.00,5.95,1.682,6,0.000,0.000,3007,1949,2165,0,0,0,0,0,0,28.83,28.83,13.83
$GC,12596,1.55,174.4,120.8,7.8,883,12614,0.00,0.00,16.00,1.784,6,0.000,0.000,3007,1949,2059,0,0,0,0,0,0,28.83,28.83,13.86
$GC,12921,1.58,200.9,94.1,7.8,921,12940,0.00,0.00,14.55,0.472,6,0.000,0.000,3007,1949,1953,0,0,0,0,0,0,28.83,28.83,14.23
$GC,13251,1.60,219.5,66.9,8.1,984,13266,0.10,0.00,10.05,0.399,6,0.181,0.000,3045,1949,1874,0,0,0,0,0,0,14.59,28.83,14.33
$GC,13583,1.61,224.5,36.0,8.7,1046,13590,0.00,0.00,1.98,0.373,6,0.000,0.000,3045,1949,1855,0,0,0,0,0,0,28.83,28.83,14.33
$GC,13900,1.63,242.3,10.9,8.1,1107,13913,0.00,0.00,9.52,0.227,6,0.000,0.000,3045,1949,1782,0,0,0,0,0,0,28.83,28.83,14.42
$STATE,13988,end climb,SURFACE_DEPTH_REACHED
$STATE,13988,begin surface coast
$FINISH,2.6,1.005326
$STATE,14025,end surface coast,CONTROL_FINISHED_OK
$STATE,14025,begin surface
$SM_CCo,14068,24.88,0.200,0,0,1588,290.19
$SM_GC,3.42,8.55,14.85,24.88,0.095,0.083,0.200,139,1949,1588,-11.60,-4.83,290.19,0,0,6,1,0,0,14.61,14.59,14.41
$RAFOS_CLK,624
$RAFOS,6,1351716561,20.833334,20.822500,108,56,55,54,52,50,656,219,200,122,185,165
$RAFOS,5,1351716081,20.700001,20.689167,81,70,60,59,58,57,775,170,206,152,183,195
$RAFOS,4,1351715597,20.566668,20.554722,65,62,54,53,49,47,193,173,150,203,182,221
$RAFOS,3,1351715121,20.433332,20.422501,62,58,53,52,48,48,200,171,157,144,213,775
$RAFOS,2,1351714641,20.299999,20.289167,69,63,59,58,55,54,378,220,205,174,138,150
$RAFOS,1,1351714161,20.166666,20.155834,113,63,62,58,56,51,414,121,206,216,148,162
$RAFOS,0,1351713681,20.033333,20.022499,71,61,60,56,54,51,196,142,184,226,206,154
$RAFOS_FIX,6652.805664,-5942.586426,311012,202000,2,94,2.71
$IRIDIUM_FIX,6614.97,-5954.40,311012,141428
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.16
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.60
$XPDR_PINGS,8
$24V_AH,12.4,97.261
$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,22.675,59.400,362.625,24.875,0.000,0.000,0.000,294.625,2.000,0.000,5.920,2782.827,8764.823,555.039,1894.310,587.013,0.000,1736.155,0.000,1664.392,2520.000,0.537,0.000
$DEVICE_MAMPS,464.355,84.915,2532.915,200.430,0.000,0.000,0.000,163.710,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.657,803.694,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188600
$DATA_FILE_SIZE,53436,1130
$CAP_FILE_SIZE,104046,32
$CFSIZE,259252224,229945344
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1451.3
$CURRENT,0.318,173.6,1
$GPS,311012,223928,6640.120,-5950.737,38,0.7,38,-33.7