version: 66.11
glider: 193
mission: 2
dive: 287
start: 10 29 112 19 1 59
data:
$ID,193
$MISSION,2
$DIVE,287
$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,-1425.6737
$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,18
$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
$GPS1,291012,185435,6642.580,-5957.614,36,0.9,36,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.42
$_SM_ANGLEo,-67.0
$GPS2,291012,190124,6642.503,-5957.518,5,0.8,5,-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,356.4,21020,-17.3,-8.919,-19.96
$D_GRID,654
$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,-5.55,0.000,2,0.000,0.000,135,2112,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.4,0.0,1,159,11.43,2.92,-103.50,0.000,4,0.457,0.182,2343,3530,3331,0,0,0,0,0,0,14.19,14.26,14.74
$GC,215,-1.50,-136.9,13.0,-17.4,31,222,0.00,2.60,0.00,0.000,6,0.000,0.106,2343,2115,3331,0,0,0,0,0,0,28.83,14.41,28.83
$GC,532,-1.50,-136.9,69.7,-16.1,92,539,0.00,2.62,0.00,0.000,4,0.000,0.137,2343,705,3332,0,0,0,0,0,0,28.83,14.37,28.83
$GC,624,-1.50,-136.9,83.8,-15.5,109,631,0.00,2.78,0.00,0.000,6,0.000,0.145,2334,2131,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,937,-1.50,-136.9,129.3,-13.9,150,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2131,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1253,-1.50,-136.9,170.4,-13.6,181,1261,0.00,2.75,0.00,0.000,4,0.000,0.160,2324,3530,3332,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1290,-1.50,-136.9,175.9,-13.7,184,1297,0.12,2.58,0.00,0.000,6,0.305,0.104,2348,2114,3331,0,0,0,0,0,0,14.26,14.53,28.83
$GC,1598,-1.50,-136.9,215.3,-12.3,215,1607,0.00,2.58,0.00,0.000,4,0.000,0.135,2348,714,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1684,-1.50,-136.9,226.1,-12.8,223,1693,0.00,2.70,0.00,0.000,6,0.000,0.138,2340,2122,3331,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1994,-1.50,-136.9,264.8,-12.7,254,2003,0.00,2.75,0.00,0.000,4,0.000,0.152,2330,3527,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2082,-1.50,-136.9,275.7,-12.7,262,2090,0.10,2.55,0.00,0.000,6,0.309,0.099,2348,2115,3331,0,0,0,0,0,0,14.31,14.54,28.83
$GC,2391,-1.50,-136.9,311.9,-11.0,293,2400,0.00,2.58,0.00,0.000,4,0.000,0.131,2348,707,3330,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2459,-1.50,-136.9,319.6,-12.3,299,2466,0.00,2.67,0.00,0.000,6,0.000,0.135,2341,2122,3330,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2766,-1.50,-136.9,355.7,-11.3,330,2776,0.00,2.60,0.00,0.000,4,0.000,0.130,2341,713,3330,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2822,-1.50,-136.9,362.6,-12.5,335,2831,0.00,2.65,0.00,0.000,6,0.000,0.133,2334,2116,3330,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3132,-1.50,-136.9,399.0,-11.1,366,3141,0.00,2.75,0.00,0.000,4,0.000,0.150,2323,3528,3330,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3205,-1.50,-136.9,406.5,-11.5,369,3211,0.10,2.53,0.00,0.000,6,0.283,0.098,2348,2120,3330,0,0,0,0,0,0,14.23,14.51,28.83
$GC,3528,-1.50,-136.9,442.5,-10.8,380,3533,0.00,2.58,0.00,0.000,4,0.000,0.129,2348,706,3330,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3559,-1.50,-136.9,446.0,-10.8,381,3564,0.00,2.67,0.00,0.000,6,0.000,0.136,2342,2125,3330,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3890,-1.50,-136.9,480.5,-10.3,392,3896,0.00,2.60,0.00,0.000,4,0.000,0.130,2341,712,3330,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3935,-1.50,-136.9,483.8,-10.5,393,3940,0.00,2.65,0.00,0.000,6,0.000,0.134,2334,2126,3331,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4251,-1.50,-136.9,517.7,-10.2,404,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2127,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4551,-1.50,-136.9,548.7,-10.3,414,4557,0.00,2.60,0.00,0.000,4,0.000,0.130,2334,709,3331,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4673,-1.50,-136.9,562.2,-11.2,418,4679,0.08,2.65,0.00,0.000,6,0.297,0.132,2346,2124,3331,0,0,0,0,0,0,14.26,14.43,28.83
$GC,5007,-1.50,-136.9,596.4,-10.3,429,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2124,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5305,-1.50,-136.9,626.0,-9.3,439,5311,0.00,2.75,0.00,0.000,4,0.000,0.155,2337,3529,3332,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5337,-1.50,-136.9,629.5,-9.7,440,5343,0.00,2.53,0.00,0.000,6,0.000,0.103,2337,2120,3332,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,5573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5573,begin apogee
$GC,5585,-0.38,0.0,654.8,-10.3,448,5736,0.95,0.00,139.23,2.452,6,0.266,0.000,2589,2150,2773,0,0,0,0,0,0,14.31,28.83,12.91
$STATE,5737,end apogee,CONTROL_FINISHED_OK
$STATE,5737,begin climb
$GC,5743,1.50,136.9,661.1,0.0,453,5913,1.42,3.00,154.07,2.375,4,0.175,0.133,3014,731,2214,0,0,0,0,0,0,13.71,13.19,12.45
$GC,5932,1.56,189.4,651.3,6.6,459,5998,0.00,2.85,60.10,2.307,6,0.000,0.117,3014,2144,2000,0,0,0,0,0,0,28.83,13.43,12.48
$GC,6309,1.56,189.4,598.2,13.4,471,6315,0.00,2.80,0.00,0.000,4,0.000,0.142,3013,3562,1993,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6419,1.56,189.4,584.0,14.5,474,6424,0.00,2.62,0.00,0.000,6,0.000,0.104,3023,2152,1993,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6735,1.56,189.4,536.4,14.2,485,6740,0.00,2.65,0.00,0.000,4,0.000,0.134,3034,734,1991,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6776,1.56,189.4,531.9,14.4,486,6781,0.00,2.62,0.00,0.000,6,0.000,0.117,3034,2152,1989,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7098,1.56,189.4,482.1,15.2,497,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2152,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7398,1.56,189.4,438.7,14.2,507,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2152,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7697,1.56,189.4,398.4,13.3,517,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2152,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8012,1.56,189.4,355.4,14.5,548,8020,0.00,2.70,0.00,0.000,4,0.000,0.145,3034,3558,1988,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8066,1.56,189.4,346.5,15.5,553,8075,0.08,2.55,0.00,0.000,6,0.290,0.108,3025,2150,1988,0,0,0,0,0,0,14.33,14.51,28.83
$GC,8376,1.56,189.4,305.3,12.9,584,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2149,1988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8692,1.56,189.4,266.7,12.3,615,8701,0.00,2.58,0.00,0.000,4,0.000,0.135,3033,740,1988,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8787,1.56,189.4,254.1,12.6,624,8796,0.00,2.60,0.00,0.000,6,0.000,0.122,3033,2155,1987,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9097,1.56,189.4,217.4,11.6,655,9106,0.00,2.72,0.00,0.000,4,0.000,0.148,3033,3561,1987,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9192,1.56,189.4,205.6,12.4,664,9201,0.08,2.58,0.00,0.000,6,0.283,0.106,3024,2142,1987,0,0,0,0,0,0,14.34,14.51,28.83
$GC,9503,1.56,189.4,171.4,10.5,695,9512,0.00,2.55,0.00,0.000,4,0.000,0.132,3033,743,1987,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9568,1.56,189.4,164.3,11.2,701,9576,0.00,2.58,0.00,0.000,6,0.000,0.119,3033,2147,1987,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9877,1.56,189.4,130.1,11.1,732,9886,0.00,2.72,0.00,0.000,4,0.000,0.146,3033,3559,1987,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9967,1.56,189.4,120.1,12.4,740,9975,0.10,2.58,0.00,0.000,6,0.310,0.105,3023,2139,1987,0,0,0,0,0,0,14.38,14.59,28.83
$GC,10280,1.56,189.7,88.0,8.9,782,10287,0.00,2.80,0.00,0.000,4,0.000,0.149,3023,3563,1987,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10357,1.56,189.7,80.4,9.8,796,10364,0.00,2.58,0.00,0.000,6,0.000,0.105,3030,2142,1987,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10674,1.56,189.7,52.3,9.3,857,10681,0.00,2.58,0.00,0.000,4,0.000,0.132,3041,741,1987,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10754,1.56,189.7,45.1,9.0,871,10761,0.00,2.62,0.00,0.000,6,0.000,0.122,3041,2154,1986,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11071,1.66,266.0,21.4,5.6,932,11120,0.00,2.75,40.85,0.245,4,0.000,0.153,3041,3564,1685,0,0,0,0,0,0,28.83,14.48,14.43
$GC,11229,1.66,266.0,5.7,11.3,960,11236,0.00,2.58,0.00,0.000,6,0.000,0.108,3051,2152,1676,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,11257,end climb,SURFACE_DEPTH_REACHED
$STATE,11257,begin surface coast
$FINISH,2.5,1.025776
$STATE,11288,end surface coast,CONTROL_FINISHED_OK
$STATE,11288,begin surface
$SM_CCo,11316,10.98,0.199,0,0,1587,290.19
$SM_GC,3.82,8.80,0.08,10.98,0.116,0.210,0.199,137,2116,1587,-11.59,0.42,290.19,0,0,0,0,0,0,14.62,14.59,14.42
$RAFOS_CLK,511
$RAFOS,6,1351543742,20.833334,20.817223,85,59,58,57,54,54,767,184,199,210,128,172
$RAFOS,5,1351543262,20.700001,20.683889,83,66,64,58,57,54,901,222,151,199,171,183
$RAFOS,4,1351542802,20.566668,20.556110,63,57,56,53,51,50,210,195,158,172,147,121
$RAFOS,3,1351542318,20.433332,20.421667,67,60,57,54,53,52,195,161,219,205,138,170
$RAFOS,2,1351541835,20.299999,20.287500,67,60,57,56,55,53,422,207,194,165,124,182
$RAFOS,1,1351541355,20.166666,20.154167,106,59,55,55,54,53,423,181,215,194,125,203
$RAFOS,0,1351540862,20.033333,20.017221,64,60,59,55,52,52,209,189,155,139,121,227
$RAFOS_FIX,6654.294434,-5951.396973,291012,202056,2,84,3.53
$IRIDIUM_FIX,6614.97,-5951.67,291012,151526
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.92
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,5
$24V_AH,12.4,92.809
$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,23.250,122.375,394.250,10.975,0.000,0.000,0.000,249.750,1.250,0.000,14.027,2467.737,6196.198,551.894,1959.839,565.258,0.000,1808.086,0.000,1736.542,2520.000,0.536,0.000
$DEVICE_MAMPS,457.470,227.970,2451.825,198.900,0.000,0.000,0.000,149.940,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.880,683.833,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188768
$DATA_FILE_SIZE,46669,971
$CAP_FILE_SIZE,115464,0
$CFSIZE,259252224,230789120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.5
$CURRENT,0.296,174.8,1
$GPS,291012,221258,6641.875,-5959.718,61,0.7,61,-33.8