version: 66.11
glider: 193
mission: 2
dive: 288
start: 10 29 112 22 20 13
data:
$ID,193
$MISSION,2
$DIVE,288
$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,-1431.5646
$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,16
$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
$GPS1,291012,221258,6641.875,-5959.718,61,0.7,61,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.39
$_SM_ANGLEo,-68.1
$GPS2,291012,221934,6641.794,-5959.657,5,0.8,5,-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,0.8,19700,-17.3,-8.919,-19.96
$D_GRID,635
$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,-5.53,0.000,2,0.000,0.000,135,2115,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.4,0.0,1,157,11.35,2.88,-102.93,0.000,4,0.454,0.181,2340,3538,3329,0,0,0,0,0,0,14.21,14.31,14.76
$GC,316,-1.50,-136.9,33.6,-19.0,52,322,0.00,2.60,0.00,0.000,6,0.000,0.108,2340,2121,3331,0,0,0,0,0,0,28.83,14.44,28.83
$GC,635,-1.50,-136.9,81.4,-14.5,113,642,0.00,2.62,0.00,0.000,4,0.000,0.137,2340,705,3332,0,0,0,0,0,0,28.83,14.40,28.83
$GC,703,-1.50,-136.9,92.0,-15.2,125,711,0.10,2.72,0.00,0.000,6,0.329,0.137,2348,2130,3331,0,0,0,0,0,0,14.25,14.40,28.83
$GC,1022,-1.50,-136.9,134.7,-13.5,161,1031,0.00,2.72,0.00,0.000,4,0.000,0.154,2340,3526,3331,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1100,-1.50,-136.9,145.6,-14.8,168,1107,0.00,2.55,0.00,0.000,6,0.000,0.100,2339,2118,3331,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1407,-1.50,-136.9,190.1,-13.8,199,1416,0.00,2.58,0.00,0.000,4,0.000,0.131,2340,710,3330,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1442,-1.50,-136.9,195.0,-14.3,202,1451,0.00,2.67,0.00,0.000,6,0.000,0.136,2332,2127,3330,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1751,-1.50,-136.9,237.2,-13.7,233,1761,0.10,2.72,0.00,0.000,4,0.338,0.151,2340,3528,3330,0,0,0,0,0,0,14.35,14.37,28.83
$GC,1808,-1.50,-136.9,244.7,-13.4,238,1816,0.00,2.55,0.00,0.000,6,0.000,0.103,2340,2112,3330,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2117,-1.50,-136.9,282.9,-11.4,269,2127,0.00,2.58,0.00,0.000,4,0.000,0.132,2340,701,3329,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2215,-1.50,-136.9,294.6,-12.7,278,2222,0.00,2.72,0.00,0.000,6,0.000,0.133,2332,2131,3330,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2523,-1.50,-136.9,333.8,-12.8,309,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2131,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2837,-1.50,-136.9,371.8,-12.7,340,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2131,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3164,-1.50,-136.9,411.3,-12.0,367,3170,0.00,2.62,0.00,0.000,4,0.000,0.129,2333,702,3329,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3218,-1.50,-136.9,415.4,-12.3,368,3226,0.12,2.72,0.00,0.000,6,0.322,0.130,2349,2131,3329,0,0,0,0,0,0,14.27,14.47,28.83
$GC,3525,-1.50,-136.9,453.1,-11.2,379,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2131,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3826,-1.50,-136.9,484.8,-10.4,389,3831,0.00,2.75,0.00,0.000,4,0.000,0.156,2340,3530,3329,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3870,-1.50,-136.9,488.1,-10.3,390,3876,0.00,2.55,0.00,0.000,6,0.000,0.103,2339,2111,3329,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4187,-1.50,-136.9,521.5,-9.9,401,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4487,-1.50,-136.9,551.1,-9.8,411,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4788,-1.50,-136.9,580.9,-10.3,421,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2111,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5087,-1.50,-136.9,609.3,-9.3,431,5093,0.00,2.80,0.00,0.000,4,0.000,0.161,2330,3530,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5126,-1.50,-136.9,613.3,-10.0,432,5132,0.08,2.53,0.00,0.000,6,0.276,0.104,2349,2122,3331,0,0,0,0,0,0,14.31,14.55,28.83
$STATE,5323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5323,begin apogee
$GC,5336,-0.38,0.0,635.3,-10.3,439,5487,0.90,0.00,139.60,2.433,6,0.275,0.000,2589,2149,2773,0,0,0,0,0,0,14.32,28.83,12.92
$STATE,5488,end apogee,CONTROL_FINISHED_OK
$STATE,5488,begin climb
$GC,5493,1.50,136.9,639.0,0.0,444,5656,1.42,0.00,153.60,2.356,6,0.177,0.000,3003,2149,2214,0,0,0,0,0,0,13.73,28.83,12.45
$GC,5958,1.50,136.9,594.9,11.5,460,5964,0.00,2.88,0.00,0.000,4,0.000,0.150,3003,3560,2205,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6008,1.50,136.9,591.0,11.8,461,6017,0.00,2.65,0.00,0.000,6,0.000,0.106,3013,2151,2205,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6320,1.50,136.9,551.1,12.2,472,6326,0.00,2.83,0.00,0.000,4,0.000,0.150,3013,3563,2204,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6359,1.50,136.9,546.9,12.5,473,6364,0.00,2.60,0.00,0.000,6,0.000,0.106,3023,2141,2203,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6681,1.50,136.9,504.0,12.8,484,6687,0.00,2.80,0.00,0.000,4,0.000,0.146,3023,3566,2203,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6731,1.50,136.9,499.7,13.1,485,6741,0.10,2.58,0.00,0.000,6,0.274,0.104,3007,2146,2203,0,0,0,0,0,0,14.26,14.45,28.83
$GC,7045,1.50,136.9,458.9,12.0,496,7051,0.00,2.75,0.00,0.000,4,0.000,0.143,3006,3556,2202,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7107,1.50,136.9,450.2,12.7,498,7112,0.00,2.53,0.00,0.000,6,0.000,0.102,3016,2148,2202,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7440,1.50,136.9,410.1,11.5,509,7446,0.00,2.58,0.00,0.000,4,0.000,0.129,3027,736,2202,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7465,1.50,136.9,410.1,11.5,509,7472,0.00,2.60,0.00,0.000,6,0.000,0.116,3027,2152,2201,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7777,1.50,136.9,371.1,12.1,536,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2152,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8083,1.50,136.9,333.3,12.3,567,8091,0.00,2.75,0.00,0.000,4,0.000,0.145,3026,3565,2201,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8147,1.50,136.9,325.0,12.8,573,8158,0.10,2.55,0.00,0.000,6,0.271,0.105,3010,2149,2201,0,0,0,0,0,0,14.30,14.50,28.83
$GC,8461,1.50,136.9,291.6,10.5,604,8470,0.00,2.55,0.00,0.000,4,0.000,0.130,3019,737,2200,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8506,1.50,136.9,286.5,10.8,608,8514,0.00,2.60,0.00,0.000,6,0.000,0.117,3019,2154,2200,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8815,1.50,136.9,254.3,9.6,639,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2154,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9126,1.51,148.8,226.4,8.4,670,9143,0.00,2.72,10.62,1.885,4,0.000,0.146,3019,3566,2165,0,0,0,0,0,0,28.83,14.61,13.83
$GC,9192,1.51,148.8,220.2,9.9,676,9198,0.00,2.58,0.00,0.000,6,0.000,0.106,3029,2148,2165,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9499,1.51,148.8,190.1,9.3,707,9508,0.00,2.55,0.00,0.000,4,0.000,0.131,3040,739,2164,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9534,1.51,148.8,186.6,9.6,710,9543,0.10,2.62,0.00,0.000,6,0.263,0.122,3012,2153,2164,0,0,0,0,0,0,14.33,14.44,28.83
$GC,9845,1.55,176.5,160.1,7.7,741,9881,0.00,2.75,28.62,1.906,4,0.000,0.146,3013,3562,2052,0,0,0,0,0,0,28.83,14.42,13.73
$GC,9938,1.55,176.5,151.8,9.4,750,9947,0.00,2.55,0.00,0.000,6,0.000,0.103,3021,2154,2050,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10248,1.55,178.5,124.1,8.8,781,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2154,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10562,1.58,199.4,98.0,8.0,814,10581,0.00,2.80,12.55,0.481,4,0.000,0.152,3021,3569,1959,0,0,0,0,0,0,28.83,14.49,14.23
$GC,10617,1.58,199.4,93.1,9.5,823,10624,0.00,2.60,0.00,0.000,6,0.000,0.108,3030,2143,1957,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10935,1.58,199.4,61.6,10.6,884,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2143,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11251,1.66,263.5,33.3,6.1,945,11295,0.00,2.85,35.30,0.286,4,0.000,0.158,3031,3565,1696,0,0,0,0,0,0,28.83,14.47,14.40
$GC,11321,1.66,263.5,27.8,9.0,956,11328,0.00,2.60,0.00,0.000,6,0.000,0.108,3039,2142,1692,0,0,0,0,0,0,28.83,14.53,28.83
$STATE,11583,end climb,SURFACE_DEPTH_REACHED
$STATE,11583,begin surface coast
$FINISH,2.6,1.025536
$STATE,11615,end surface coast,CONTROL_FINISHED_OK
$STATE,11615,begin surface
$SM_CCo,11643,12.23,0.200,0,0,1588,290.19
$SM_GC,3.84,8.62,0.00,12.23,0.101,0.000,0.200,135,2141,1588,-11.60,0.59,290.19,0,0,0,0,0,0,14.62,28.83,14.41
$RAFOS_CLK,511
$RAFOS,6,1351558143,0.833333,0.817500,115,60,58,56,55,51,751,203,217,130,178,142
$RAFOS,5,1351557666,0.700000,0.685000,61,60,56,55,55,50,872,193,214,171,147,92
$RAFOS,4,1351557181,0.566667,0.550278,62,59,58,56,56,54,691,191,180,221,148,166
$RAFOS,3,1351556709,0.433333,0.419167,68,67,64,54,54,53,211,222,153,190,199,97
$RAFOS,2,1351556250,0.300000,0.291667,63,58,58,56,51,50,148,195,358,213,116,679
$RAFOS,1,1351555770,0.166667,0.158333,74,62,56,56,52,48,319,201,217,134,168,146
$RAFOS,0,1351555287,0.033333,0.024167,65,59,59,55,54,53,213,174,117,194,232,223
$RAFOS_FIX,6655.595703,-5954.111816,301012,000040,3,79,3.02
$IRIDIUM_FIX,6614.97,-6001.83,291012,181816
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.75
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.40
$XPDR_PINGS,6
$24V_AH,12.4,93.104
$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,23.000,111.825,380.300,12.225,0.000,0.000,0.000,246.650,1.500,0.000,11.159,2557.702,6465.174,570.040,1918.283,556.631,0.000,1786.850,0.000,1704.688,2520.000,0.536,0.000
$DEVICE_MAMPS,454.410,233.325,2433.465,199.665,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.588,715.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188756
$DATA_FILE_SIZE,46672,1013
$CAP_FILE_SIZE,113561,0
$CFSIZE,259252224,230731776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.4
$CURRENT,0.029,335.9,1
$GPS,301012,013600,6643.299,-6002.019,18,0.8,18,-33.8